JPH0144432B2 - - Google Patents
Info
- Publication number
- JPH0144432B2 JPH0144432B2 JP56212681A JP21268181A JPH0144432B2 JP H0144432 B2 JPH0144432 B2 JP H0144432B2 JP 56212681 A JP56212681 A JP 56212681A JP 21268181 A JP21268181 A JP 21268181A JP H0144432 B2 JPH0144432 B2 JP H0144432B2
- Authority
- JP
- Japan
- Prior art keywords
- welding
- pedestal
- drive power
- power device
- pressurizing position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000003466 welding Methods 0.000 claims description 41
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 description 9
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005070 sampling Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/08—Seam welding not restricted to one of the preceding subgroups
- B23K11/093—Seam welding not restricted to one of the preceding subgroups for curved planar seams
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Description
【発明の詳細な説明】
本発明は、溶接対象物の溶接線を常に電極加圧
位置に一致させるような自動送り制御を可能とす
る溶接線自動送り装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic welding line feeding device that enables automatic feeding control such that the welding line of an object to be welded always matches the electrode pressurizing position.
従来、シーム溶接機の溶接線自動送り装置とし
ては、たとえば回転自在の複数の関節部を有する
リンク機構を利用して溶接対象物を電極駆動力で
機械的なカム倣い制御にしたがつて旋回移動しな
がら溶接線をシーム電極間に誘導するものが広く
用いられている。 Conventionally, automatic welding line feeding devices for seam welding machines use, for example, a link mechanism with a plurality of rotatable joints to move the welding object in a rotating manner under mechanical cam tracing control using electrode driving force. However, those that guide the weld line between the seam electrodes are widely used.
この種の従来の倣い装置は、溶接対象物の形状
や大きさの変化の少ない、いわゆる少品種多量生
産の適用についてはあまり問題ないが、最近のよ
うにモデルチエンジの甚だしい多品種小量生産の
時代になると、この種の従来の装置の持てる能力
では用途範囲が限られ、今日の生産ラインの高速
化と混流生産態勢に充分対応できない面があつ
た。近年の混流生産システムの中で適用範囲の拡
大を進めていくには、従来のようなカム倣い装置
では次のような問題が挙げられる。 This type of conventional copying device does not have much problem when applied to so-called high-mix, low-mix, high-volume production where there is little change in the shape or size of the welded object, but recently, it is used in high-mix, low-volume production where model changes are severe. As time progressed, the capabilities of this type of conventional equipment limited its range of applications and were unable to adequately respond to today's increasingly high-speed production lines and mixed-flow production systems. In order to expand the scope of application in recent mixed flow production systems, conventional cam copying devices have the following problems.
(1) 複雑な溶接対象物の種類に応じてその都度カ
ム装置を製作しなければならないことは、多大
の製作費を要し、不経済である。(1) It is uneconomical to have to manufacture a cam device each time depending on the type of complicated object to be welded, which requires a large amount of manufacturing cost.
(2) カム装置の交換に多大の時間と労力を要す。(2) It takes a lot of time and effort to replace the cam device.
(3) 装置全体が複雑な構造設計となり、カム装置
の位置調整もむづかしくやつかいである。(3) The entire device has a complicated structural design, and the position adjustment of the cam device is difficult and cumbersome.
このように、従来形の装置では様々の問題が提
起され、今日まで複雑な形状の溶接対象物にもな
お汎用性をもつ自動送り装置の自動化については
全く実現できなかつた。 As described above, various problems have been posed with conventional devices, and to date, it has not been possible at all to realize automation of an automatic feed device that is versatile enough to weld workpieces with complex shapes.
本発明は、叙上のような実状に鑑み、多品種小
量生産システムに適用できるような、種々にわた
る溶接対象物の溶接線を例えばテイーチングプレ
ーバツク制御或いは数値制御等の手法を採用する
ことによつて実現可能にした溶接線自動送り装置
を提供する。 In view of the above-mentioned actual situation, the present invention adopts methods such as teaching playback control or numerical control for welding lines of various welding objects, which can be applied to a high-mix, low-volume production system. To provide an automatic welding line feeding device that has been made possible.
以下、本発明の実施例について図面を参照しな
がら説明する。 Embodiments of the present invention will be described below with reference to the drawings.
第1図は、多関節をもつリンク装置を応用した
極座標形の場合の一例である。 FIG. 1 is an example of a polar coordinate system in which a link device with multiple joints is applied.
1は溶接機本体、2,3は上・下シーム電極、
4は電極の前面で溶接対象物Wを受け支える受け
台、5はこの受け台を水平方向に旋回させるリン
ク装置で、第1アーム6と第2アーム7が関節部
8,9によつて回動自在に連結されていおり、上
記受け台4は第2アーム7のハウジング10を垂
直に貫通した支え軸17を中心として360゜回転す
るように取付けられている。11,12,13は
伝達用ギヤ(又はスプロケツト)を示す。各ギヤ
の第1ギヤ11は、溶接機本体側に固定された支
持部材14に回動的に支えられた第1アーム後端
の固定軸15に固定されている。そして第2ギヤ
12は、第1アーム先端に回動的に支えられた第
2アーム後端の固定軸16に固定されている。さ
らに第3ギヤ13は第2アームの先端に回動的に
支えられた上記支え軸17に固定されている。 1 is the welding machine body, 2 and 3 are the upper and lower seam electrodes,
Reference numeral 4 denotes a cradle that supports the welding object W on the front surface of the electrode, 5 a linkage device for horizontally rotating this cradle, and a first arm 6 and a second arm 7 rotate by joints 8 and 9. They are movably connected, and the pedestal 4 is mounted so as to rotate 360° about a support shaft 17 that vertically passes through the housing 10 of the second arm 7. Reference numerals 11, 12, and 13 indicate transmission gears (or sprockets). The first gear 11 of each gear is fixed to a fixed shaft 15 at the rear end of the first arm, which is rotatably supported by a support member 14 fixed to the welding machine main body side. The second gear 12 is fixed to a fixed shaft 16 at the rear end of the second arm, which is rotatably supported by the front end of the first arm. Further, the third gear 13 is fixed to the support shaft 17 rotatably supported at the tip of the second arm.
18,19,20は駆動動力装置のモータを示
す。各モータのうち、第1モータ18は溶接機本
体に第2モータ19は第1アームの側面に、第3
モータは第2アームの側面にそれぞれ取付けられ
ており、各モータのスプロケツト21…と各ギヤ
11,12,13の間はチエーン等22によりつ
なぎ各駆動源の廻転駆動力を各アームに伝達する
ように構成されている。 Reference numerals 18, 19, and 20 indicate motors of the drive power device. Of each motor, the first motor 18 is mounted on the welding machine body, the second motor 19 is mounted on the side of the first arm, and the third
The motors are respectively attached to the sides of the second arm, and the sprockets 21 of each motor and each gear 11, 12, 13 are connected by a chain or the like 22 so as to transmit the rotational driving force of each drive source to each arm. It is composed of
このような構成のもとに、上下シーム電極2,
3の回転速度と溶接線の送り速度及び送り方向が
一致するよう各駆動動力装置18,19,20を
電気的に制御することになる。 Based on this configuration, the upper and lower seam electrodes 2,
Each drive power device 18, 19, 20 is electrically controlled so that the rotation speed of No. 3 coincides with the feed speed and direction of the weld line.
この場合の電気的制御方法は、例えばプレーバ
ツク方式の場合はテイーチングのときシーム電極
の回転によつて溶接対象物を同一平面内において
駆動し、手動操作によつて電極が溶接線から逸脱
しないようにリンク装置を操作し、溶接対象物の
溶接線位置とリンク装置の各軸の位置つまり回転
角度の位置データを同時にサンプリングし、その
データを電気的記憶手段に記憶させる。 In this case, the electrical control method is, for example, in the case of the playback method, the welding object is driven within the same plane by rotating the seam electrode during teaching, and manual operation is performed to prevent the electrode from deviating from the welding line. The link device is operated to simultaneously sample the weld line position of the object to be welded and the position data of each axis of the link device, that is, the rotation angle, and the data is stored in the electrical storage means.
そして自動運転のときに、上記の位置データを
とり出し、そのデータと送行中の溶接線の現在値
データとがほゞ一致したとき、テイーチング時の
位置データと同時に記憶したリンク装置の位置デ
ータをとり出し、そのデータと現在位置のリンク
装置の位置データとの差を演算し、その出力を増
巾器によつて増巾し、この出力によつて駆動源を
作動し、リンク装置の各軸15,16,17を回
転させ、溶接対象物の姿勢方向と溶接線の位置決
め制御を行なわせる。 Then, during automatic operation, the above position data is retrieved, and when the data almost matches the current value data of the welding line being fed, the position data of the link device stored at the same time as the position data at the time of teaching is retrieved. The difference between that data and the position data of the link device at the current position is calculated, the output is amplified by an amplifier, the drive source is operated by this output, and each axis of the link device is amplified. 15, 16, and 17 are rotated to control the attitude direction of the object to be welded and the positioning of the weld line.
以上のようにコントロールすれば常に溶接線を
電極加圧位置へ正確に通過移動させることができ
る。数値制御の場合はワーク形状に合せた各軸の
必要な座標値と速度値をインプツトして溶接線制
御を行なうのである。 By controlling as described above, it is possible to always accurately move the welding line to the electrode pressurizing position. In the case of numerical control, the welding line is controlled by inputting the necessary coordinate values and speed values for each axis that match the shape of the workpiece.
第2図は、本発明の他の実施例において直交座
標型のロボツトシステムに応用した場合である。 FIG. 2 shows another embodiment of the present invention applied to a Cartesian coordinate type robot system.
この場合、溶接対象物Wを受け支える受け台2
3は、第1台車24の上において支え軸25を中
心に回転可能なように取付けられていて、上記軸
25の円周に取付けられたギヤ26と第1台車2
4に固定された駆動動力装置27のギヤ28とが
噛合つて駆動動力装置27の駆動力で360゜回転す
るように構成されている。第1台車24は、第2
台車29に固定された2本のシヤフト30,31
により摺動可能に支えられ、駆動動力装置32の
駆動力により送りネジ33を伝達体としてY軸方
向へ前進・後退移動する。 In this case, the pedestal 2 that supports the welding object W
3 is mounted on the first truck 24 so as to be rotatable around a support shaft 25, and a gear 26 attached to the circumference of the shaft 25 and the first truck 2
4 is engaged with a gear 28 of a drive power device 27 fixed to the drive power device 27, and is configured to rotate 360° by the driving force of the drive power device 27. The first truck 24
Two shafts 30 and 31 fixed to a trolley 29
It is slidably supported by, and moves forward and backward in the Y-axis direction by the driving force of the drive power device 32 using the feed screw 33 as a transmission body.
一方、第2台車29は、ベース34の上に取付
けられた2本のシヤフト35,36により摺動可
能に支えられており、駆動動力装置37の駆動力
により送りネジ33を伝達体としてX軸方向への
前進・後退運動を与えられるようになつている。 On the other hand, the second truck 29 is slidably supported by two shafts 35 and 36 mounted on the base 34, and is driven by the driving force of the drive power device 37 to drive the X-axis using the feed screw 33 as a transmission body. It is designed to be able to give forward and backward motion in the direction.
このような装置において、各駆動源27,3
2,37をテイーチングプレーバツク方式によつ
てコントロールする場合は、たとえば溶接対象物
の送行位置と溶接線からずれないように位置を補
正確保する各台車24,29の位置と支え軸25
の回転角度がテイーチング時に同時にサンプリン
グ手段によつて記憶され、自動運転時に溶接対象
物の溶接線送行位置を主とし、各制御軸の位置あ
るいは回転角度を従として、溶接対象物の溶接線
送行位置を検出し、この位置に対応する各制御軸
の位置を制御することになる。 In such a device, each drive source 27, 3
2, 37 by the teaching playback method, for example, the position of each carriage 24, 29 and the support shaft 25 to correct and ensure the feeding position of the welding object and the position so as not to deviate from the welding line.
The rotation angle of is simultaneously memorized by the sampling means during teaching, and during automatic operation, the welding line feeding position of the welding workpiece is used as the main, and the position or rotation angle of each control axis is secondary, and the welding line feeding position of the welding workpiece is memorized. is detected, and the position of each control axis corresponding to this position is controlled.
尚、本実施例の場合はモータ37は電極による
ワーク駆動力を補ぎなうだけであるので、モータ
はエアーシリンダを使用しても同様の作用が得ら
れる。 In the case of this embodiment, the motor 37 only supplements the workpiece driving force by the electrodes, so the same effect can be obtained even if an air cylinder is used as the motor.
したがつて、第1図の実施例と同様に同一動作
を繰返し、常に溶接軌跡を正確に電極加圧位置に
移動させることができる。 Therefore, the same operation as in the embodiment shown in FIG. 1 is repeated, and the welding locus can always be accurately moved to the electrode pressurizing position.
このように、直交座標と極座標を組合せた制御
方式を採用することにより、効率的に溶接線を誘
導操作することが可能である。数値制御の場合は
先きに述べたリンク機構方式でのデータインプツ
トによれば必要な溶接線制御ができる。 In this way, by adopting a control system that combines orthogonal coordinates and polar coordinates, it is possible to efficiently guide the welding line. In the case of numerical control, the necessary welding line control can be performed using data input using the link mechanism method described above.
以上、本発明によれば、溶接対象物の溶接線を
常に加工位置に一致させ、同時に溶接速度にマツ
チした移動を行なうことができるだけでなく、従
来使用されていた複雑なカム倣い装置を一切不要
とし、多品種にわたる複雑な形状の溶接対象物で
も溶接線の形状が異なる都度テイーチング或いは
数値制御に必要なデーターをインプツトすれば以
後プログラムに従つて同一動作を自動的に繰返す
だけであるから、今日のように混流化と高速自動
化の生産システムにも充分適用することができる
など、とくにシーム溶接の分野では従来のカム倣
い装置一辺倒から、今までにない発想的転換によ
り汎用性をもつ自動送り制御装置を実現すること
ができ、適用範囲の拡大を図ることができる。 As described above, according to the present invention, not only is it possible to always match the welding line of the welding object with the processing position and at the same time perform movement matching the welding speed, but also there is no need for the complicated cam copying device used conventionally. Even when welding objects with a wide variety of complex shapes, if the data necessary for teaching or numerical control is input each time the shape of the weld line changes, the same operation can be repeated automatically according to the program, so today In particular, in the field of seam welding, the conventional cam copying device has been replaced by an unprecedentedly versatile automatic feed control system that can be fully applied to mixed flow and high-speed automation production systems such as the above. The device can be realized and the scope of application can be expanded.
第1図は本発明にかかる極座標形自動送り装置
の斜視図。第2図は、極座標と直交座標を組合せ
た場合の自動送り装置を示す斜視図。
(符号の説明)、4,23……受け台、10,
25……支え軸、5……リンク装置、18,1
9,20,27,32,37……駆動動力装置、
24……第1台車、29……第2台車。
FIG. 1 is a perspective view of a polar coordinate type automatic feeder according to the present invention. FIG. 2 is a perspective view showing an automatic feeding device using a combination of polar coordinates and orthogonal coordinates. (Explanation of symbols), 4, 23...cradle, 10,
25...Support shaft, 5...Link device, 18,1
9, 20, 27, 32, 37... drive power device,
24...first trolley, 29...second trolley.
Claims (1)
け支える受け台と、この受け台の支え軸を回動的
に支える回転自在のアームからなるリンク装置と
を有し、上記受け台とリンク装置は駆動動力装置
によつて水平方向に作用する回転運動を支えられ
るようになし、しかも前記駆動動力装置はテイー
チングプレイバツク制御或いは数値制御方式によ
つて溶接対象物の溶接線を電極加圧位置に一致さ
せるべく駆動されることを特徴とする溶接線自動
送り装置。 2 電極間加圧位置の前面で溶接対象物を受け支
える受け台と、この受け台の支え軸を回動的に支
える数軸方向へ移動可能な台車とを有し、この受
け台と台車は駆動動力装置によつて回動運動と直
線運動をあたえられるようにした溶接線自動送り
装置であつて、上記駆動動力装置は溶接対象物の
溶接線を電極加圧位置に一致させるべき制御方式
によつて駆動されることを特徴とする溶接線自動
送り装置。[Scope of Claims] 1. A welding device comprising a pedestal for supporting the welding object in front of the interelectrode welding pressurizing position, and a link device consisting of a rotatable arm that rotatably supports the support shaft of the pedestal. , the pedestal and the link device are adapted to support rotational motion acting in the horizontal direction by a drive power device, and the drive power device is capable of welding the welding object by teaching playback control or numerical control. An automatic welding line feeding device characterized in that it is driven to align the line with an electrode pressurizing position. 2 It has a pedestal that supports the object to be welded in front of the inter-electrode pressurizing position, and a cart that rotatably supports the support shaft of this pedestal and is movable in several axes. This is an automatic welding wire feeding device that can provide rotational motion and linear motion by a drive power device, and the drive power device has a control method to align the welding line of the object to be welded with the electrode pressurizing position. An automatic welding wire feeding device characterized in that it is driven by a twisting motion.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP21268181A JPS58112662A (en) | 1981-12-25 | 1981-12-25 | Automatic weld line feeder |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP21268181A JPS58112662A (en) | 1981-12-25 | 1981-12-25 | Automatic weld line feeder |
Publications (2)
Publication Number | Publication Date |
---|---|
JPS58112662A JPS58112662A (en) | 1983-07-05 |
JPH0144432B2 true JPH0144432B2 (en) | 1989-09-27 |
Family
ID=16626643
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP21268181A Granted JPS58112662A (en) | 1981-12-25 | 1981-12-25 | Automatic weld line feeder |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS58112662A (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS62155972U (en) * | 1986-03-12 | 1987-10-03 | ||
JPS62169781U (en) * | 1986-04-11 | 1987-10-28 | ||
DE59403765D1 (en) * | 1993-04-08 | 1997-09-25 | Elpatronic Ag | Method for rolling seam welding of containers and roller seam resistance welding machine for carrying out the method |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS51109252A (en) * | 1975-03-22 | 1976-09-28 | Osaka Denki Co Ltd | Shiimuyosetsukino jidonaraisochi |
JPS5349781U (en) * | 1976-10-01 | 1978-04-26 |
-
1981
- 1981-12-25 JP JP21268181A patent/JPS58112662A/en active Granted
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS51109252A (en) * | 1975-03-22 | 1976-09-28 | Osaka Denki Co Ltd | Shiimuyosetsukino jidonaraisochi |
JPS5349781U (en) * | 1976-10-01 | 1978-04-26 |
Also Published As
Publication number | Publication date |
---|---|
JPS58112662A (en) | 1983-07-05 |
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