TWI722458B - Multi-axis welding device and welding head height compensation method - Google Patents

Abstract

A multi-axis welding device includes a holder, a swinging device, a sliding device, a welding device and a lapping device. The swinging device links the holder to swing and incline. The sliding device links the holder to slide. The welding device includes at least one welding head. The holder is for placing a workpiece, and the holder links the workpiece to move, incline and swing. The welding device links the welding head to move and swing, therefore the welding head is always perpendicular to a welding surface of the workpiece. The lapping device laps the welding head and provides a height compensation of the welding head according to a lapping quantity. Thereby, a welding process and a lapping process can be integrated in the same equipment, therefore the working efficiency can be enhanced and the manufacturing cost can be reduced.

Description

Multi-axis welding device and welding head height compensation method

The invention relates to a multi-axis welding device and a welding head height compensation method. More particularly, the present invention relates to a multi-axis welding device and a method of welding head height compensation capable of real-time welding head grinding and height compensation.

Generally, the frame of automobile doors and windows is constructed by welding multiple components. For example, please refer to Figure 1 and Figure 2. Figure 1 is a schematic diagram showing the structure of a car door and window frame; Figure 2 is a schematic diagram showing the assembly of the car door and window frame in Figure 1. In Figure 1, the frame of the car door and window is composed of a first frame rod 101 and a second frame rod 102 welded together. The first frame rod 101 and the second frame rod 102 are curved to conform to the shape structure of the automobile doors and windows. Generally, the first frame rod 101 has an outer side surface 101a in a curved arc shape, and the second frame rod 102 has an inner side surface 102a in a curved arc shape. In addition, the outer surface 101a of the first frame rod 101 and the inner surface 102a of the second frame rod 102 can be welded through the electrodes E1 and E2. The outer surface 101a or the inner surface 102a may each have different inclination, and different parts on the outer surface 101a or the inner surface 102a may also have different inclination.

A multi-axis spot welding machine has appeared on the market. It has a workpiece mounted on a base, and a displaceable welding torch group is arranged above the workpiece, and the other welding torch groups are also arranged on the side of the workpiece. However, limited by its mechanism design, it is only suitable for applications with simple processing points, and it uses a large number of welding guns, large equipment and high cost. The above-mentioned welding equipment cannot meet the processing application of this special workpiece. Furthermore, the welding head of the welding torch group will be worn out after a period of welding operation, so the worn part must be polished and removed. It is known that after the overall welding operation is completed, additional grinding equipment is used to grind the welding head, which causes time-consuming work and inconvenience in operation.

Therefore, there is still a lack of welding equipment in the market that can be easily operated, simple in structure, and low in cost, and can instantly grind and trim the welding head.

An object of the present invention is to provide a multi-axis welding device and a welding head height compensation method, which integrates a welding head grinding device, which can instantly perform welding head grinding and welding head height compensation when the welding head is worn out. To ensure the correct execution of welding operations.

In one embodiment, the present invention provides a multi-axis welding device, which includes a jig platform, a pivot device, a sliding device, a welding device, a welding head grinding device, and a frame. The multi-axis welding device is used to weld a workpiece. The jig platform is used to place and fix the workpiece. The pivoting device drives the jig platform to tilt and pivot. The sliding device drives the displacement of the fixture platform. The welding device includes at least one welding head. The welding head grinding device is used for grinding the welding head. rule The platform, the pivoting device, the sliding device, the welding device and the welding head grinding device are integratedly installed on the frame and coupled to each other. Among them, the fixture platform drives the workpiece to move to the position of the corresponding welding head through the sliding device, and drives the workpiece to tilt and pivot relative to the welding head through the pivoting device. The welding device drives the welding head to move and pivot relative to the workpiece, so that the welding head is in one position. During the welding process, it is always perpendicular to a welding surface of the workpiece. The welding head grinding device is displaced to the position of the corresponding welding head during the welding process or after the welding process is completed, and the welding head is immediately ground and height compensated according to a grinding amount.

In the multi-axis welding device of the above embodiment, the number of welding heads can be two, one first welding head and one second welding head respectively. The first welding head and the second welding head are arranged collinearly, and the first welding head and the second welding head can be relatively displaced to the two sides of the welding surface of the workpiece.

In the multi-axis welding device of the above embodiment, the sliding device includes a first sliding rail group and a second sliding rail group. The first slide rail group can drive the jig platform to move along a first axial direction. The second slide rail group can drive the fixture platform to move along a second axial direction.

In the multi-axis welding device of the above embodiment, the first slide rail group includes a first driving member and a first screw, and the first driving member can drive the first screw to rotate. The second slide rail group includes a second driving member and a second screw, and the second driving member can drive the second screw to rotate.

In the multi-axis welding device of the above embodiment, the pivoting device includes a pivoting member and a gear. One side of the pivoting member is arc-shaped and includes a first tooth part. The gear includes a second tooth. The gear rotates and drives the first tooth part of the pivotal part through its second tooth part coupling, so that the pivotal part pivots.

In the multi-axis welding device of the above embodiment, the welding device includes a driving assembly, and the driving assembly drives the displacement of the welding head.

In the multi-axis welding device of the above embodiment, the welding head grinding device further includes a driving member, a body, a telescopic member, and a rotating blade. The telescopic piece is telescopically arranged on the body. The driving part can drive the telescopic part to expand and contract. The rotating blade is arranged at one end of the telescopic member. In a state of use, the telescopic member drives the rotating blade to extend to the position of the welding head.

In another embodiment, the present invention provides a welding head height compensation method, which includes: moving a welding head grinding device to the position of a welding head; detecting an initial height of the welding head relative to the welding head grinding device; The grinding device grinds the welding head and calculates a grinding amount; and the grinding amount is used to compensate the initial height of the welding head relative to the welding head grinding device.

In the welding head height compensation method of the above embodiment, grinding the welding head with the welding head grinding device includes a rough grinding step and a fine grinding step.

In the welding head height compensation method of the above embodiment, the method further includes: calculating the preset safety distance of the welding head relative to one of the welding head grinding devices by feedback of the initial height after compensation.

100‧‧‧Workpiece

101‧‧‧First Frame Rod

101a‧‧‧Outer side

102‧‧‧Second Frame Rod

102a‧‧‧Inside

200‧‧‧Multi-axis welding device

210‧‧‧Frame

220‧‧‧Fixture platform

221‧‧‧Fixture

230‧‧‧Pivoting device

231‧‧‧Pivot

231a‧‧‧First tooth

232‧‧‧Gear

232a‧‧‧Second tooth

240‧‧‧Sliding device

241‧‧‧The first slide rail group

241a‧‧‧First driver

241b‧‧‧First screw

242‧‧‧Second Slide Rail Group

242a‧‧‧Second driver

242b‧‧‧Second screw

250‧‧‧Welding device

251‧‧‧First welding head

252‧‧‧Second welding head

253‧‧‧Drive components

260‧‧‧Welding head grinding device

261‧‧‧Ontology

262‧‧‧Telescopic Parts

263‧‧‧Rotating Blade

264‧‧‧Drive

270‧‧‧Sensor

E1, E2‧‧‧Electrode

S101, S102, S103, S104‧‧‧Step

d1, d2, d3, d4, d5, d6, d7‧‧‧distance

Figure 1 is a schematic diagram showing the structure of a car door and window frame; Figure 2 is a schematic diagram showing the assembly of the car door and window frame in Figure 1; Figure 3 is a diagram showing the multi-axis welding according to an embodiment of the present invention The three-dimensional schematic diagram of the device; Figure 4 is a partial structural diagram of the multi-axis welding device in Figure 3; Figure 5 is a structural diagram of the fixture platform in Figure 3; Figure 6 is a schematic diagram of the pivot in Figure 3 A schematic diagram of the first use state of one of the pendulum devices; Figure 7 is a schematic diagram of the second use state of one of the pivot devices in Figure 3; Figure 8 is a schematic diagram of the structure of the welding head grinding device in Figure 3 ; Figure 9 is a schematic diagram showing the welding head grinding device in Figure 8 in an initial state; Figure 10 is a schematic diagram showing the welding head grinding device in Figure 8 in a use state; Figure 11 is a drawing It is a schematic diagram showing the flow of a welding head height compensation method according to another embodiment of the present invention; and FIG. 12 is an exploded schematic diagram showing the detailed steps of the welding head height compensation method of FIG. 11.

In the following description, specific embodiments of the present invention will be described with reference to the accompanying drawings. Many practical details will be explained in the following description. However, these practical details should not be used to limit the present invention. That is, in some embodiments of the present invention, these practical details are unnecessary. In addition, in order to simplify the diagram, some conventionally used structures and components are shown in the diagram. It will be drawn in a simple schematic manner; and repeated elements may be represented by the same number.

Please refer to Figures 3 to 5. FIG. 3 is a three-dimensional schematic diagram of a multi-axis welding device 200 according to an embodiment of the present invention. FIG. 4 is a schematic diagram showing a part of the structure of the multi-axis welding device 200 in FIG. 3. FIG. 5 is a schematic diagram showing the structure of the jig platform 220 in FIG. 3.

In one embodiment, the multi-axis welding device 200 of the present invention includes a frame 210, a jig platform 220, a pivot device 230, a sliding device 240, a welding device 250, and a welding head grinding device 260. The jig platform 220, the pivoting device 230, the sliding device 240, the welding device 250, and the welding head grinding device 260 are integrally installed on the frame 210 and are coupled to each other. The jig platform 220 is used to place and fix a workpiece 100. A clamp 221 can be provided on the jig platform 220 to clamp the workpiece 100. The pivot device 230 is used to drive the jig platform 220 to tilt and pivot. The sliding device 240 is used to drive the jig platform 220 to move. In other words, the workpiece can be tilted, pivoted or displaced by the jig platform 220 to achieve the correct welding position. The welding device 250 includes at least one welding head. In this embodiment, two welding heads, namely, a first welding head 251 and a second welding head 252 will be described. The welding device 250 drives the first welding head 251 and the second welding head 252 to move up and down and pivot through a driving assembly 253. The first welding head 251 and the second welding head 252 are arranged collinearly. The welding head grinding device 260 can perform grinding and height compensation on the first welding head 251 and the second welding head 252.

It should be mentioned that the multi-axis welding device 200 in the present invention is simultaneously integrated with the welding device 250 and the welding head grinding device 260. On the frame 210, the problem that the conventional welding head grinding operation and the welding operation are carried out separately in different equipments, which leads to the time-consuming and inaccurate welding head grinding.

The sliding device 240 includes a first sliding rail group 241 and a second sliding rail group 242. The first slide rail group 241 can drive the jig platform 220 to move along a first axial direction. The second slide rail group 242 can drive the jig platform 220 to move along a second axial direction. In one embodiment, the first slide rail group 241 may include a first driving member 241a and a first screw 241b, and the first driving member 241a may drive the first screw 241b to rotate. The second slide rail set 242 can include a second driving member 242a and a second screw 242b, and the second driving member 242a can drive the second screw 242b to rotate. The first driving member 241a and the second driving member 242a may use devices capable of providing rotation, such as a motor. When the first screw 241b and the second screw 242b rotate, they can drive the jig platform 220 to move to a desired position.

FIG. 6 is a schematic diagram of a first use state of the pivot device 230 in FIG. 3; FIG. 7 is a schematic diagram of a second use state of the pivot device 230 in FIG. 3.

The pivot device 230 includes a pivot member 231 and a gear 232. One side of the pivoting member 231 is arc-shaped and includes a first tooth portion 231a. The gear 232 includes a second tooth portion 232a. The first tooth portion 231a can engage the second tooth portion 232a. When the gear 232 rotates, the first tooth 231a of the pivoting member 231 can be driven by the second toothing 232a of the gear 232, so that the pivoting member 231 can pivot along the arc on one side thereof. Thereby, the pivoting device 230 can drive the jig platform 220 to tilt and pivot, and then drive the workpiece 100 placed on the jig platform 220 to tilt and pivot.

Fig. 8 is a schematic diagram showing the structure of the welding head grinding device 260 in Fig. 3; Fig. 9 is a schematic diagram showing the welding head grinding device 260 in Fig. 8 in an initial state; 8 is a schematic diagram of the welding head grinding device 260 in a use state.

The welding head grinding device 260 includes a body 261, a telescopic member 262 and a rotating blade 263. The telescopic member 262 is telescopically disposed on the main body 261. The rotating blade 263 is disposed at one end of the telescopic member 262. The welding head grinding device 260 is further equipped with a driving member 264 to drive the telescopic member 262 to expand and contract. In an initial state, the telescopic member 262 is retracted in the main body 261 without extending. In a use state, the telescopic member 262 drives the rotating blade 263 to extend to the positions of the first welding head 251 and the second welding head 252 to perform grinding and trimming of the first welding head 251 and the second welding head 252. When the first welding head 251 and the second welding head 252 are used for welding operations, since the front ends of the first welding head 251 and the second welding head 252 themselves are charged electrode heads, after a period of use, the electrode heads will be worn out Phenomenon, the welding operation cannot be performed correctly. Therefore, the front ends of the first welding head 251 and the second welding head 252 are polished through the rotating blade 263 to remove the worn parts, so that the welding operation can be performed correctly. At the same time, because the grinding system physically removes part of the material at the front end of the first welding head 251 and the second welding head 252, this will reduce the length of the first welding head 251 and the second welding head 252. Therefore, it is necessary to perform an adjustment based on a grinding amount. The first welding head 251 and the second welding head 252 perform height compensation operations.

In order to perform the welding operation correctly, during the welding process of one of the workpieces 100, the jig platform 220 can drive the workpiece 100 to move, tilt and pivot, and the welding device 250 can also drive the first welding head 251 and the second welding head 252 positions By moving and pivoting, the first welding head 251 and the second welding head 252 are always perpendicular to a welding surface of the workpiece 100.

The following paragraphs will describe the steps of grinding the first welding head 251 and the second welding head 252 and compensating the height of the welding head. The first welding head 251 and the second welding head 252 are arranged collinearly, and are relatively displaced up and down to perform welding operations on the workpiece 100. That is, the first welding head 251 and the second welding head 252 are symmetrically placed on the upper and lower sides of the workpiece 100 to be welded. When the welding operation is in progress, the first welding head 251 is displaced downward, and the second welding head 252 is displaced upward to perform welding operations on the two welding surfaces of the workpiece 100, and the actuation system is symmetrical. Therefore, in the following embodiments, a single-sided welding head (for example, the first welding head 251) will be taken as an example to illustrate the steps of grinding and welding head height compensation, and the second welding head 252 can be analogized.

Please refer to Figure 11. FIG. 11 is a schematic flowchart of a welding head height compensation method according to another embodiment of the present invention.

In one embodiment, the welding head compensation method provided by the present invention includes a step S101, a step S102, a step S103, and a step S104. Step S101 is to move a welding head grinding device to the position of a welding head; Step S102 is to detect an initial height of the welding head relative to the welding head grinding device; Step S103 is to grind the welding head with the welding head grinding device and calculate a Grinding amount; step S104 is to compensate the initial height of the welding head relative to the welding head grinding device with the grinding amount.

Please refer to Figure 12. Figure 12 is an exploded schematic diagram of the detailed steps of the welding head height compensation method shown in Figure 11. Please refer to Figure 9 to Figure 11. After the first welding head 251 is used for a period of time, it needs to be polished and trimmed due to wear. At this time, the telescopic piece 262 in the welding head grinding device 260 is removed from the main body 261 extends and moves the rotating blade 263 at the front end to the position of the first welding head 251. At this time, the distance between the first welding head 251 and the rotating blade 263 is d1, which is a preset safety distance. Continuing, the first welding head 251 continues to move downward toward the rotating blade 263, the distance between the first welding head 251 and the rotating blade 263 is d2, and the first welding head 251 has not touched the sensor 270 at this time. Continuing, the first welding head 251 continues to move downward toward the rotating blade 263, and the distance between the first welding head 251 and the rotating blade 263 is d3. At this time, the first welding head 251 touches the sensor 270 and records its initial height. Continuing, the first welding head 251 continues to move downward toward the rotating blade 263, and the distance between the first welding head 251 and the rotating blade 263 is d4. Continuing, the first welding head 251 continues to move downward toward the rotating blade 263, and the distance between the first welding head 251 and the rotating blade 263 is d5. At this time, the first welding head 251 has contacted the rotating blade 263, and the rough grinding step is started. Continuing, the first welding head 251 continues to move downward until the rough grinding step ends, and the distance between the first welding head 251 and the rotating blade 263 is d6. Continuing, the first welding head 251 continues to move downward to start the fine grinding step. After the fine grinding step, the distance between the first welding head 251 and the rotating blade 263 is d7. At this time, a grinding amount can be calculated, and the initial height of the first welding head 251 relative to the rotating blade 263 can be compensated through the grinding amount, so that the initial height after compensation can be fed back to calculate the first welding head 251 relative to the welding head grinding device 260 ( Or one of the rotating blades 263) presets the safety distance. Because in the process of grinding the first welding head 251, the material of the front end of the first welding head 251 will be polished and removed, so that the length of the first welding head 251 is reduced. If the height of the first welding head 251 is not compensated, it will affect the subsequent The grinding operation of the first welding head 251 or the subsequent welding operation cannot be performed correctly. In Figure 12, the rotating blade 263 can also be used to grind the second welding head 252. When the first welding head 251 moves downward for grinding, the second welding head 252 Then, it moves upward for grinding, and its action mechanism and principle are similar to the first welding head 251, and will not be repeated here.

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone familiar with the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection of the present invention The scope shall be subject to those defined by the attached patent scope.

200‧‧‧Multi-axis welding device

210‧‧‧Frame

220‧‧‧Fixture platform

230‧‧‧Pivoting device

240‧‧‧Sliding device

250‧‧‧Welding device

260‧‧‧Welding head grinding device

Claims (10)

A multi-axis welding device is used for welding a workpiece. The multi-axis welding device includes: a jig platform for placing and fixing the workpiece; a pivoting device that drives the jig platform to tilt and Pivot; a sliding device that drives the jig platform to move; a welding device that includes at least one welding head; a welding head grinding device for grinding the welding head; and a frame in which the fixture A platform, the pivoting device, the sliding device, the welding device, and the welding head grinding device are integratedly installed on the frame and coupled to each other; wherein, the jig platform drives the workpiece to move to the opposite position through the sliding device According to the position of the welding head, the pivoting device drives the workpiece to tilt and pivot relative to the welding head. The welding device drives the welding head to move and pivot relative to the workpiece, so that the welding head is always vertical during a welding process On a welding surface of the workpiece, the welding head grinding device is displaced to the position corresponding to the welding head during the welding process or after the welding process is completed, and the welding head is ground, and a grinding amount is calculated and based on the grinding Measure the height of the welding head immediately. For the multi-axis welding device described in item 1 of the scope of patent application, the number of the welding heads is two, namely a first welding head and a second welding head, The first welding head and the second welding head are arranged collinearly, and the first welding head and the second welding head can be relatively displaced to two sides of the welding surface of the workpiece. According to the multi-axis welding device described in claim 1, wherein the sliding device includes: a first slide rail group, which drives the jig platform to move along a first axial direction; and a second slide rail group, It drives the fixture platform to move along a second axial direction. For the multi-axis welding device described in the third of the scope of patent application, the first slide rail group includes a first driving member and a first screw, the first driving member drives the first screw to rotate, and the second slide The rail set includes a second driving part and a second screw, and the second driving part drives the second screw to rotate. The multi-axis welding device according to the first item of the scope of patent application, wherein the pivoting device includes: a pivoting member, one side of which is arc-shaped and includes a first tooth portion; and a gear including a second Tooth; wherein the gear rotates and drives the first tooth of the pivot through the second tooth coupling, so that the pivot pivots. According to the multi-axis welding device described in item 1 of the scope of patent application, the welding device includes a driving assembly, and the driving assembly drives the displacement of the welding head. The multi-axis welding device described in the first item of the scope of patent application, wherein the welding head grinding device further includes a driving member, a body, a telescopic member, and a rotating blade, and the telescopic member is telescopically arranged on the body, The driving member drives the telescopic member to expand and contract, and the rotary blade is arranged at one end of the telescopic member. In a use state, the telescopic member drives the rotary blade to extend to the position of the welding head. A method for compensating the height of a welding head, comprising: moving a welding head grinding device to a position of a welding head; detecting an initial height of the welding head relative to the welding head grinding device; Grinding, and calculating a grinding amount; and using the grinding amount to compensate the initial height of the welding head relative to the welding head grinding device. The welding head height compensation method as described in claim 8, wherein the grinding of the welding head by the welding head grinding device includes a rough grinding step and a fine grinding step. The welding head height compensation method described in item 8 of the scope of patent application further includes: calculating a preset safety distance of the welding head relative to the welding head grinding device based on the initial height feedback after compensation.

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