WO2007004983A1 - Procede de soudage de pieces a travailler - Google Patents

Procede de soudage de pieces a travailler Download PDF

Info

Publication number
WO2007004983A1
WO2007004983A1 PCT/SE2006/050240 SE2006050240W WO2007004983A1 WO 2007004983 A1 WO2007004983 A1 WO 2007004983A1 SE 2006050240 W SE2006050240 W SE 2006050240W WO 2007004983 A1 WO2007004983 A1 WO 2007004983A1
Authority
WO
WIPO (PCT)
Prior art keywords
welding
workpieces
positions
robots
carried out
Prior art date
Application number
PCT/SE2006/050240
Other languages
English (en)
Inventor
Bo Pettersson
Original Assignee
Hexagon Metrology Ab
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 Hexagon Metrology Ab filed Critical Hexagon Metrology Ab
Priority to JP2008519238A priority Critical patent/JP2008544860A/ja
Priority to EP06758098A priority patent/EP1899104A1/fr
Publication of WO2007004983A1 publication Critical patent/WO2007004983A1/fr

Links

Classifications

    • 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
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • 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
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37573—In-cycle, insitu, during machining workpiece is measured continuously
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39131—Each of the manipulators holds one of the pieces to be welded together
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45104—Lasrobot, welding robot

Definitions

  • the present invention relates to a method for the welding together of workpieces that are to be joined to each other. Such methods arise to a great extent in the motor industry, for example, and in other industries that mass produce items.
  • a number of welding stations are usually arranged in a normal welding line in the motor manufacturing industry.
  • the parts that are to be joined by welding in a workstation are fed forwards or transported forwards to these welding stations.
  • the parts may consist of either a single stamped sheet metal item or they may consist of such composite parts as have been formed in a preceding welding station.
  • the parts that have been fed forwards to the welding station are normally handled at the welding station by manipulating robots that transport the parts to welding fittings and place them in these fittings, where the parts are joined to each other and subsequently welded, normally with the aid of what are known as welding robots.
  • a second disadvantage with the method that has been used up until now is that positioning errors during the handling of the parts leads to the preservation of tension in the part when it is fixed into the welding fitting. This takes place even if automatic guidance of the parts into the fitting is arranged, as a result of, among other effects, the tolerances that are present not only in the item but also in the actual welding fitting. This then leads to the structure when welded together being associated with intrinsic tensions, and this may lead to deformation of the welded structure. It is, therefore, necessary, in order to maintain control over this process, to measure the welded structures, at least after certain welding operations. This, naturally, costs money, both in the form of equipment and time for the programming and reprogramming of the equipment.
  • the present invention therefore proposes, in order to avoid the problems described above, a new method in which the work- pieces that are to be welded together are held together by robots that place the workpieces relative to each other for joining by welding, in which the robots maintain the work- pieces in these positions while the welding is carried out, and in which a measurement system measures the positions of the workpieces in order to make it possible to adjust the positions of the workpieces before welding takes place.
  • Fig. 1 shows a block diagram of the functions in a welding station that is operating according to the method of the present invention.
  • the measurement systems 3, 4 monitor continuously the movements of the robots 1, 2, and thus also the positions of the workpieces A, B. When it is determined that the positions of the two workpieces A, B are correct 6, 7, the settings of the robots 1, 2 are locked such that no further movements of them or of the workpieces A, B take place.
  • the control arrangement 8 of the welding robot 9 is then activated such that the robot can weld together the workpieces A, B while they are held together and in the correct positions by the robots 1, 2.
  • the control arrangement 8 receives measurement data from the measurement systems 3, 4 when the correct welding positions 6, 7 have been achieved for the workpieces A, B, and it can then calculate the welding pathway for the welding robot 9.
  • the robots 1, 2 deliver the now welded workpieces A, B to the subsequent workstation 10, which may be a further welding station or it may be an assem- bly station.
  • the robots 1, 2 that hold the workpieces A, B during the welding operation move the workpieces A, B in order to facilitate the operation of the weld- ing robot 9, whereby the measurement systems 3, 4 continuously forward information to the control arrangement 8 through the sensors 6, 7 of welding position concerning the current positions of the workpieces A, B, such that the welding robot 9 can carry out the welding at the position at which the workpieces A, B are currently positioned.
  • the welding takes place in a fixed welding station, and that the robots 1, 2 hold and displace the workpieces A, B as has been described above in such a manner relative to the fixed welding station that all points that are to be welded, or the line that is to be welded, is carried forward by the robots 1, 2 to the fixed welding station.
  • each robot 1, 2 is connected to a dedicated measurement system 3, 4. It may, however, also be arranged that a common measurement system is arranged for the two robots. What is important is that the measurement system can determine the position and orientation of the two workpieces A, B that are to be joined together by welding.
  • the positions and orientations of the two workpieces A, B can always be determined through the measurement systems 3, 4 that are connected to the robots 1, 2, and, if any deviations arise from the intended values, feedback takes place through the control unit 5 such that the robots 1, 2 can in this case adjust the values such that the workpieces A, B that are to be welded together are placed at the correct relative posi- tions, and furthermore such that the positions are correct to allow the welding robot 9 to carry out the welding operation.
  • the parts that are to be welded together may, in a more complex system, be dynamically optimised in a CAD system, if they have been previously fully measured, and an adjustment of the positions and of the welding line or welding points may be carried out initially in the CAD system, and new nominal positions and orientations can be calculated, which are then to be transmitted to the welding station, in order to control not only the manipulating robots but also the welding robot .
  • the possibility is also available, in order to obtain even better control of the welding process, to measure dynamically the position of the welding tool of the welding robot 9. This can be carried out in both of the two cases.
  • the welding robot 9 can also be provided, if this is required, with an attachment arrangement in order to attach or to hold the workpieces during the welding process.
  • One such technology im- plements a laser triangulation method, in which measurement of certain points on the workpieces that have been determined in advance is carried out.
  • the workpieces may for this reason be provided with reflecting tape attached at the intended measurement positions.
  • the position of each piece of tape can be determined by the use of a light source and two- dimensional detectors, and the position and orientation of the workpiece can be determined by the use of at least three such points.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Manipulator (AREA)
  • Resistance Welding (AREA)

Abstract

La présente invention se rapporte à un procédé permettant de souder des pièces à travailler les unes aux autres. Les pièces à travailler (A, B) devant être soudées les unes aux autres sont maintenues en place par des robots (1, 2), qui placent lesdites pièces à travailler les unes par rapport aux autres aux fins d'assemblage par soudage, et qui les maintiennent dans lesdites positions pendant l'opération de soudage (9). Un système de mesure (3, 4) mesure la position des pièces à travailler, afin de permettre le réglage de leur position avant que le soudage ne soit réalisé (9).
PCT/SE2006/050240 2005-07-05 2006-07-04 Procede de soudage de pieces a travailler WO2007004983A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2008519238A JP2008544860A (ja) 2005-07-05 2006-07-04 被加工材の溶接方法
EP06758098A EP1899104A1 (fr) 2005-07-05 2006-07-04 Procede de soudage de pieces a travailler

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0501566-4 2005-07-05
SE0501566 2005-07-05

Publications (1)

Publication Number Publication Date
WO2007004983A1 true WO2007004983A1 (fr) 2007-01-11

Family

ID=37604743

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2006/050240 WO2007004983A1 (fr) 2005-07-05 2006-07-04 Procede de soudage de pieces a travailler

Country Status (5)

Country Link
EP (1) EP1899104A1 (fr)
JP (1) JP2008544860A (fr)
KR (1) KR20080034882A (fr)
CN (2) CN102513743A (fr)
WO (1) WO2007004983A1 (fr)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2075096A1 (fr) 2007-12-27 2009-07-01 Leica Geosystems AG Procédé et système destinés au positionnement très précis d'au moins un objet dans une position finale dans la pièce
WO2009140977A1 (fr) * 2008-05-21 2009-11-26 Edag Gmbh & Co. Kgaa Jointoiement de composants sans cadre de serrage
WO2010112266A1 (fr) * 2009-03-30 2010-10-07 Robert Bosch Gmbh Procédé de soudage en fonction d'une déformation de soudage déterminée, dispositif de soudage comportant une unité de détection pour déterminer une position défectueuse des pièces et élément composé
EP2255930A1 (fr) 2009-05-27 2010-12-01 Leica Geosystems AG Procédé et système destinés au positionnement très précis d'au moins un objet dans une position finale dans l' espace
EP2269783A1 (fr) 2009-06-30 2011-01-05 Leica Geosystems AG Procédé de calibrage pour un système de mesure
US9904271B2 (en) 2011-11-16 2018-02-27 Nissan Motor Co., Ltd. Manufacturing method and manufacturing device for manufacturing a joined piece
US10095214B2 (en) 2015-08-21 2018-10-09 Processchamp, Llc System and method for joining workpieces to form an article
DE102018104475A1 (de) * 2018-02-27 2019-08-29 Benteler Automobiltechnik Gmbh Verfahren zum Verschweißen von Bauteilen
US11294363B2 (en) 2018-04-17 2022-04-05 Processchamp, Llc System and method for positioning workpiece in a workstation using an automatic guided vehicle

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5222222B2 (ja) * 2009-05-14 2013-06-26 株式会社Ｉｈｉ 金属板位置決め装置
JP6568682B2 (ja) * 2014-10-29 2019-08-28 株式会社フジキン バルブ用自動溶接機およびバルブ
CN111203663A (zh) * 2020-01-15 2020-05-29 上海卓然工程技术股份有限公司 一种智能化管道自动焊接系统及方法

Citations (4)

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Publication number Priority date Publication date Assignee Title
US5380978A (en) * 1991-07-12 1995-01-10 Pryor; Timothy R. Method and apparatus for assembly of car bodies and other 3-dimensional objects
JPH07241676A (ja) 1994-03-04 1995-09-19 Sekisui Chem Co Ltd 自動溶接装置
US6193142B1 (en) * 1996-12-25 2001-02-27 Nissan Motor Co., Ltd. Assembling apparatus assembling body side of automotive vehicle and assembling method thereof
US20040143951A1 (en) * 2002-12-16 2004-07-29 Alwin Berninger Method and device for positioning components to be joined together

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2678202B2 (ja) * 1989-09-07 1997-11-17 株式会社日立製作所 溶接位置検出装置及び該装置を備えた溶接ロボット
JPH11267832A (ja) * 1998-03-20 1999-10-05 Shikoku Seiki Kogyo:Kk 円柱材の周溶接方法および設備
JP2004261881A (ja) * 2003-02-07 2004-09-24 Junichi Yakahi 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

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5380978A (en) * 1991-07-12 1995-01-10 Pryor; Timothy R. Method and apparatus for assembly of car bodies and other 3-dimensional objects
JPH07241676A (ja) 1994-03-04 1995-09-19 Sekisui Chem Co Ltd 自動溶接装置
US6193142B1 (en) * 1996-12-25 2001-02-27 Nissan Motor Co., Ltd. Assembling apparatus assembling body side of automotive vehicle and assembling method thereof
US20040143951A1 (en) * 2002-12-16 2004-07-29 Alwin Berninger Method and device for positioning components to be joined together

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8346392B2 (en) 2007-12-27 2013-01-01 Leica Geosystems Ag Method and system for the high-precision positioning of at least one object in a final location in space
EP2075096A1 (fr) 2007-12-27 2009-07-01 Leica Geosystems AG Procédé et système destinés au positionnement très précis d'au moins un objet dans une position finale dans la pièce
WO2009140977A1 (fr) * 2008-05-21 2009-11-26 Edag Gmbh & Co. Kgaa Jointoiement de composants sans cadre de serrage
WO2010112266A1 (fr) * 2009-03-30 2010-10-07 Robert Bosch Gmbh Procédé de soudage en fonction d'une déformation de soudage déterminée, dispositif de soudage comportant une unité de détection pour déterminer une position défectueuse des pièces et élément composé
US10150182B2 (en) 2009-03-30 2018-12-11 Robert Bosch Gmbh Welding method including welding as a function of an ascertained welding distortion; welding device including a detection unit for detecting a misalignment of the workpieces; joined part
EP2255930A1 (fr) 2009-05-27 2010-12-01 Leica Geosystems AG Procédé et système destinés au positionnement très précis d'au moins un objet dans une position finale dans l' espace
US8798794B2 (en) 2009-05-27 2014-08-05 Leica Geosystems Ag Method and system for highly precisely positioning at least one object in an end position in space
EP2269783A1 (fr) 2009-06-30 2011-01-05 Leica Geosystems AG Procédé de calibrage pour un système de mesure
JP2012531322A (ja) * 2009-06-30 2012-12-10 ライカ ジオシステムズ アクチエンゲゼルシャフト 測定システムのための較正方法
US8908028B2 (en) 2009-06-30 2014-12-09 Leica Geosystems Ag Calibration method for a measuring system
WO2011000781A1 (fr) 2009-06-30 2011-01-06 Leica Geosystems Ag Procédé d'étalonnage d'un système de mesure
US9904271B2 (en) 2011-11-16 2018-02-27 Nissan Motor Co., Ltd. Manufacturing method and manufacturing device for manufacturing a joined piece
US10095214B2 (en) 2015-08-21 2018-10-09 Processchamp, Llc System and method for joining workpieces to form an article
US10101725B2 (en) 2015-08-21 2018-10-16 Processchamp, Llc System and method for joining workpieces to form an article
US10571889B2 (en) 2015-08-21 2020-02-25 Processchamp, Llc System and method for joining workpieces to form an article
DE102018104475A1 (de) * 2018-02-27 2019-08-29 Benteler Automobiltechnik Gmbh Verfahren zum Verschweißen von Bauteilen
US11294363B2 (en) 2018-04-17 2022-04-05 Processchamp, Llc System and method for positioning workpiece in a workstation using an automatic guided vehicle

Also Published As

Publication number Publication date
CN101213046A (zh) 2008-07-02
CN102513743A (zh) 2012-06-27
EP1899104A1 (fr) 2008-03-19
JP2008544860A (ja) 2008-12-11
KR20080034882A (ko) 2008-04-22

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