WO2004069465A1 - Systeme, procede et programme de soudage - Google Patents

Systeme, procede et programme de soudage Download PDF

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Publication number
WO2004069465A1
WO2004069465A1 PCT/JP2004/001278 JP2004001278W WO2004069465A1 WO 2004069465 A1 WO2004069465 A1 WO 2004069465A1 JP 2004001278 W JP2004001278 W JP 2004001278W WO 2004069465 A1 WO2004069465 A1 WO 2004069465A1
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WIPO (PCT)
Prior art keywords
work
welding
positioning
robot
robots
Prior art date
Application number
PCT/JP2004/001278
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English (en)
Japanese (ja)
Inventor
Junichi Yakahi
Original Assignee
Junichi Yakahi
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Junichi Yakahi filed Critical Junichi Yakahi
Publication of WO2004069465A1 publication Critical patent/WO2004069465A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D65/00—Designing, manufacturing, e.g. assembling, facilitating disassembly, or structurally modifying motor vehicles or trailers, not otherwise provided for
    • B62D65/02—Joining sub-units or components to, or positioning sub-units or components with respect to, body shell or other sub-units or components
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator

Definitions

  • the present invention relates to a workpiece welding system using an industrial robot used for automating operations such as assembling and welding a workpiece (hereinafter, referred to as a workpiece) as a workpiece on a production line such as a factory. , Work welding methods, and work welding programs. Background art
  • JIG jig
  • This jig The size, shape, material, function, etc. of this jig depend on the structure of the workpiece to be machined, the degree of complexity of the machining process, etc., so each time a workpiece with a different structure is machined. However, it is often necessary to prepare a dedicated jig. For example, on a production line of an automobile manufacturer, a special jig is required for each type of vehicle produced in each process and for each model.
  • Jigs for body assembly used on production lines of automobile manufacturers are very expensive because they are large, have complex shapes, and require high positioning accuracy. Has become. Therefore, in factories, capital expenditures for production lines may increase as the number of models produced increases. It is also necessary to provide a storage place for unused jigs at the factory.
  • workpieces that are welded to ensure strength are usually made of metal.
  • metal work is subjected to press working, etc., due to its properties, it is subject to aging and temperature / humidity changes, and distortion and misalignment due to deterioration of the press die. Deformation may occur.
  • Patent Document 1 discloses a work provided with a positioning portion for setting and adjusting each work so as to be at a proper welding connection position in a state where a plurality of works to be welded and joined to each other are gripped by a handling rod.
  • a positioning device is disclosed.
  • the disclosed positioning section is designed to improve the positioning accuracy by fixing each of the hand grips holding the work to a predetermined positioning mechanism. Disclosure of the invention
  • Patent Literature 1 in an apparatus for determining the position of a work without using a dedicated jig as disclosed in Patent Literature 1, although there is versatility, the position of each work is determined. A device for performing the operation is required.
  • the present invention enables the position setting of each work to be controlled by a computer program without using mechanical means such as dedicated jigs and devices depending on the type (model) of the workpiece.
  • Work welding system and work welding method
  • the workpiece in a work welding system for performing a welding process by mutually combining a plurality of workpieces having one or more reference holes formed therein, the workpiece can be gripped by being fitted into the reference holes.
  • a plurality of positioning robots mounted with a reference pin formed so as to form a plurality of workpieces, one or more welding robots for welding the plurality of workpieces gripped by the positioning robot, the positioning port pot, and
  • a control means for storing a work program for instructing the operation of the welding robot and controlling the positioning robot and the welding robot by executing the work program; and a welding reference position as a design value.
  • the work position detecting means Before being gripped by the positioning robot, based on the work program set as the target point Positioning means for moving the work, work position detecting means for detecting the position of the work, and after the work is moved by the positioning means, the work position detecting means detects the position of the work; A correction value setting means for comparing the result with the welding reference position to calculate an error of the work and set a correction value; and based on the correction value set by the correction value setting means,
  • a correcting means for moving the positioning robot to correct the position of the work, and a welding means for welding the work, the position of which has been corrected by the correcting means, by the welding robot. Can be achieved.
  • the object in the first aspect of the present invention, can be achieved by providing a self-correction means for correcting a position in each of the positioning robots.
  • the object is achieved by providing a relative position correcting unit for correcting a relative position between the positioning lopots.
  • the object in the second aspect of the present invention, can be achieved by providing a relative position correcting means for correcting a relative position between the positioning robots.
  • the object in the first aspect of the present invention, can be achieved by configuring the positioning robot with an articulated robot.
  • the object in the second aspect of the present invention, can be achieved by the positioning robot being constituted by an articulated robot.
  • the object in the third aspect of the invention, can be achieved by configuring the positioning robot by an articulated robot.
  • the above object can be achieved by the positioning robot being constituted by an articulated robot.
  • the positioning robot and the control means for controlling the welding robot achieve the above object by being connected using a predetermined protocol. Can be achieved.
  • control means for controlling the positioning robot and the welding robot is connected by using a predetermined protocol.
  • control means for controlling the positioning robot and the welding robot is connected by using a predetermined protocol.
  • control means for controlling the positioning robot and the welding robot is connected by using a predetermined protocol.
  • control means for controlling the positioning robot and the welding robot is connected by using a predetermined protocol.
  • control means for controlling the positioning robot and the welding robot each includes a predetermined protocol.
  • the above-mentioned object can be achieved by being connected using a device.
  • control means for controlling the positioning robot and the welding robot are connected to each other using a predetermined protocol.
  • control means for controlling the positioning robot and the welding robot are connected to each other using a predetermined protocol.
  • the positioning robot includes a deformation amount detecting means for detecting a deformation amount of the work, and the positioning robot.
  • the object can achieve the above object by detecting the deformation amount of the work using the deformation amount detection means when the work is gripped, and storing the detection result.
  • the workpiece by fitting a plurality of workpieces having one or more reference holes formed therein to each other by performing a welding process. And a plurality of welding robots for welding the plurality of workpieces gripped by the positioning robot, the plurality of positioning robots having the reference pins formed as described above.
  • Calculating a correction value and setting a correction value Calculating a correction value and setting a correction value; and a fourth step of moving the positioning robot to correct the position of the peak based on the correction value set in the third step.
  • the above object is achieved by comprising: a step; and a fifth step of welding the workpiece, the position of which has been corrected by the fourth step, by the welding robot.
  • a plurality of workpieces each having one or more reference holes can be combined with each other to perform a welding process, and the workpieces can be gripped by being fitted into the reference holes.
  • Multiple positioning holes with reference pins formed A welding reference position, which is a design value, in a workpiece welding program for performing the welding with one or more welding robots for welding the plurality of workpieces gripped by the positioning robot.
  • the self-correction means for correcting the position of the positioning lopot alone it is possible to improve the positional accuracy in the positioning of the work performed by the positioning lopot.
  • the position accuracy in the positioning of the park performed by the positioning robot can be improved. Can be.
  • the deformation state of the work can be grasped by detecting the deformation amount of the work using the deformation amount detecting means.
  • the positioning of the workpiece using the positioning robot is performed.
  • the step of performing the welding it is possible to provide a welding method for positioning the work without using a dedicated jig for positioning the work.
  • the function of positioning the work using the positioning robot is realized by the computer, thereby positioning the work without using a dedicated jig for positioning the work.
  • FIG. 1 is a diagram showing a schematic configuration of an industrial robot system used in a work welding system according to the present embodiment.
  • Figure 2 is a diagram showing the configuration of the industrial port.
  • FIG. 3 is a diagram showing a configuration of a conventional work welding system using a dedicated jig.
  • FIG. 4 is a diagram showing a configuration of the work welding system according to the present embodiment.
  • FIG. 5 is a diagram showing an example of a production line using the work welding system according to the present embodiment.
  • FIG. 6 is an explanatory diagram of a work positioning method of the work welding system according to the present embodiment.
  • FIG. 7 is a flowchart showing a procedure of a workpiece welding process in the workpiece welding system according to the present embodiment.
  • FIG. 8 is a diagram for explaining a first relative position correction method.
  • FIG. 9 is a diagram for explaining the second relative position correction method.
  • FIG. 10 is a diagram for explaining the third relative position correction method.
  • FIG. 11 is a diagram showing a target object using a laser beam.
  • FIG. 12 is a diagram showing an image of a laser beam detected by the laser light receiving device.
  • FIG. 13 is a diagram for explaining a method of measuring the amount of deformation of a work.
  • FIG. 1 is a diagram showing a schematic configuration of an industrial robot system used in a work welding system according to the present embodiment.
  • the industrial robot system includes a control device 10 and a control target 20.
  • the control unit 10 is a main control unit that acts as a brain to control and manage the industrial robot system.
  • the CPU central processing unit
  • ROM read 'only' memory
  • RAM random
  • I / O input / output interface
  • console interface 16 console interface 16, each connected via a bus line.
  • the console interface 16 is connected to an operation box 17 and a teaching box 18.
  • the control target 20 includes an industrial robot 21 and a peripheral device 22 which are control target devices of the control device 10.
  • control device 10 and the control target 20 are connected to each other via the interface 15.
  • the CPU 11 performs various processes, calculations, condition judgments, and controls various devices such as a display according to a program stored in the ROM 12 or a program loaded in the RAM I3.
  • the ROM 12 is a read-only memory that stores basic programs and parameters for causing the control device 10 to function.
  • the RAM 13 is a memory for storing programs and data necessary for the CPU 11 to perform various processes.
  • the CPU 13 can write and delete data.
  • the storage device 14 is composed of, for example, a large-capacity hard disk, and stores various programs and data.
  • the I / O interface 15 is composed of various data between the controller 10 and the control target 20. This is an interface for sending and receiving data.
  • the console interface 16 is an interface for receiving various input information from the operation box 17 and the teaching box 18.
  • the operation box 17 is an operation panel provided with a numeric keypad and a keyboard for inputting characters, so that various information can be input by an operator.
  • the teaching pox 18 is an operation panel that performs a process of sequentially storing the position and the operation order of the arm of the industrial robot 21 of the control target 20.
  • the industrial robot 21 performs various operations based on a work program, and there are a direct method and an indirect method for inputting the work program.
  • the direct teaching method is called a teaching play pack, and is performed using a teaching box 18.
  • an operation box 17 is used to input a work program expressed in a numerical value, a robot language, or the like.
  • FIG. 2 is a diagram showing a configuration of the industrial robot 21 of the control target 20.
  • the industrial robot 21 is composed of a hand 211, an actuator 212, and a detector 211.
  • the hand 211 is for holding and moving a work, and is generally called a material hand. .
  • Actuator 2 12 is a governor for mechanically controlling the servo motor by an electric signal from control device 10.
  • the detector 21 3 is a sensor for detecting a workpiece, another industrial robot 21, a reference point, and the like. The details of these various sensors will be described later. Next, a description will be given of a work welding system including a plurality of types of industrial robot systems configured as described above in comparison with a conventional work welding system using a dedicated jig.
  • FIG. 3 is a diagram showing a configuration of a conventional work welding system using a dedicated jig.
  • FIG. 4 is a diagram showing a configuration of the peak welding system according to the present embodiment.
  • FIGS. 3 and 4 the same symbols are used for the parts indicating the same parts.
  • the work 31 used here is a stamping pallet made of sheet metal (zinc steel plate, aluminum, copper, etc.) through a press die process.
  • a dedicated jig 34 for dipping a plurality of works 31 with accuracy is provided on the work 31.
  • a work pin 31 was positioned by providing a location pin 35 and a clamp unit 36 for supporting a location hole (reference hole). Also, a transfer device 33 was provided to transfer the work 31 to the next process.
  • the location pin which is a positioning robot using a mouth pin as a reference pin for the hand 21 of the industrial robot 21 is used.
  • a plurality of robots 37 are provided to position the work 31. Furthermore, by using an articulated robot for the location pin robot 37, the work 31 can be transported only by the location pin robot 37.
  • a welding robot 32 equipped with a welding servo gun 32 1 is used for welding the work 31, a welding robot 32 equipped with a welding servo gun 32 1 is used. Since the welding servo gun 32 1 is provided with a clamp mechanism for supporting the work 31, the transfer robot for transferring the work 31 to the next process, and the workpiece 31 to the location pin port 37. The pre-set robot and the park 31 to be removed can be removed from the location pin robot 37 so that they can also function as an unload robot for handling the next process.
  • FIG. 5 is a diagram showing an example of a production line using the work welding system according to the present embodiment.
  • FIG. 6 shows a method of positioning a workpiece in the workpiece welding system according to the present embodiment. It is a figure for explaining a method.
  • the production line using the work welding system has a location pin lopot 37 a to support the works 31 a to c.
  • FIG. 7 is a flowchart showing a procedure of a workpiece welding process in the workpiece welding system according to the present embodiment.
  • the work welding system controls the industrial robots 21 installed on the production line.
  • CPU 11 (shown in FIG. 1) loads a welding program corresponding to the welding processing command from ROM 12 (step 11).
  • the welding program loaded here is a work program called teaching data that shows the operating procedure (track control) of the industrial tz-bot 21 placed on the production line.
  • the welding program is placed on the production line.
  • the industrial robot 21 has the above-mentioned location pin robot 37 a! i, Preset Tropots 38 a to c, and Welding Rods 32 a to h.
  • the work welding system corrects the TCP (Too 1 C enter Point) of the tip of the arm, which is the reference point, for the location pin robots 37 a to h alone arranged on the production line.
  • TCP Too 1 C enter Point
  • the work welding system corrects the TCP (Too 1 C enter Point) of the tip of the arm, which is the reference point, for the location pin robots 37 a to h alone arranged on the production line.
  • TCP vertices or reference points
  • the CPU 11 of the location pin robots 37a to 37h loads the correction test program from the ROM 12 and executes it.
  • the location pin robots 37a to 37h operate for a predetermined period of time (for example, 10 seconds, 20 seconds, and 30 seconds). Perform a test play that moves
  • the detector 2 13 detects the arm position and transfers the detection result to the RAM 13 as needed.
  • the CPU 11 calculates the correction value by comparing the theoretical value (target value) stored in the ROM 12 with the detection result transferred from the detector 21. Then, the teaching data, which is a work program, is rewritten based on the calculated correction value.
  • the CPU 11 of the location pin robot 37 ah (industrial robot 21) loads the position correction program from the ROM 12 and executes it.
  • the position correction program is executed, the location pin robots 37a to 37h move the arms to the target positions indicated by the position correction program.
  • the location pin robots 37a to 37h operate the detectors 21 to recognize the current position, and transfer the recognized current position data to the control device.
  • the CPU 11 compares the transferred current position data with the target position indicated by the position correction program to calculate a correction value.
  • This correction process is repeated several times to correct the error between the target position indicated by the position correction program and the actual industrial robot 21 within a predetermined range (for example, within ⁇ 0.1%). Calculate the value. Then, work is performed based on the calculated correction value. The rewriting of the teaching data as a program is executed.
  • Both of the above two correction methods take into account various disturbances that occur on the production line, such as changes over time, changes in temperature and humidity, expansion and contraction of the robot arm, and eccentricity. There is no need to calculate a correction value for each individual factor. Therefore, the correction accuracy can be further improved.
  • the first correction method it is possible to calculate a more accurate correction value by extending the test play time. Adjusting the test play time when installing a new production line, inserting a new model, or performing regular maintenance can easily improve the accuracy of the correction value.
  • the work welding system executes the correction of the relative position between the TCPs of the location pin robots 37a to h arranged on the production line (step 13).
  • Location Pin Robot 37 a! ! Relative position between, that is, each port Case pin robot 37 a ⁇ ! ! Correction to ensure the accuracy of the absolute position in the space where exists.
  • various disturbances such as changes over time, changes in temperature and humidity, expansion and contraction of the robot arm, and eccentricity occur on the production line. The purpose of this is to correct the deviation of the coordinate axes in the industrial robot 21 that occurs and to bring it closer to the theoretical value.
  • An example of the TCP position correction method executed here is shown below.
  • FIG. 8 is a diagram for explaining a first relative position correction method.
  • the three light emitting diodes (LEDs) shown in Pll, P12, and P13, which recognize the positional relationship between the mouth case pin robots 37a-h and the TCP, and a three-dimensional measurement camera are used. Detects the position of TCP (P10) of location pin 371 in combination.
  • the CPU 11 compares the target coordinates recognized in advance with the transferred TCP (P10) position information of the location pin 371, and calculates a correction value.
  • the positions of the light emitting diodes of P11, P12, and P13 viewed from the camera are set in advance by measuring the length of each side of the triangle formed by the three LEDs at the time of measurement. Measurements are based on the theoretical values of Lll, L12, L13, and L14, and the viewing angle of the camera.
  • the TCP positions of the location pin robots 37 a to h (industrial mouth pot 21) are recognized, and the relative positions between the TCPs of the location pin robots 37 a to h are corrected. Ensure position accuracy.
  • FIG. 9 is a diagram for explaining the second relative position correction method.
  • the material of the location pin robot 37 a to h; the position relation (theoretical value) of the location pin 371, which is the rehand, with the reference point TCP (P 20) is recognized.
  • the length of the connected wire is measured, and the distance L 2 between each potentiometer (P 21 to P 24) and the reference point TCP (P 20) of the location pin 37 1 is measured from the measurement result. 1, L22, L23 and L24 are detected.
  • the information of the detected distance (L 2;! To 24) is transferred to the RAM 13.
  • the CPU 11 calculates a correction value by comparing the target coordinates recognized in advance with the information of the transferred distance (L2 1 to 24).
  • FIG. 10 is a diagram for explaining the third relative position correction method.
  • a three-dimensional camera 41 is attached to the location pin robots 37a to 37h, and the three-dimensional force camera 41 is used to place the three-dimensional camera 41 around the location pin robots 37a to 37h.
  • these pieces of photographing data are transferred to the RAM 13, and the CPU 11 calculates the distance between the location pin robots 37 a to h and the target objects 42 a to c based on the photographing data.
  • the absolute positions of the location pin robots 37a to 37h in space are calculated. This calculated location pin mouth bot 37 a! !
  • the absolute position information is compared with a preset theoretical value to calculate a correction value.
  • the position of the TCP of the location pin robots 37a to 37h is corrected.
  • the distance between the location pin robot 37a-h and the target object 42a-c is measured using the three-dimensional force camera 41 attached to the mouth case pin robot 37a-h.
  • a probe may be attached, and the probe may be used to directly contact the target objects 42a to 42c to measure the distance.
  • the target object 42 a to c used for the laser beam 44 generated from the tuning fork type target 43 shown in FIG. 11 was used.
  • the probe may be brought into contact with the probe to measure the distance.
  • FIG. 12 is a diagram showing an image of a laser beam detected by the laser light receiving device.
  • the CPU 11 calculates a correction value for canceling the deviation of the light receiving point of the laser beam from the reference point, and based on this correction value, the location pin robot 37 a! ! The position of TCP is corrected.
  • the parent-child relationship is set in advance, and the relative position between the location pin robots 37a-h is corrected by using the parent-child relationship to secure the positional accuracy.
  • the master unit is set for one of the multiple location pin robots 37a to h existing on the production line, and the slave unit is set for the other location pin robots 37a to h. .
  • the location pin robots 37 a to h set as the slave units are used as substitutes for the target objects 42 a to c described in the third relative position capturing method, and the same processing is performed to execute the location processing.
  • the relative position between the TCPs of the location pin robots 37a to 37h arranged on the production line is corrected.
  • control devices 10 of the location pin robots 37a to 37h are connected using TCP / IP (Transmission Control Protocol / ⁇ Internet Protocol), a cooperative operation is possible.
  • Location pin robot which had been a problem in this case 37 a! ! Synchronization accuracy between them can be improved.
  • the work welding system takes out the work pieces 31 a to c loaded on the work pallets 39 a to c and places the location pin robot 37 a to! ! Preset (step 14).
  • Presetting of the works 31 a to c is performed by preset robots 38 a to c (FIG. 5).
  • reference holes for positioning these stamping parts mechanically are provided. Since at least one reference hole is formed when piercing is performed during plastic forming in a mold, at least one reference hole exists in the stamping part. Also, the number of the reference holes increases as the shape of the stamping part increases.
  • the size of this reference hole can vary from a radius of 5 mm to 70 mm.
  • the positioning of each of the works 31 a to c is performed by using the reference holes provided in the works 31 a to c. To h.
  • the required number of reference holes are required. May be formed.
  • a round, a triangular, and a square work 31 a to c each having three reference holes are described as examples.
  • the location pins of the location pin robots 37 a to 37 h set for each reference hole are set so as to fit into the reference holes.
  • the work 31 a to c which is a stamping part subjected to press working or the like, may be deformed due to abrasion or deterioration of the mold.
  • the use of such deformed stamping parts for the workpieces 31 a to c may hinder the accuracy of the final product, so the presetting of the workpieces 31 a to c It is sometimes desirable to inspect the shape of the work 31 a-c.
  • the distance between the workpieces 31 a to c and the flange 45 is measured using the sensor 46 provided on the flange 45.
  • the upper surface of the flange 45 is set so as to be a contact reference surface with the works 31 a to c.
  • the work welding system detects the amount of deformation of the work 31 a to c using the above-described method, and when the detected amount of deformation exceeds a predetermined reference value (for example, the amount of deformation ⁇ 0.1%). Will send an alarm signal to the central control unit that controls the production line in order to perform processing such as emergency stop.
  • a predetermined reference value for example, the amount of deformation ⁇ 0.1%).
  • all the detected deformation amount data are stored in the storage device 14 in the control device 10 (FIG. 1). If a defect such as deformation occurs in the workpiece after welding is completed, the source of the defect can be determined by using the deformation amount data stored here. 1278 factors can be analyzed relatively easily.
  • Inspection of the deformation amount of the workpieces 31 a to c using these methods eliminates the need for the inspection tool, which is a dedicated inspection device that has been conventionally used, and can reduce the cost of the workpiece welding system. .
  • the workpiece welding system positions the workpieces 31 a to c preset at the location pin robots 37 a to 37 h (step 15).
  • the workpieces 31 a to c preset to the location pin robots 37 a to h are moved to target coordinates based on a work program indicating an operation procedure.
  • the movement of the workpieces 31 a to c is performed by controlling the positions of the arms of the location pin ropots 37 a to h.
  • the mouth case pin robot 37 a to the position of the workpieces 31 a to c is used as a reference! !
  • the relative position with respect to the location pin lopots 37a to 37h may be measured again.
  • the above-described third relative position correction method can be used. Specifically, the work 31 a-c is used in place of the target object 42 a-c, and the same processing is performed to execute the location pin robot 37 a-h and the work 31 a-c. Measure the relative distance between c and calculate the correction values for location pin lopots 37a-h.
  • the work welding system welds the positioned works 31 a to c (step 16).
  • the welding of the works 31 a to c is performed based on the work program using the welding robot 32 a to h equipped with the welding serpo gun 32 1.
  • the workpieces 31 a to c are welded using the welding servo gun 321, but if the workpieces 31 a to c can be welded, the welding air gun is used. You may use it.
  • spot welding is employed for welding the workpieces 31 a to c.
  • the welding method is not limited to this, and arc welding, brazing, ⁇ el pound, laser welding, and the like are used. , MIG welding, TIG welding and so on.
  • the workpiece welding system unloads the welded workpieces 31 a to c (step 17) and ends the workpiece welding process.
  • the location of the workpieces 31 a to c is a pin pin port 37 a! ! From the machine and carry out the next process.
  • a handling process can be performed directly by the location pin rods 37a-h or by the welding port pots 32a-h.
  • the transfer of the workpieces 31 a to c to the next process or the temporary storage site can be performed by controlling these robots.
  • the position of the TCP of the location pin opening pots 37a to h alone and the relative position between the TCPs of the location pin opening pots 37a to h are corrected for each workpiece welding process.
  • the following timing may be arranged to execute these corrections.
  • work pieces 31 a to c are positioned using location pin mouth pots 37 a to h instead of dedicated jig 34 used in the conventional welding system.
  • the jigs 34 and dedicated equipment depending on the product model can be eliminated from the production line.
  • a new product production line can be started up simply by changing the work program without preparing a dedicated jig for positioning.
  • the cost of the work welding system can be reduced by using a general-purpose machine that is less expensive than the dedicated equipment.
  • the work welding system described above can be used for welding systems that require precision, such as a vehicle production line, an aircraft / marine vessel production line, and a steel furniture production line.
  • location pin robots 37a-h and welding robots 32a-! ! By having the function of transporting the workpieces 31 a to c, the welding process can be performed in parallel with the transport processing of the workpieces 31 a to c, thereby improving the production speed on the production line. Can be done.
  • the content of the processing executed in the CPU 11 is a work welding program, and the work welding program can be stored in a machine-readable storage (recording) medium.
  • the storage medium include a CD-ROM, a DVD-ROM, a flexible disk, and a magneto-optical disk.

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Abstract

L'invention concerne un programme de soudage correspondant à une instruction de processus de soudage, qui est chargé (S11). Il intervient ensuite une correction de point d'outil (S12), dans un robot à broche de localisation, disposé dans une chaîne de fabrication. Le système de soudage effectue ensuite une correction de la position relative entre les points d'outil et le robot à broche de localisation, monté dans la chaîne de fabrication (S13). Le système de soudage procède ensuite au traitement des éléments à souder dans une palette d'éléments de ce type, effectue un préréglage approprié dans le robot à broche de localisation (S14) et positionne lesdits éléments (S15). Le système de soudage soude les éléments positionnés (S16) et décharge les éléments soudés (S17).
PCT/JP2004/001278 2003-02-07 2004-02-06 Systeme, procede et programme de soudage WO2004069465A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2003-31160 2003-02-07
JP2003031160A JP2004261881A (ja) 2003-02-07 2003-02-07 ワーク溶接システム、ワーク溶接方法、および、ワーク溶接プログラム

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JP4930824B2 (ja) * 2005-11-16 2012-05-16 株式会社安川電機 ロボット制御装置およびロボットシステム
JP5549129B2 (ja) 2009-07-06 2014-07-16 セイコーエプソン株式会社 位置制御方法、ロボット
JP6474205B2 (ja) * 2014-05-16 2019-02-27 川崎重工業株式会社 吸着定盤及び溶接ロボットシステム
WO2018088149A1 (fr) * 2016-11-11 2018-05-17 三菱重工業株式会社 Procédé de production d'élément et système de production d'élément
JP7173765B2 (ja) * 2018-06-25 2022-11-16 川崎重工業株式会社 ロボット制御システム
CN115996821A (zh) * 2020-10-26 2023-04-21 株式会社富士 臂式机器人

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