JPS6213275A - Teaching device for robot in automatic seam welding equipment - Google Patents

Abstract

PURPOSE:To miniaturize a welding machine and to perform a welding in high accuracy with a correct teaching by operating a welding machine with each encoder teaching signal of the robot model being in the same size and mecha nism as the automatic seam welding machine providing numerous robot units. CONSTITUTION:A seam welding machine welds the flange of a work W by the robot 9 providig and electrode roll 2 and numerous robot units 181-184. The robot model 109 having the same mechanological size and motion with the robot 9 is placed on board a frame body 101 so that the relative position to the roll 1021, 1022 for teaching becomes same mechanologically with the relative position of the robot 9 for the electrode roll 21, 22. The flange weld zone of the work model W is trailed by the robot model 109, teached to the robot unit 181, 184 and the welding is performed by the robot 9. Because of the teaching device being set up sparately the welding machine can be miniaturized and the welding of the work W is performed accurately and with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention includes a seam welding machine equipped with a pair of electrode rolls and a multi-axis robot mounted thereon. The workpiece is guided to the welded part by the electric current 4.
This invention relates to a teaching device for a robot connected to an automatic seam welding device that is fed between IiAO and L.

(Prior art) The above-mentioned automatic seam welding was first applied to by the applicant in 1973.
In this case, each axis of the robot is moved according to numerical data calculated from the shape of the welded part of the workpiece.

(Problem to be solved by the invention) In the above method, in the case of a workpiece where the shape of the welded part changes three-dimensionally, such as a fuel tank for a two-wheeled vehicle, a large-sized computer is used to obtain the numerical data of each axis. I have no choice but to use
There is also the problem that inputting the shape becomes troublesome.

By the way, the teaching device of conventional painting robots
According to Japanese Patent No. It is known that models are placed side by side in a seam welding machine, and an operator uses the models to perform teaching work. [With the 1-bot model shifted to the robot tower mounting position, teaching work is performed without holding the workpiece, and the 1-bot model is moved from the encoder of each axis of the model It is also conceivable to store the position data in a storage device and operate the rerobot based on a reproduction signal from the storage device.

However, in this case, the seam welding machine must be equipped with a robot, a model, and its shift mechanism, so the seam welding machine is operated by humans! In addition, due to the difficulty of accurately positioning the robot and robot model at the same position, teaching +1. Relative robot model 13' (relative to the electrode roll of 'l' and the actual i1J
If, 1's electric current (L"II for L[]-L), there is some difference between L'jl and l'j+,
There is a problem that the workpiece cannot be guided as instructed during actual operation.

Also, the teaching port 1 rotates the electrode roll at a lower speed than the actual work 11.1 to perform the teaching work. In this case, it is desirable to perform teaching work with electricity supplied to a small number of rolls.
- It has been confirmed through experiments that when performing formation, the seam weld line of the welded part of the workpiece deviates from the normal taught line.

This is due to the difference in the heating time of the workpiece between electrode 1 and the roll, which causes a difference in the degree of melting of the workpiece between teaching and actual working, and the slip skewer of the workpiece relative to the electrode roll changes, causing the workpiece to melt. This is thought to be due to the synchronization between the actual feed speed by the electrode roll and the operating speed of the L hot. By operating the robot, it is possible to prevent the seam welding line from shifting.In other words, it is possible to perform teaching work without energizing the electrode roll and to perform the seam welding line accurately by correcting the teaching data appropriately. It turns out that it can be obtained.

In the present invention, if the teaching operation is performed without energizing the electrode roll as described above and there is no problem, even if a separate device for teaching Q'I is provided, a transformer can be added to it. Focusing on the fact that the robot model does not need to be attached to a seam welding machine and is not a big burden in terms of cost, we solved the above problems when installing the robot model in parallel with a robot and made teaching work easier. The object is to provide a device which is easy to perform.

(Means for Solving the Problems) In order to achieve the above object, the present invention provides a multi-axis robot equipped with a seam welding machine body equipped with a pair of electrode rolls, which has the same mechanical control and operation. A robot model is prepared in which each encoder is connected to each axis in place of a drive source, and a teaching robot model is provided which is equipped with a pair of teaching wheels corresponding to the electrode roll separately from the robot body. A frame body is provided, and the [1 model] is placed on the teaching roll for 24'i.
A robot whose relative position with respect to the electrode roll is mechanically the same as the relative position of the robot with respect to the electrode roll was mounted on the frame.

(Function) A workpiece is held in the robot model, and while the teaching roll is driven to rotate at a predetermined circumferential speed by a drive source, an operator guides the workpiece and rotates the welded part between the teaching rolls. The position data of each axis of the model detected by each encoder is sent synchronously and is input to a suitable storage device at predetermined time intervals and stored therein.

During this teaching work, each axis of the robot model (unlike when teaching directly with a robot installed in an actual machine)
It moves smoothly with the movement of the workpiece without receiving any load from the drive source, and therefore the workpiece can be guided with a light force, making teaching work easier.

In addition, the relative position of the 1 model mounted on the teaching frame and the teaching roll, and the relative position and mutual positional accuracy of the robot mounted on the body of the seam welding machine and the electrode roll,
When the robot model 1 and the white model 1 are mounted on a seam welding machine in a shiftable manner, the difficulty of positioning is eliminated (improved).

Furthermore, since the teaching frame is only equipped with a teaching roll, its driving source, and a robot model, it is much smaller than a seam welding machine that is equipped with lances. is,
The teaching work can be performed by arranging the frame in an appropriate dead space such as the arrangement interval of the seam welding machine, and the effective use of factory space is avoided.

(Example) Embodiments of the present invention will be described based on the drawings.

Referring to Figures 1 to 3, (1) the body of the kit seam welding machine is shown, and the front part of the body (1) has a pair of upper and lower electrode rolls (2+) (22), and the rear part of the king. drive sources (31) and (32) for each of the rolls (2+) and (22) are provided, and here, one part of the electrode rolls (2+H, L, and an electrode holder () which is lowered by the pressure cylinder (4)) are provided. The lower electrode rj-le (22) is rotatably driven by the drive source (31) via the linol gear (6), and the lower electrode rj-le (22) is rotatably supported by the electrode 7 tortor (51) fixed to the body (1). !l 2 ) and driven 111λ by the drive source (32), the lower electrode lowers the welded part of the workpiece W of the fuel tank for two-wheeled vehicles by lowering the upper electrode roll (2I). Roll (22)
In this state, the two rolls (21) (22
) is rotatably driven, and is mounted on the rear of the fuselage (1), and electricity is applied from the electric heater (7) through the ounce copper plate (8) to perform seam welding of the welded portion. During welding, the workpiece W is guided and the welded part is placed between the rolls (2+) and (22) in the same manner as the rotation! A robot l-(9) was loaded onto the aircraft (1) in order to send the robot III. In the drawing, (2a) shows the circumferential speed detector of the Lels electrode roll (21) 1° The robot (9) is mounted on a base (1+1@(perpendicular to IG) 11a), and a robot body (It) 411 installed so as to be able to rotate freely around the [1
The horizontal 2i1'1ll (12
The first shaft extends forward and is pivotably pivoted around a).
A horizontal third axis (
13a), a second arm a3 that extends downward and pivots freely around the second arm a3; l'lΦ, a wrist arm (19) is rotatable about a fourth axis (15a) perpendicular to the wrist l'l@, and a cross joint 0 is attached to the arm (+411).
Attach C work holder (+71) through e, and connect each axis (1
1al(12a)(13a)(15a) respectively with separate drive sources (18+) I 182) (1
83) Rotation is controlled by (IL) and the holder ah
The workpiece W, which was stuck in a daze, was guided along the indicated trajectory for a predetermined number of times so that it would move 1''.

In the illustrated example, the robot body (11) has a second axis (
In addition to the drive source (182) for the third chapter (12a)
) is equipped with a drive source (183) for the drive source (183).
The third shaft (13a) is connected to the third shaft (13a) via a chain (not shown).
I made it rotate.

The above is not particularly different from the automatic seam welding device previously proposed by the applicant of the present application, and further detailed explanation will be omitted, and the mounting device which is a feature of the present invention will be described below (Explanation 1).

With reference to FIGS. 4 to 6, (101) is the electrode L
A pair of upper and lower textbooks corresponding to l-le (21) (22) [1-le (1021) (1022) and their driving source (1
03) and a teaching frame with η6, and the robots 1 to 1
A robot model with the same mechanical dimensions and motion as (9) (
109), the respect roll (102,) (IQ22
) with respect to the phase λj position of the electrode [1-le (21) (
It shall be mounted on the frame (101) so as to be mechanically in the same relative position as the [1 box I-(9)] with respect to (22). , the frame (101)
The lower teaching roll (1022) of the holder (1052) fixedly installed at the middle part in the height direction of the holder (105) is pivotally supported.
2) A pivot shaft (10
The holder (10) is swung toward the person centering on the
51), the upper teaching lever (102,) is pivotally supported on the 11-ruder (1051), and a driving source (103) is connected to the Ft end of the upper teaching rod (102,). The upper teaching roll (102+) is rotated at a predetermined circumferential speed by the drive source (103) with the welded part of the workpiece W being sandwiched between the two teaching rolls (1021) and (1022). If so, the lower electrode roll (1022) is
is driven to rotate, and both [l-le (1021) (10
22) The welded part is pulled in between J: Ushita, drawing C (
102a] indicates a peripheral speed detector of the upper teaching roll (102,).

The robot model (109) has a first axis (111a) perpendicular to a base (110) fixed on the top surface of the frame (101).
The Iζ robot body (11
1), and a second horizontal part on the top of the robot body (iii).
a first arm (112) that extends forward and is swingable around a shaft (112a);
) at the tip of the second arm (113), which is swingably pivoted around a horizontal third @ (113a), and at the lower end of the second arm (113), each arm (112) (11
The hand 1ji (114) is attached so that it is always maintained in a constant posture by a link type parallel ruler mechanism consisting of a pair of links (1148) < 114b) parallel to A wrist arm (115) rotatable around the fourth axis (115a) of the
Attach the C soak holder (+71) to '-l\ (115) through the same 4-shaped joint Oe as in (9) for [1 to 1].
), and here the first and second arms (112) (11
3), the wrist (114) and hand blind arm (115) are constructed so that the mechanism and target cutting method are the same as those of the actual robot (9) mentioned above, and the robot body (il
i), the relative position of the first axis (111a) and the second axis (112a) to the teaching [1-rule (102+) (1022) is [1-bottom 1-(9)]. 2-axis (11a) (
12a) relative to the electrode roll (2+) (22), and as shown in FIG. 7, the reducer (119, ) is connected to the first shaft (111a) via a first encoder (
12(h), and the deceleration is connected to the second shaft (112a) through (1192) to the second engine which is ]-da (120,), and the second arm (113), that is, the second arm (113) via the reducer (119:I) and the link (121) parallel to the first arm (112) 3 axes (113a)
Attach the third engine (1203) connected to the
As shown in Figure 4, a reducer (11) was installed at Matate City (114).
A fourth encoder (1204) connected to the fourth shaft (115a) via a shaft (115a) was attached.

In the drawing, (121a) is a rotating arm connected to a reducer (1193), (121b) is a connecting ham (122) connecting the arm (121a) and a link (121), and a connecting ham (122) is connected to a robot body (111). A balancer spring stretched between the tip of the first arm (112) is shown.

Using the teaching device configured as described above, a robot model (
109) to hold the workpiece W, and the teaching roll (102
1) While rotating the roll (1022) at a predetermined circumferential speed, the worker guides the workpiece W and welds the welded part onto the roll (102).
1) Feed in synchronization with the rotation between (1022),
Each of the first to fourth echoders (120+) (1202)
(1203) Each axis (111a) from (1204) (
112a) (113a) (115a) place 7J signal,
As shown in Figure 8, length 1 ring periodic oscillator (123)
Direction determination 41 (12
4), current value counter (125), buffer (12
6) into the memory (127), and after this teaching work is completed, it is included in the welding conditions such as the circumferential speed of the electrode rolls (21) and (22) and the welding current at the time of assistance! (Teaching stored in the message (127)) - Correct the performance r1 directly, and complete the actual machine [1 pop (9) a, lJ control data].

In the drawing, (128) is the initial lIl'I setter, (129)
accepts CPI+.

(Effects of the Invention) As described above, according to the present invention, teaching work can be performed with light force using a robot model, and workability is improved. Since the teaching roll and the robot model are mounted in a separate frame in a predetermined positional relationship, the IX1 pot and the robot model can be freely mounted on the body of the seam welding machine. Compared to the above, the seam welding machine can be made smaller, and the positional precision of the bot model can be improved.
Il is also easier to maintain, and it is possible to take accurate teaching data that matches the positional relationship between the robot and the electrode roll.
In addition, the frame can be made smaller, making it possible to use appropriate dead space in the factory as a teaching work area, resulting in the effective use of factory space.

[Brief explanation of drawings]

Figure 1 is a side view of automatic seam welding equipment, Figures 2 and 3
The figures are a front view and a plan view, respectively, FIG. 4 is a side view of an example of the teaching device of the present invention, FIGS. 5 and 6 are a front view and a plan view, respectively, and FIG. 7 is a VU of FIG. 4. 8 is a block diagram of a memory device that records signals from the N2V. (1) Seam welding machine body (2+) (22) Electrode roll) Robot (101) Teaching frame (1021) (1022) Teaching roll (10
3)... Drive source (109)... Robot model

Claims (1)

[Claims] A robot teaching device for an automatic seam welding device in which a multi-axis robot is mounted on the body of a seam welding machine equipped with a pair of electrode rolls, and the robot guides a workpiece and feeds the welded part between the electrode rolls. A robot model is prepared which has the same mechanical dimensions and movements as the robot, and has each encoder connected to each axis in place of a drive source, and a pair of robots corresponding to the electrode rolls are prepared separately from the machine body. A teaching frame including a teaching roll and a driving source for the teaching roll is provided, and the robot model is moved so that the relative position with respect to the teaching roll is mechanically the same as the relative position of the robot with respect to the electrode roll. A teaching device for a robot in an automatic seam welding device, characterized in that it is mounted on a frame.