JPS6356361A - Automatic welding equipment - Google Patents

Abstract

PURPOSE:To prevent the occurrence of weld defects and to improve the quality and reliability of a welded body by tracing and detecting a welding place of an object to be welded mounted on an elevation and rotation indexing device and calculating and storing it and teaching it to a welding robot to perform the automatic welding. CONSTITUTION:The indexing device 27 on which a rotor 1 is mounted by a supporting ring 26 is sent from the top of a guide groove 21a to a guide groove 24a of a table 24 and a shaft 2 is abutted on a shaft 15 of a tailstock device 16 by the rising of the table 24 by a motor 36 and a screw jack 37 and supported surely by a handle 14. A wrist 29 of the welding robot 31 is turned and a phototube detector 52 is brought into contact with the commutator surface 3 and the welding place is traced and detected and calculated with a storage and arithmetic controller and stored therein and the wrist 29 is turned to weld the welding place 4c by a torch 30. The prescribed angle rotor 1 is turned by the controller and the welding place is again detected by the detector 52 and welded by the torch 30. Since the welding place is confirmed and welded, the occurrence of the weld defects is surely prevented and the commutator 3 of the rotor 1 can be welded with the excellent quality.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Field of Application) The present invention relates to an automatic welding device, and particularly to welding in the circumferential direction, such as welding a commutator and a coil outlet of a rotating electric machine. The present invention relates to a welding device that is applied to a plurality of welded parts arranged along a line.

(Prior Art) FIG. 7 shows a rotor having a commutator of a rotating electric machine. In the figure, a rotor 1 includes a commutator 3. mounted on one end of a shaft 2. It consists of an iron core (not shown) attached to the middle part of the shaft 2, an armature coil (not shown) whose middle part is inserted into a groove in the iron core, and whose sunrise part at the end is welded to the commutator 3.

As shown in FIG. 8, this commutator 3 includes commutator pieces 4 and insulating mica pieces (hereinafter referred to as mica pieces) 5 arranged alternately and combined into a circular shape as a whole by an annular member (not shown). In addition, the commutator piece 4 has a slot 4a into which sunrise portions 6a and 6b of one of two armature coils (not shown) and a pawl 6cu are inserted. It is provided in the section 4b.

By the way, the rotor 1 described above rotates at high speed while being energized. Therefore, it is necessary to weld the commutator 3 and the armature coil so that they are mechanically strong and have low electrical resistance.
C was welded by hand.

(Problems to be Solved by the Invention) As described above, the commutator piece 4, the mica piece 5, the outlet part 6a
, 6b, pawls 6c, etc., when manufacturing the commutator 3, as shown in FIG. 9, the commutator pieces 4,
Because the mica pieces 5 have uneven thicknesses (within an allowable range), they do not form a radial line with respect to the center point a of the commutator 3, and, for example, point b or point C becomes the central position on the extended line. (However, even if the welding surface 4d is not formed at the center point a of the commutator 3, it will not affect the electrical performance of the rotor 1).

In addition, when attempting to weld using an automatic welding device, the welding surface 4d shown in FIG. 10 is in a very poor surface condition, so the welding location 4c cannot be detected, and this welding surface 4d is processed using a lathe. However, on this processed surface, the remaining part 4e of the slot 4a, the slot 4a and the opening part 6a are formed.

Hole 4f formed between 6b, exits 6a and 6b and pawl 6
Because there are holes 4g, etc. that occur between 0 and 0, it is impossible to determine whether it is the mica piece 5, the remaining portion 4e of the slot 4a, the hole 4f, or the hole 4g even if a reflective phototube, eddy current detector, etc. are used. . For this reason, it has become impossible to detect and weld the welding surface 4d.

Therefore, in the conventional automatic welding apparatus, as shown in FIG. and a feed screw 11, and connect the feed screw 11 to the handle 1.
2, a support plate 13 guided by a guide shaft 10 is raised and lowered, and a tailstock device 16 is provided with a shaft 15 that is raised and lowered by rotation of a handle 14 on this support plate 13. Supported by the support shaft 7 and shaft 15,
The reflective phototube 17 is attached so as to be perpendicular to the rectifying surface of the commutator 3 (the surface that contacts the energizing brush). After setting up in this way, the rotor 1 was rotated, and when the mica piece 5 was detected, the rotor 1 was stopped, and the welding torch 18 was moved in the X direction to perform welding.

However, in this method, since the mica piece 5 distant from the welding point 4C is detected instead of the mica piece 5 corresponding to the welding point 4c, if the welding point 4C is not on the radiation line with respect to the commutator center point a mentioned above, Even if an attempt is made to weld the welding point 4C, other welding points will be welded beyond the mica piece 5.

Therefore, even when such automatic welding equipment is used, after welding, workers must carefully visually inspect hundreds of welding points, and what should be separate welding points become continuous welding points. If you find a defective part,
Repair work was being carried out to remove the mica pieces between the welds by hand using saw teeth, files, etc.

Not only does this repair work take an extremely large amount of time, but it also requires visual inspection of hundreds of welding points one by one to repair defective welding, making it difficult to see the corrected points due to eye strain. In some cases, errors occur and abnormalities occur in the next process, requiring correction work to be carried out again, creating a bottleneck in the manufacturing process.

Therefore, it has been desired to develop an automatic welding device that can weld by moving a welding torch according to the location to be welded.

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic welding device that can correctly weld by following the welding locations even if the welding locations are not correctly arranged on a radiation line with respect to the center.

[Structure of the invention] (Means and effects for solving the problems) The present invention has the following features:
An indexing device that rotates and positions the object to be welded, a detection device that detects the welding point of the object to be welded, and a signal from this detection device that is memorized, calculated, and recognized to determine the welding position,
It consists of a storage arithmetic and control device that transmits this welding position signal to an indexing device, and a welding robot that welds according to teaching commands transmitted from this storage arithmetic and control device. The signal from the detection device is superimposed on the pulse output from the pulse oscillator installed in this indexing device, and is given as an input signal to the memory calculation and control device, which calculates and recognizes the welding location. The welding position data is stored together, and based on this data, the indexed position of the welding location is output to the indexing device. In addition, when the indexing by the indexing device is completed, the teaching data including the conditions for welding one pot based on the welding position data is transmitted from the storage arithmetic control device, and the welding robot starts welding using this data. This is how it was done.

(Example) Hereinafter, an example of an automatic welding apparatus of the present invention will be described with reference to the drawings. Note that the same parts as in FIGS. 7 to 11 are given the same reference numerals, and redundant explanation will be omitted. In FIGS. 1 and 2, an automatic welding device 20 includes a lifting device 2 installed in a pit 22 that opens onto a floor (or work surface) 21.
3, and the guide groove 21 installed in the floor surface 21'' when raised and lowered by this lifting device 23 and raised to the floor surface 21.
．． A table 24 with a guide 11124a connected to a
The indexing device 27 includes a roller 25 guided by the guide groove 24a of the table 24 and the guide @ 21a of the floor surface 21, and has a support ring 26 for the rotor 1 on the upper part, and a tailstock device 16. , a well-known welding robot 31 with a welding torch 30 attached to the wrist 29 at the tip of an arm 28, a robot control device 32 that controls the welding robot 31, and a memory calculation control device (hereinafter referred to as the control device) that controls the entire welding robot 31. ).

Here, the above-mentioned lifting device z3 is composed of a screw jack 37 driven by a motor 36 and a guide shaft 38 on the upper part of the frame 35, and the upper parts of the screw jack 37 and the guide shaft 38 are connected to the table 27. Engaged to the bottom surface.

Further, the support 26 of the indexing device f, 27 described above is rotatably attached to the underframe 40 via a bearing 41, and has a shaft 42 integrally attached to its lower part. Pulleys 43 and 44 are attached to this shaft 42 so as to rotate together therewith.

. The pulley 44 is connected to the servo motor 5 via the timing belt 48 and the pulley 49.
Connected to 0. A resolver 51 is integrally connected to this servo motor 50.

On the other hand, on the side of the wrist 29 of the welding robot 31, there are two reflective phototubes (hereinafter referred to as phototubes) 52a and 52b.
A detector 52 is attached to detect the welding surface 4d.

Note that the control device 33 is a well-known computer 33 consisting of an interface 33a, a central processing unit, a storage device, etc.
b, consists of a pulse generator 47, a resolver 51
, phototubes 52a, 52b, robot controller 32, etc., are inputted via the interface 33a, and the servo motors 50. The device output signal is output to the robot control device [32 via the interface 33a.

Next, the operation of the above configuration will be explained. First, rotor 1 is
Support the end of the shaft 2 and insert it into the indexing device! 27, and is moved up and down by the lifting device 23 so that the welding surface 4d is at a constant position (height). After this, the handle 12 of the tailstock device 16 is turned, the support plate 13 is lowered and the shaft 15 comes into contact with the shaft 2, and the handle 14 is further turned to ensure that the shaft 15 is in close contact with the shaft 2, and the rotor 1 Set.

After completing this set, the control device 33 transmits a robot teaching command to the robot control device 32, and the welding robot 31
from the welding robot origin to the welding start position. After that, rotate the wrist 29 of the welding robot 31 to detect the detector 5.
After directing the rotor 2 toward the center of the commutator 3, a command is given from the control device 33 to the servo motor 50 to rotate the rotor 1 at a constant speed. When the rotor 1 rotates, the pulse generator 4
7 also rotates and outputs a pulse, which is given to the control device 33 as an equipment input signal.

Further, when the rotor 1 rotates, a detection signal is given to the control device 33 as an equipment input signal from the phototubes 52a and 52b that detect the welding surface 4d.

Therefore, this detection signal becomes a completion signal superimposed on the pulse signal from the pulse oscillator 47, and each device input signal is sent to the computer 33 via the interface 33a.
b.

This storage in the computer 33b is performed continuously until the rotor 1 makes one revolution, and after one revolution, the servo motor 50 stops and the detection of the welding surface 4d ends.

FIG. 3 shows a phototube 52a (the same applies to a phototube 52b)
This shows the state in which the detection signal of is input to the control device 33. In the same figure, the signal 55 is the pulse oscillator 47
The pulse output from the phototube 52a, the signal 56, is a signal output from the phototube 52a, and the signal 57 is a signal obtained by superimposing the signals 55 and 56, and is input to the computer 33b. for example,
In the signal 57, the signal 58 represents the mica piece 5, and the signal 59 represents the commutator piece 4. The signal 60 occurs at the welding surface 4d after lathe processing before welding.

The remainder of the slotted part 4e, the hole 4f created between the slotted part and the protrusion 11, the hole 4 created between the sunrise part and the pawl.
This is a signal that is not needed to find the center position of the welding point 4c. Therefore, the computer 33b finds the inter-pulse distance Q stored in the computer 33b in advance in the signal 57, and processes data whose inter-pulse distance is not around this Q as unnecessary data. This Q is calculated depending on the type of commutator.

That is, signal 61 is in signal 57, and 1. Since the signal 60 is much smaller, the signal 60 is inverted and processed within the computer 33b.

FIG. 4 shows the photocell 52 processed by the computer 33b.
b, the detection signals 61 and 62 of 52a are sent to the computer 33;
Fig. 3b shows a method for determining and recognizing the center position of the welding point 4C.

In the same figure, the center of the commutator piece 4 of the signal 61 is set as C1, the center of the commutator piece 4 of the signal 62 is set as 02, and the self and 02
The line 63 connecting them (shown as a dashed line in the figure) is the welding point 4.
This is the center line of c, that is, the center position.

The position of C1 can be determined by counting the number of pulses P from the pulse generation point S to C1 using the computer 33b. Similarly, for the position of C2, the number of pulses P2 from the pulse generation point S to 62 is determined by the computer 33b.
It can be calculated by counting.

As shown in FIG. 5, since the distance L from the center of the commutator 3 to the phototube 52a and the distance I, 1 between the phototubes 52a and 52b are predetermined, the difference between the centers C1 and C2 of the commutator pieces, that is, r ', =P, -P, the spatial coordinates of the welding point 4c shown in FIG. 6 (Xl, '/1./1.),
(X2°Y2,22) can be found (Z,,Z
, is always at a constant position because the height of the welding surface 4c is constant).

Based on the spatial coordinates obtained by the computer 33b in this way, a rotation command is given to the servo motor 47 as an equipment output signal from the control device 33, and the servo motor 47
A rotation command is given to the servo motor 47, and the indexing device 27 indexes the welding location 4c.

Further, the computer 33b creates a welding robot teaching command along the welding location 4c based on the spatial coordinates, and the welding robot teaching command including the amount of movement, welding conditions (welding current, riving conditions, etc.) is sent from the control device 33. is transmitted to the robot control device 32. When this transmission is completed, the welding robot 31 moves the welding point 4c according to the welding robot teaching command.
Weld along the center of the

The welding operation is completed when all the welding points 4c on the welding surface 4d are welded by repeating the series of operations as described above.

As explained above, the No. 112 configuration places two phototubes at separate positions along the radiation direction on the welding surface of the commutator, and combines these phototubes with a pulse unoscillator and a computer, so that the center of the welding point is Since the welding robot moves along the center of the center, welding can be performed accurately.

In the embodiment described in section 1, an inexpensive phototube is used as the detector, but any other sensor may be used as long as it can provide the same function as the phototube. Furthermore, detection accuracy may be improved by using a high-resolution one-dimensional or two-dimensional image sensor. Furthermore, the detector may be provided separately from the welding robot l-.

〔Effect of the invention〕

Since the present invention uses a detector to detect each welding position on the welding surface in advance, there is no detection error due to dust generated during welding, and even if the welding location is not within the radiation range from the center of the commutator, the computer Based on the processed welding position data, the indexing device accurately determines the welding location and provides teaching commands to the welding robot, allowing for accurate welding along the welding location. Therefore, unlike conventional automatic welding equipment, welding beyond the mica piece to other welding locations is completely eliminated, and manual correction of defective welding locations and visual inspection of defective welding locations are no longer required. Therefore, there is no misidentification of welding defects due to bone fractures, etc. in [1].

From the above, it is possible to manufacture a rotor with excellent quality and reliability.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an embodiment of an automatic welding device of the present invention, Fig. 2 is an explanatory diagram showing a part of the configuration of an embodiment of the invention and signal input/output relationships, and Fig. 3 is an illustration of the present invention. FIG. 4 is an explanatory diagram showing a pulse signal according to an embodiment of the present invention. FIG.
6 is an explanatory diagram showing the arrangement and distance of the detector from the center of the commutator in one embodiment of the present invention, FIG. 6 is an explanatory diagram showing the spatial coordinates recognized by the control device in one embodiment of the present invention, and FIG. 8 is an exploded perspective view of the commutator of the rotor shown in FIG. 7. FIG. 9 is a perspective view showing the rotor of a rotating electric machine related to an embodiment of the present invention. FIG. 9 is an exploded perspective view of the rotor commutator shown in FIG. Explanatory diagram showing the arrangement state of commutator pieces and mica pieces of a child commutator, 1st
FIG. 0 is an explanatory view showing the state of the welding surface of the commutator of the rotor shown in FIG. 7, and FIG. 11 is a perspective view showing a conventional automatic welding device. 1...Rotor 2...Commutator 4c...
Welding location 23... Lifting device 27... Indexing device 30... Welding torch 31... Welding robot 32... Welding robot control device 33...
・Storage calculation control device 47...Pulse oscillator 52...
・Detector (8733) Agent Patent attorney Yoshiaki Inomata (and 1 other person) Figure 3, Figure 4, Figure 2, Figure 5, Figure 6, Figure 7, Figure 8, Figure ll

Claims (3)

[Claims] (1) An indexing device that rotates and positions the object to be welded;
a detection device that detects the welding location of the object to be welded, and a storage calculation control device that stores, calculates, and recognizes the signal from the detection device to determine the welding position, and transmits the welding position signal to the indexing device. and an automatic welding device consisting of a welding robot that performs welding according to teaching commands transmitted from this storage arithmetic control device. (2) The automatic welding device according to claim 1, wherein the indexing device is supported on a table that can be raised and lowered. (3) The automatic welding device according to claim 1, wherein the detection device is attached to a welding robot.