WO2014126021A1 - シーム溶接方法及びシステム - Google Patents
シーム溶接方法及びシステム Download PDFInfo
- Publication number
- WO2014126021A1 WO2014126021A1 PCT/JP2014/052952 JP2014052952W WO2014126021A1 WO 2014126021 A1 WO2014126021 A1 WO 2014126021A1 JP 2014052952 W JP2014052952 W JP 2014052952W WO 2014126021 A1 WO2014126021 A1 WO 2014126021A1
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- WO
- WIPO (PCT)
- Prior art keywords
- electrode rollers
- electrode
- distance
- seam welding
- workpiece
- Prior art date
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Classifications
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- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/06—Resistance welding; Severing by resistance heating using roller electrodes
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/06—Resistance welding; Severing by resistance heating using roller electrodes
- B23K11/061—Resistance welding; Severing by resistance heating using roller electrodes for welding rectilinear seams
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/24—Electric supply or control circuits therefor
- B23K11/25—Monitoring devices
- B23K11/252—Monitoring devices using digital means
- B23K11/253—Monitoring devices using digital means the measured parameter being a displacement or a position
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/18—Sheet panels
Definitions
- the present invention relates to a seam welding method and system.
- Patent Document 1 a load is detected by detecting a load in a direction orthogonal to the pressing direction of the workpiece by the electrode roller at the welding point and the feeding direction of the workpiece by the robot at the welding point.
- a technique for correcting a trajectory by rotating an electrode roller around a pressing direction as a rotation center according to a load is described.
- the welding state is not constant unless the pressing direction of the electrode roller against the workpiece is maintained constant.
- the pressing direction of the electrode roller against the workpiece is different. Easy to change.
- the present invention has been made in view of the above points, and an object thereof is to provide a seam welding method and system capable of maintaining a constant pressing direction of an electrode roller against an object to be welded.
- a plurality of workpieces are sandwiched between a pair of electrode rollers, and the contact points between the electrode rollers and the workpiece are continuously moved while the electrode rollers are moved.
- a seam welding method for performing seam welding by energizing the pair of electrodes, wherein the plurality of welds sandwiched between the pair of electrode rollers by a measuring unit having a predetermined positional relationship with respect to the pair of electrode rollers An angle formed by a measuring step for measuring the distance to the surface of the object, and a straight line connecting the centers of the pair of electrode rollers and the surfaces of the plurality of workpieces based on the distance obtained in the measuring step.
- a correction step of moving the pair of electrode rollers with respect to the workpiece to be welded so as to have a preset angle.
- an angle formed by a straight line connecting the centers of a pair of electrode rollers and the surfaces of a plurality of workpieces (hereinafter referred to as “inclined”).
- the angle is corrected by moving the pair of electrode rollers with respect to the work piece so that the angle becomes a preset angle.
- the tilt angle is corrected to a preset angle by moving the pair of electrode rollers with respect to the work piece. It is possible to keep the angle of the electrode roller in the pressing direction constant.
- the correction is made based on the distance measured by the measuring means having a predetermined positional relationship with respect to the pair of electrode rollers, for example, a sensor for detecting the flange end of the workpiece is also used as the measuring means. And there is no need to add new parts.
- a plurality of workpieces are sandwiched between a pair of electrode rollers, and a contact point between the electrode rollers and the workpiece is continuously moved while the electrode rollers are moved.
- a seam welding system for performing seam welding by energizing a pair of electrodes, the surfaces of the plurality of workpieces being in a predetermined positional relationship with respect to the pair of electrode rollers and sandwiched between the pair of electrode rollers And an angle formed by a straight line connecting the centers of the pair of electrode rollers and the surfaces of the plurality of objects to be welded is set in advance based on the measuring means for measuring the distance up to and the distance measured by the measuring means And correction means for moving the pair of electrode rollers with respect to the work piece so as to form an angle.
- the correcting means moves the pair of electrode rollers with respect to the work piece so that the inclination angle becomes a preset angle based on the distance measured by the measuring means. To correct.
- the tilt angle is corrected to a preset angle by moving the pair of electrode rollers with respect to the work piece. It is possible to keep the angle of the electrode roller in the pressing direction constant.
- a seam welding system 100 according to an embodiment of the present invention will be described with reference to the drawings.
- the seam welding system 100 is used when a plurality of workpieces (workpieces) W made of a thin metal plate are joined by the seam welding apparatus 10 to manufacture a window frame or a fuel tank of an automobile.
- the workpiece W is seam welded by a seam welding apparatus 10 that is fixed at a predetermined position by a workpiece fixing base (not shown) and moved along a predetermined trajectory by a robot 20.
- the seam welding system 100 includes a control device 30 that controls the seam welding device 10 and the robot 20 and corresponds to the control means of the present invention.
- the robot 20 is an articulated robot such as a 6-axis robot in which a plurality of arms are connected by joints, and is fixed to the base 21.
- the robot 20 includes a driving unit such as a servo motor and a detecting unit such as an encoder that detects the shaft angle of the servo motor, and is configured to be feedback-controlled by the control device 30. .
- An equalizing mechanism 22 is provided at the tip of the arm located at the tip of the robot 20.
- the seam welding apparatus 10 is elastically supported at the tip of the arm of the robot 20 by an equalizing mechanism 22. Thereby, even if there is a minute change in the portion to be welded, the seam welding apparatus 10 can follow the change.
- the seam welding apparatus 10 includes a base 11 that is attached to the robot 20 via an equalizing mechanism 22.
- the base 11 is provided with a guide rail 12 that extends in the vertical direction.
- the guide rail 12 is provided with a movable base 14 that can be moved in the vertical direction by the driving means 13 along the guide rail 12. ing.
- the drive means 13 is the air cylinder 13, and the movable base 14 is connected to the tip of the piston rod 13 a of the air cylinder 13.
- the driving means may be a hydraulic cylinder, a rotary motor equipped with a ball screw mechanism, a linear motor, or the like.
- An upper electrode 15 is pivotally supported on the movable base 14, and a lower electrode 16 is pivotally supported on the base 11. Thereby, the lower electrode 16 is provided at a predetermined height position, and the upper electrode 15 is arranged to be movable up and down with respect to the lower electrode 16.
- the upper electrode 15 and the lower electrode 16 are disk-like electrodes, and are also referred to as electrode rollers 15 and 16 together.
- the electrode rollers 15 and 16 are connected to rotation drive means 17 and 18 for rotating the electrode rollers 15 and 16 at a rotation speed set in a preset rotation direction, respectively.
- the rotation driving means 17 and 18 are servo motors, but they may be ordinary motors including a pulse motor and a rotary encoder.
- a current (welding current) necessary for welding is supplied to the upper electrode 15 and connected to a welding power source 19 (see FIG. 2) corresponding to the welding current supply means of the present invention.
- the welding power source 19 supplies a DC pulse current, but it may supply an AC current.
- the piston rod 13 a of the air cylinder 13 is extended to lower the upper electrode 15, and the welding current is supplied from the welding power source 19 to the upper electrode 15 with the workpiece W sandwiched between the electrodes 15 and 16. To do.
- a welding current flows from the upper electrode 15 to the lower electrode 16 (earth electrode) through the workpiece W sandwiched between the electrode rollers 15 and 16, and seam welding can be performed.
- the air cylinder 13 pressurizes the work W sandwiched between the electrode rollers 15 and 16 by pressing the upper electrode 15 toward the lower electrode 16.
- the base 11 or the movable base 14 is provided with a distance measuring sensor 41 which is a measuring means for detecting the distance D from the surface of the workpiece W.
- the distance measuring sensor 41 is fixed to the base 11 or the movable base 14 in a predetermined positional relationship with respect to the electrode rollers 15 and 16 sandwiching the workpiece W.
- a distance measuring sensor 41 for example, a non-contact type laser distance meter, a contact type linear scale sensor, or a magnet scale sensor can be used.
- the distance measuring sensor 41 reaches the upper surface of the workpiece W on the detection line L parallel to the straight line L0 connecting the rotation center O1 of the upper electrode 15 and the rotation center O2 of the lower electrode 16.
- the distance D is measured.
- the straight line L0 and the detection line L are offset by a distance F.
- a straight line L0 connecting the rotation center O1 of the upper electrode 15 and the rotation center O2 of the lower electrode 16 is a vertical direction (Z direction).
- the distance to the upper surface of the workpiece W measured by the distance measuring sensor 41 is D0.
- the straight line L0 is in the vertical direction (with the workpiece W sandwiched between the upper electrode 15 and the lower electrode roller 16).
- (Z direction) is inclined by an angle Rx in the moving direction (+ Y direction) of the contact point where the workpiece W is sandwiched between the upper electrode 15 and the lower electrode 16.
- This angle Rx is referred to as an inclination angle.
- the robot 20 is configured to eliminate the difference ⁇ D1. Operate to correct. In this correction, the robot 20 moves the seam welding apparatus 10 around the X axis (the axis in the direction perpendicular to the moving direction of the contact point sandwiching the workpiece W between the upper electrode 15 and the lower electrode roller 16 and the vertical direction). This is done in the direction of rotation. Therefore, when the robot 20 first moves the seam welding apparatus 10 to the predetermined posture, the rotation angle around the X axis has a predetermined margin (play) with respect to the angle Rx. Also good.
- the control device 30 is an electronic circuit unit configured by a CPU or the like (not shown).
- the CPU executes the control program or the processing program held in the memory 31 to cause the air cylinder 13 to operate.
- the memory 31 stores the teaching data of the robot 20 and supplies it from the amount of movement of the piston rod 13 a of the air cylinder 13, the rotational speed of the rotation driving means 17 and 18, and the welding power source 19 according to the welding conditions. Welding control data such as the value of the welding current is stored. The memory 31 also stores correction data of the robot 20 corresponding to the difference ⁇ D1.
- the control device 30 When the CPU executes the measurement processing program, the control device 30 functions as a measurement unit that obtains the distances D0 and D1 and the difference ⁇ D1 from the measurement signal input from the distance measuring sensor 41. Further, when the CPU executes the control program, the control device 30 reads correction data based on the difference ⁇ D1 of the distance D1 from the memory 31, and moves the entire seam welding device 10 including the electrode rollers 15 and 16 by the robot 20. It also functions as a correction means.
- the control device 30 reads out the control signals created by reading out the welding control data, teaching data or correction data stored in the memory 31 according to the welding conditions, the air cylinder 13, the rotation driving means 17, 18, the welding power source 19, and the robot. 20 respectively.
- the first distance measurement sensor 41 measures the distance D0 to the upper surface of the workpiece W.
- the measurement process is performed (STEP 1).
- a comparison process is performed to compare the distance D1m, which is the distance when tilted by the angle Rx from the vertical distance D0 and stored in the memory 31 in advance, with the measured distance D1 (STEP 4).
- the comparison step if the difference ⁇ D1 exceeds the allowable error ⁇ (STEP 4: NO), the correction data based on the difference ⁇ D1 is read from the memory 31, the seam welding apparatus 10 is moved by the robot 20, and the inclination angle is the angle Rx. A correction process is performed to correct so as to become (STEP 6). Then, a measurement process (STEP3) and a comparison process (STEP4) are performed again.
- the straight line L0 is corrected so as to be inclined by the angle Rx based on the distances D0 and D1 measured by the distance measuring sensor 41 (STEP 1 and STEP 2) (STEP 6).
- the electrode rollers 15 and 16 are gradually consumed by performing seam welding, and further shaped by dressing. Therefore, the diameters of the electrode rollers 15 and 16 are reduced.
- the distance D1 is obtained by the equation (1) based on the distance D0 measured by the distance measuring sensor 41, the inclination angle Rx is set in advance regardless of the diameter of the electrode roller 15. It can be corrected.
- the distance measuring sensor 41 can also be used for detecting the flange end position of the workpiece W in order to prevent the locus deviation of the contact point between the electrode rollers 15 and 16 and the workpiece W, and the distance F is large. Then, it is necessary to consider that the detection accuracy of the flange end position is lowered.
- the distances D0 and D1 obtained by the distance measuring sensor 41 may be corrected in consideration of the difference.
- two distance measuring sensors 42 and 43 are provided on the base 11 or the movable base 14 as measuring means for detecting the distance D from the surface of the workpiece W. It has been.
- the distance measuring sensors 42 and 43 for example, a non-contact type laser distance meter, a contact type linear scale sensor, or a magnet scale sensor can be used.
- the two distance measuring sensors 42 and 43 each measure the distance D to the upper surface of the workpiece W on the detection line L parallel to the straight line L0.
- the two detection lines L are offset by a distance F.
- the distance measuring sensors 42 and 43 are The distance measuring sensors 42 and 43 are fixed so that the measured distances D0 to the upper surface of the workpiece W are equal.
- the straight line L0 is in the vertical direction (with the workpiece W sandwiched between the upper electrode 15 and the lower electrode roller 16).
- (Z direction) is inclined by an angle Rx in the moving direction (+ Y direction) of the contact point sandwiching the workpiece W between the upper electrode 15 and the lower electrode roller 16.
- the difference ⁇ D is set in advance according to the inclination angle Rx, and the robot 20 is operated to perform correction so as to be the difference ⁇ Dm stored in the memory 31.
- This correction is performed in the direction in which the robot 20 rotates the seam welding apparatus 10 around the X axis. Therefore, when the robot 20 first moves the seam welding apparatus 10 to the predetermined posture, the rotation angle around the X axis has a predetermined margin (play) with respect to the angle Rx. Also good.
- the straight line L0 is corrected so as to be inclined by the inclination angle Rx based on the distance difference ⁇ D measured by the two distance measuring sensors 42 and 43.
- the diameters of the electrode rollers 15 and 16 are reduced, correction is made based on the difference ⁇ D between the distances measured by the two distance measuring sensors 42 and 43, so that the diameter is set in advance regardless of the diameter of the electrode roller 15.
- the inclination angle Rx can be corrected.
- the distance F can be increased as compared with the above-described embodiment, and the inclination angle correction accuracy can be improved. Further, unlike the above-described embodiment, the step (STEP 1) of controlling the attitude of the seam welding apparatus 10 is not required in a state where the straight line L0 of the upper electrode 15 is once vertical.
- the distance D between the base 11 or the movable base 14 and the surface of the work W is set to the moving direction of the contact point between the electrode rollers 15 and 16 and the work W (
- a two-dimensional distance measuring sensor 44 is provided as a measuring means for detecting along the (Y direction).
- the two-dimensional distance measuring sensor 44 for example, a non-contact type laser distance meter can be used.
- the straight line L0 is in the vertical direction (with the workpiece W sandwiched between the upper electrode 15 and the lower electrode roller 16).
- (Z direction) is inclined by an angle Rx in the moving direction (+ Y direction) of the contact point sandwiching the workpiece W between the upper electrode 15 and the lower electrode roller 16.
- the two-dimensional distance measuring sensor 44 discretely measures the distance D to the upper surface of the workpiece W along the Y direction.
- the distance D (y) measured by the two-dimensional distance measuring sensor 44 can be expressed by the following equation (3) using the linear interpolation method and the coordinate y.
- D (y) A ⁇ y + B (3)
- the robot 20 is operated so that the difference ⁇ A between the coefficient A obtained here and the coefficient Am set in advance according to the inclination angle Rx and the workpiece W to be welded and stored in the memory 31 becomes zero.
- This correction is performed in the direction in which the robot 20 rotates the seam welding apparatus 10 around the X axis. Therefore, when the robot 20 first moves the seam welding apparatus 10 to the predetermined posture, the rotation angle around the X axis has a predetermined margin (play) with respect to the angle Rx. Also good.
- the robot 20 may be operated and corrected so that the difference ⁇ Rx between the inclination angle Rx obtained by the equation (4) and the preset inclination angle Rxm becomes zero.
- the straight line L0 is corrected so as to be inclined by the inclination angle Rx based on the distance D (y) obtained by interpolating a plurality of distances measured by the two-dimensional distance measuring sensor 44. .
- the correction is made based on the coefficient A obtained from the distance D (y) measured by the two-dimensional distance measuring sensor 44.
- the inclination angle Rx can be corrected to the set inclination angle Rx.
- position of the seam welding apparatus 10 once in the state where the straight line L0 is vertical is unnecessary.
- this invention is not limited to this.
- the case where the upper electrode 15 can be moved up and down and the lower electrode 16 is fixed has been described.
- the present invention is not limited to this, and even if the upper electrode 15 is fixed and the lower electrode 16 can move up and down, both the upper electrode 15 and the lower electrode 16 may move up and down.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
- Manipulator (AREA)
Abstract
Description
D1=D0-F×sin(Rx) ・・・ (1)
ΔD=F×sin(Rx) ・・・ (2)
D(y)=A×y+B ・・・ (3)
Rx=tan-1(A) ・・・ (4)
Claims (2)
- 一対の電極ローラの間に複数の被溶接物を挟み込んだ状態で、前記電極ローラと前記被溶接物との接触点を連続的に移動させながら、前記電極ローラ間を通電させることによってシーム溶接を行うシーム溶接方法であって、
前記一対の電極ローラに対して予め定められた位置関係にある測定手段によって、前記一対の電極ローラに挟み込まれた前記複数の被溶接物の表面までの距離を測定する測定工程と、
前記測定工程で求めた前記距離に基いて、前記一対の電極ローラの中心同士を結ぶ直線と前記複数の被溶接物の表面とがなす角度が予め設定された角度となるように、前記被溶接物に対して前記一対の電極ローラを移動させる補正工程とを備えることを特徴とするシーム溶接方法。 - 一対の電極ローラの間に複数の被溶接物を挟み込んだ状態で、前記電極ローラと前記被溶接物との接触点を連続的に移動させながら、前記電極ローラ間を通電させることによってシーム溶接を行うシーム溶接システムであって、
前記一対の電極ローラに対して予め定められた位置関係にあり、前記一対の電極ローラに挟み込まれた前記複数の被溶接物の表面までの距離を測定する測定手段と、
前記測定手段によって測定した距離に基いて、前記一対の電極ローラの中心同士を結ぶ直線と前記複数の被溶接物の表面とがなす角度が予め設定された角度となるように、前記被溶接物に対して前記一対の電極ローラを移動させる補正手段とを備えることを特徴とするシーム溶接システム。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015500218A JP5872730B2 (ja) | 2013-02-15 | 2014-02-07 | シーム溶接方法及びシステム |
CA2897718A CA2897718C (en) | 2013-02-15 | 2014-02-07 | Seam-welding method and system |
US14/765,109 US9821405B2 (en) | 2013-02-15 | 2014-02-07 | Method and system for resistance seam welding with electrode rollers |
BR112015018326A BR112015018326A2 (pt) | 2013-02-15 | 2014-02-07 | método e sistema de soldagem por costura |
GB1512069.4A GB2524202B (en) | 2013-02-15 | 2014-02-07 | Seam-welding method and system |
CN201480004870.4A CN104918742B (zh) | 2013-02-15 | 2014-02-07 | 焊缝方法及系统 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2013028451 | 2013-02-15 | ||
JP2013-028451 | 2013-02-15 |
Publications (1)
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WO2014126021A1 true WO2014126021A1 (ja) | 2014-08-21 |
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Family Applications (1)
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PCT/JP2014/052952 WO2014126021A1 (ja) | 2013-02-15 | 2014-02-07 | シーム溶接方法及びシステム |
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Country | Link |
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US (1) | US9821405B2 (ja) |
JP (1) | JP5872730B2 (ja) |
CN (1) | CN104918742B (ja) |
BR (1) | BR112015018326A2 (ja) |
CA (1) | CA2897718C (ja) |
GB (1) | GB2524202B (ja) |
MY (1) | MY181353A (ja) |
WO (1) | WO2014126021A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CN110587096A (zh) * | 2019-08-29 | 2019-12-20 | 中车青岛四方机车车辆股份有限公司 | 电阻点焊电极工作姿态在线监测装置及监测方法 |
JP2020055009A (ja) * | 2018-09-28 | 2020-04-09 | 本田技研工業株式会社 | シーム溶接装置及びシーム溶接方法 |
JP2020055008A (ja) * | 2018-09-28 | 2020-04-09 | 本田技研工業株式会社 | シーム溶接装置及びシーム溶接方法 |
Families Citing this family (3)
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JP6490154B2 (ja) * | 2017-06-21 | 2019-03-27 | ファナック株式会社 | ワイヤ放電システムおよび相対位置算出方法 |
CN111527371B (zh) * | 2017-12-28 | 2022-07-08 | 日本电产理德股份有限公司 | 检查装置及检查方法 |
JP6767523B2 (ja) * | 2019-01-09 | 2020-10-14 | 本田技研工業株式会社 | 電極姿勢確認装置及び電極姿勢確認方法 |
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2014
- 2014-02-07 CA CA2897718A patent/CA2897718C/en not_active Expired - Fee Related
- 2014-02-07 BR BR112015018326A patent/BR112015018326A2/pt not_active Application Discontinuation
- 2014-02-07 JP JP2015500218A patent/JP5872730B2/ja not_active Expired - Fee Related
- 2014-02-07 MY MYPI2015702653A patent/MY181353A/en unknown
- 2014-02-07 WO PCT/JP2014/052952 patent/WO2014126021A1/ja active Application Filing
- 2014-02-07 US US14/765,109 patent/US9821405B2/en active Active
- 2014-02-07 CN CN201480004870.4A patent/CN104918742B/zh active Active
- 2014-02-07 GB GB1512069.4A patent/GB2524202B/en not_active Expired - Fee Related
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JP2020055009A (ja) * | 2018-09-28 | 2020-04-09 | 本田技研工業株式会社 | シーム溶接装置及びシーム溶接方法 |
JP2020055008A (ja) * | 2018-09-28 | 2020-04-09 | 本田技研工業株式会社 | シーム溶接装置及びシーム溶接方法 |
CN110587096A (zh) * | 2019-08-29 | 2019-12-20 | 中车青岛四方机车车辆股份有限公司 | 电阻点焊电极工作姿态在线监测装置及监测方法 |
CN110587096B (zh) * | 2019-08-29 | 2022-02-15 | 中车青岛四方机车车辆股份有限公司 | 电阻点焊电极工作姿态在线监测装置及监测方法 |
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GB2524202B (en) | 2016-05-25 |
GB2524202A (en) | 2015-09-16 |
BR112015018326A2 (pt) | 2017-07-18 |
CA2897718C (en) | 2017-07-04 |
CN104918742B (zh) | 2017-03-15 |
JPWO2014126021A1 (ja) | 2017-02-02 |
US9821405B2 (en) | 2017-11-21 |
JP5872730B2 (ja) | 2016-03-01 |
GB201512069D0 (en) | 2015-08-19 |
CN104918742A (zh) | 2015-09-16 |
US20150367441A1 (en) | 2015-12-24 |
CA2897718A1 (en) | 2014-08-21 |
MY181353A (en) | 2020-12-21 |
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