JPS63313679A - Method and device for detecting position in three dimensional direction - Google Patents

Abstract

PURPOSE:To automatize a work by respectively detecting the position in a 1st direction by the non-contact type main and sub sensors provided in a specified position and the position in a 3rd direction by a contact type by moving the position in a 2nd direction by a non-contact type sensor at the specified position. CONSTITUTION:The detection device 23 at the position in a 1st direction is provided with a non-contact type photoelectric switch main sensor 24 and sub- sensor 25 on the arm 26 provided by extending in the 1st direction from a welding electrode 10. A 2nd detection device 27 is provided with a non-contact type photoelectric switch 28 as a sensor via an arm 26'' on a welding machine 16, detecting the subordinate position of the aggregate 2' of a base frame and executing a spot welding at specified pitch for the 2nd direction therefrom. The position detecting device 29 in the 3rd directions 22 uses the electrode 30 of the welding machine 16, connecting the sensor 31 of the circuit by providing it in the space with a work 1. When the electrode 30 abuts to the work 1, a relay is actuated and the position for the work 1 is detected, an electrode 32 is pressed to the work 1 and specified spot welding is executed.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The disclosed technology belongs to the technical field of detecting welding positions when performing spot welding of large structural members made of metal.

<Summary of the gist> The invention of this application is a method for spot welding a side plate of a large structural member such as a railway vehicle to a base material in different first directions such as orthogonal to each other. The present invention relates to a method for detecting a position in a three-dimensional direction, which detects a predetermined position in a second direction, and a predetermined position in a third direction, and an apparatus directly used in the method, In particular, the detection of the position in the first direction is performed by moving in the first direction using a detection device consisting of a non-contact type main and sub sensor such as a photoelectric switch, which are provided at a predetermined posture and separated by a predetermined distance. Further, the position in the second direction is detected by moving in the second direction using a non-contact sensor detection device such as a photoelectric switch installed in a predetermined posture, and the position in the third direction is detected by a non-contact type sensor detection device such as a photoelectric switch installed in a predetermined posture. This invention relates to a method and apparatus for detecting a position in a three-dimensional direction by moving in a second direction using a detection device of a contact type sensor such as an electrode.

<Prior art> As is well known, among many mechanical devices and structures, many large and complex metal products are made up of welded joints between various parts, and it is important to improve mass productivity and reduce costs. Therefore, automatic welding means are widely used.

Therefore, spot welding, which causes less distortion, is used for steel structures, stainless steel structures, and the like.

For example, automatic welding such as so-called multi-spot welding or spot welding using robot technology is performed on lines for joining panel members in automobile manufacturing plants and the like for mass production of small items.

However, for example, in the case of railway vehicles, etc., where high-mix, low-volume production is required, or in large, complex structures where stainless steel plates and aggregates are assembled with a predetermined accuracy, spot welding is required. The location is extremely complex.

In addition, since the compound Xt is used for large and heavy workpieces, the welding equipment is also larger and heavier than in the automobile manufacturing industry, so it is not possible to attach the welding equipment to the robot, etc. A special large spot weld was used.

For example, a stainless steel railway vehicle 1 as shown in FIG.
In assembling, the front and rear end plates 3.3,
The side panels 4.4 and the roof panels 5 are joined together by spot welding, and as shown in Fig. 12, the inner panels 4 and outer panels 5 are spot welded 7.7... to the aggregate 4'.・
However, at the time of design, the span for each unit is 8.8
A predetermined pitch and dot area 9 for spot welding are determined, and in manual spot welding, errors in the dot positions are corrected by the operator's judgment.

<Problems to be solved by the invention> As a matter of course, manual spot welding has the disadvantages of low mass productivity and high cost, so the basic method of spot welding using automatic welding is However, as mentioned above, in the case of complex structures such as railway vehicles, and in the case of heavy and large workpieces, the welding machine must be larger.

In addition, in order to make it a general-purpose type from the point of view of performance, it is necessary to perform spot welding over a wide range with one automatic welding machine, and even if a numerical control method is adopted, the spot welding position as described above is not uniform. Instead, programs had to be created for each individual product and part, which often led to the inconvenience of making it difficult to generalize.

In particular, there are large manufacturing errors in large structures, and if errors occur in assembly or assembly in the previous process, there is a problem in that the numerical control method cannot detect or correct them.

Therefore, as a result, automation of spot welding for large, heavy, and complex structural workpieces such as railway vehicles is primarily hampered by the detection of dot positions during spot welding. It was a hindrance.

<Purpose of the Invention> The purpose of the invention of this application is to solve the technical problem of position detection, which is difficult to automatically weld using a large spot welding device with a complex structure based on the above-mentioned prior art, and Regardless of the amount of error due to assembly or assembly, or whether there is any error, the positions in three different directions, such as three orthogonal directions, are smoothly and automatically detected prior to detection, and the dot position is reliably corrected accordingly. It is an object of the present invention to provide an excellent three-dimensional position detection method and device that enables spot welding and is useful in the field of welding technology in the mechanical device and structure manufacturing industries.

<Means/effects for solving the problem> In order to solve the above-mentioned problem, the structure of the invention of this application, which is based on the scope of the above-mentioned patent claims, is to solve the above-mentioned problem. When performing three-dimensional work such as automatic spot welding of three-dimensional structures, when detecting the position in the first direction, the second direction, and the third direction, the position in the first direction is A pair of non-contact main and sub-sensor detection devices, such as a pair of photoelectric switches, provided at a predetermined distance and in a predetermined posture, are moved in a first direction to correct the position in the second direction. The position in the second direction is corrected by moving a detection device having a non-contact sensor such as a photoelectric switch installed in a predetermined posture in the second direction to circumnavigate the predetermined position. For the position in the third direction, a contact type detection device such as an electrode provided is moved in the third direction to detect the position, and the signal from these detection devices is used to detect the position. After positioning, spot welding is performed, etc., and technical measures have been taken to make it possible to perform versatile work despite the simple structure.

<Example> Next, an example of the invention of this application will be described below with reference to FIGS. 1 to 10. Note that the same parts as those in FIGS. 11 and 12 will be described using the same reference numerals.

The illustrated mode is a mode during spot welding work for assembling the body of a railway vehicle shown in Figures 11 and 12, and the first
As schematically shown in FIG. 0, the base 11 is provided so as to be movable in a first direction relative to the workpiece.

The sub-base 13 is made movable in a second direction via the transmission means 12 by a moving means (not shown) provided on the base 11, and furthermore, the sub-base 14 is transmitted from the leave base 13 to the sub-base 14 by the same moving means. It is provided movably in a third direction via means 15.

The sub-base 14 is provided with a three-dimensional position detection device 17 and a spot welding device 16, which are electrically connected to a sequence device 19 for control.

Therefore, the three-dimensional position detection device 17 assumes that there are errors caused by assembly and joining in the previous process for spot welding of plates and aggregates at each location of a structure such as a vehicle shown in FIG. 11. It is possible to perform spot welding by detecting the position of the spot welding point while three-dimensionally correcting it.

Now, in the embodiment of spot welding using a railway vehicle as a workpiece shown in Figs. 1 to 6, the embodiment shown in Figs. 1.2 is the embodiment of the position detection device 23 in the first direction, and Fig. 8 This is an embodiment in which the position of the base material 4' in the first direction 20 is detected when performing spot welding work between the side plate 4 and the roof plate 5 having the aggregate 4' shown in FIG. The detection device 23 includes a main sensor 24 and a sub-sensor 25 of a non-contact photoelectric switch on an arm 26 extending from the welding electrode 30 in a first direction. A sub-sensor 25 is placed at a position of dimension from the electrode 30.
is located at a distance n from the electrode 30 and a distance m from the main sensor 24.

As shown in FIG. 1, when performing spot welding 7.7 at a predetermined pitch within the dot area 9 in the span 8 in the first direction, the first detection device 23 Moving along the side plate 4, the spot welding position and the aggregate 4
’ position, the final spot welding point position is the first
Figure I, Mouth, Ha, Two, Ho, He, 1～,・・・・・・・・・
There are various aspects of..., and of course in terms of stage δ1,
These various aspects occur depending on the joining position including the installation error of the aggregate 4' in the vertical direction in the previous process.

Therefore, if the interval between the penultimate spot welding position 7E-1 and the last spot welding position 7 days is less than the dimension m, when the main sensor 24 detects the rising part of the base material 4', The sequence device 19 performs the first spot welding from the end on the 7th day using the spot welding electrode 30 at a position one dimension before the rising position of the aggregate 4'.
Do step 1 and move on.

In Figure 1, spot welding shown in E, H, G, and H can be performed without any problem.

When the second-to-last spot weld 7E-1 is performed at a position of dimension 1 or more from the rising part of the aggregate 4', the spot welding electrode 30 is connected to the third-to-last spot weld 7E-2. The second to last spot weld is performed at the set predetermined pitch, and for the last spot welds A, C, C, and II, spot welding is performed at the position where the sub-sensor 25 detects the rising part of the aggregate 4'. Board material 4,
Then, spot welding 7E is performed on the overlapping portion of 5 and aggregate 4'.

The next spot weld is a dimension 1 from the last spot weld position.
All you have to do is move forward by 0.

In this way, even if there is an error in the joining position of the aggregate 4' to the plate material 4 in the previous process, spot welding can be performed while automatically correcting the position.

Such a correction can be made by fixing the positions of the main sensor 24 and the sub-sensor 25 of the first detection device 23 with dimensions J and nXm with respect to the spot welding electrode 30 in advance to eliminate errors in the previous process. Spot welding7.7... can be performed while automatically correcting the It can also be determined automatically.

In this way, the main sensor 24 and the sub-sensor 25
Since spot welding can be performed in the first direction while detecting ′, spot welding can also be performed in the first direction on the periphery of the frontage of windows, doors, etc. as shown in Figure 8. .

Next, in the embodiment shown in Fig. 3.4, as shown in Fig. 9, horizontal aggregates 2', 2'...・When the 7 rungs for the web are arranged in different directions in the forward and reverse directions, the plate material 4 and the aggregate 2'
This is a mode of position detection in the first direction 20 of spot welding for joining with.

In such a case, it is not preferable to carry out spot welding uniformly, but it is preferable to carry out spot welding at a predetermined set position relative to the wear of the horizontal beam 2'.

Therefore, the main sensor 2 of the non-contact photoelectric switch is mounted on the arm.
4' and a sub-sensor 25' are provided, and the main sensor 24'
By detecting the forward/reverse direction of the flange and the distance between the wear and the wear by the sub sensor 25' and the photoelectric switch function, spot welding is performed when both the main sensor 24' and the sub sensor 25' are ON. Spot welding 7.7... can be performed in the part of the underframe 2 at a position avoiding interference with the horizontal aggregate 2'' in the first direction 20.

In this way, by arranging the main sensor 24' and the sub-sensor 25' in directions orthogonal to each other on the arm 26' and the arm 18 with respect to the horizontal beam 2', spot welding can be performed at the most preferable position from the web. It can be done.

Next, the embodiment shown in FIG. 5 is an embodiment of the second detection device 27 for detecting the welding position in the second direction 21 when performing spot welding in the second direction 21, and the arm 2 is attached to the welding machine 16.
A non-contact type photoelectric switch 28 is installed as a sensor via 6' to detect the lower position of the aggregate 2' of the underframe 2, and from there spot welding is performed at a predetermined pitch in the second direction 21 in the figure. This is something that can be done in such a way as to proceed.

In this embodiment, the position of the lower 7 lunges of the aggregate 2' is detected (
For example, after that, you can sequentially set the hitting position at a predetermined pitch upward.

In this way, basically the first direction 20. of the side plate 4 of the railway vehicle. and spot welding in the second direction 21 7.7
We will do...

Furthermore, the embodiment shown in FIG. 6 is an embodiment of the detection device 29 for detecting the position in the third direction 22 when performing spot welding in the third direction 22, using the electrode 30 of the welding machine 16, A circuit sensor 31 is provided and connected between the electrode 30 and the workpiece 1, and when the electrode 30 comes into contact with the workpiece 1, a relay is activated and the position relative to the workpiece 1 is detected.
2 is pressed onto the workpiece 1 to perform predetermined spot welding.

Further, the embodiment shown in Fig. 7 is an embodiment in which only the seven flange positions of the horizontal base material 2', which always has flanges in a fixed direction, need to be detected among the embodiments shown in Fig. 3.4. In that case, only a non-contact type photoelectric switch 24' is provided on the sub-arm 261 provided on the arm 18 of the welding machine to detect the position.

By electrically connecting the position detecting device 23 in the first direction, the position detecting device 27 in the second direction, and the position detecting device 31 in the third direction to the sequence device 19, Three-dimensional spot welding can be performed based on predetermined three-dimensional position detection without using special software or expensive robots.

It goes without saying that the embodiments of the invention of this application are not limited to the above-mentioned embodiments, and include spot welding of not only railway vehicles but also other mechanical devices and structures. Various aspects can be adopted, such as application to other machine tool devices.

<Effects of the Invention> As described above, according to the invention of this application, position detection in forming processing equipment such as spot welding used for large-scale, high-mix, low-volume production, etc., which has a basically complex structure, can be performed three-dimensionally. It is possible to perform automated work without using complex numerical control, special software, or expensive robots, and it is possible to perform various tasks with high precision by absorbing errors in assembly and joining in the previous stages. This is an excellent effect.

In particular, when detecting the position in the first direction, by using a main sensor and a sub-sensor that are installed on the arm at a predetermined distance and in a predetermined posture, even if there is an error in the previous stage, the error or obstacle can be detected. The excellent effect of being able to perform a predetermined work in response to the situation is achieved.

Also, by using a non-contact type sensor in detecting the position in the second direction as in the case of detecting the position in the first direction,
The excellent effect is that a predetermined position can be detected without interference with other objects and a predetermined work can be performed.

Furthermore, once the position in the first direction and the position in the second direction are detected in a non-contact manner, the position in the third direction can be detected in a simple contact manner. Even in directional position detection, the structure is made into a cylinder, which has the excellent effect of reducing costs.

Furthermore, automatic work is performed by replacing manual visual inspection with a sensor detection method, using sequence control instead of a computer, and using moving means and transmission means instead of manual work. I can do it.

Therefore, although it is a simple device, it can have versatility, and has an excellent effect of being useful in processing work of products such as high-mix low-volume production.

[Brief explanation of the drawing]

1 to 10 are detailed explanatory diagrams of the invention of this application,
Fig. 1 is a partial schematic diagram of spot welding in one embodiment, Fig. 2 is a schematic diagram of a detection device for positioning in the first direction, and Fig. 3.4 is a schematic diagram of a position detecting device in the first direction in another embodiment. Figure 5 is a diagram of the detector for the position in the second direction, Figure 6 is a diagram of the detector for the position in the third direction, and Figure 7 is another diagram of the detector for the position in the first direction. Example diagrams, FIG. 8 is a schematic perspective view showing an example of spot welding, FIG. 9 is a schematic perspective view of the same method, FIG. 10 is a schematic diagram of the detection device, and FIG. 11 is a perspective view of an example of welding work. 12 are schematic plan views of spot welding points located in the first direction. 20...First direction, 21...Second direction, 22
...Third direction, 23...First detection device, 27
...Second detection device, 29...Third detection device,
24... Main sensor-125... Sub-sensor, 30.
...sensor, 17...detection device

Claims (2)

[Claims] (1) In a method of detecting three-dimensional positions at predetermined positions in three mutually different directions, first, second, and third, the position in the first direction is detected at a predetermined distance and in a predetermined posture. The position in the second direction is detected in a non-contact manner by moving in the first direction using the provided first main and sub-sensor, and the position in the second direction is detected in a non-contact manner by moving in the second direction using the second sensor. A method for detecting a position in a three-dimensional direction, characterized in that the position in the third direction is detected in a contact manner by moving in the third direction using a third sensor. (2) In a device that detects three-dimensional positions at predetermined positions in three mutually different first, second, and third directions, a non-contact main and sub-sensor is provided in a predetermined position and orientation. a position detection device in one direction; a second direction detection device having a non-contact type sensor provided in a predetermined posture; and a position detection device in a third direction having a contact type sensor provided. 1. A three-dimensional position detection device, comprising: a detection device.