WO2015032648A1 - Installation de soudage de goujons présentant un raccordement amélioré de la tête de soudage, et dispositif adaptateur pour la fixation de la tête de soudage sur le robot. - Google Patents

Installation de soudage de goujons présentant un raccordement amélioré de la tête de soudage, et dispositif adaptateur pour la fixation de la tête de soudage sur le robot. Download PDF

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Publication number
WO2015032648A1
WO2015032648A1 PCT/EP2014/068024 EP2014068024W WO2015032648A1 WO 2015032648 A1 WO2015032648 A1 WO 2015032648A1 EP 2014068024 W EP2014068024 W EP 2014068024W WO 2015032648 A1 WO2015032648 A1 WO 2015032648A1
Authority
WO
WIPO (PCT)
Prior art keywords
stud welding
welding head
electrical
pneumatic
robot
Prior art date
Application number
PCT/EP2014/068024
Other languages
German (de)
English (en)
Inventor
Juergen Raimann
Original Assignee
Bayerische Motoren Werke Aktiengesellschaft
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 Bayerische Motoren Werke Aktiengesellschaft filed Critical Bayerische Motoren Werke Aktiengesellschaft
Publication of WO2015032648A1 publication Critical patent/WO2015032648A1/fr

Links

Classifications

    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/20—Stud 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
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0282—Carriages forming part of a welding unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B25J19/0033—Means for supplying energy to the end effector arranged within the different robot elements with axial connectors in end effector flange

Definitions

  • Stud welding device with improved connection of the stud welding head and adapter device for fastening the stud welding head to the robot
  • the invention relates to a stud welding device for the automated welding of welding studs to a workpiece surface by means of an arc, comprising a robot and a stud welding head fastened to its robot arm or to its robot hand.
  • a stud welding apparatus of the kind in question is known from EP 1 252 964 A2.
  • the prior art is additionally referred to the DE 200 03 127 U1.
  • the electrical and pneumatic connection and supply of a stud welding head fastened to a robot has hitherto been effected by a plurality of electric cables and pneumatic hoses which, if necessary combined to form a cable and hose package, are directly connected to the stud welding head, for which purpose the stud welding head has corresponding electrical and pneumatic connections.
  • the invention has for its object to provide a stud welding device of the kind which does not have at least one associated with the prior art disadvantage or at least only to a reduced extent.
  • the stud welding device for the automated welding of welding studs to a workpiece surface by means of an arc a robot, which is in particular a multi-axis robot, and at least one on the robot arm (directly or indirectly) attached stud welding head.
  • the stud welding head has a connection flange for the (direct or indirect) releasable attachment to the robot arm, wherein the connection flange has integrated electrical and pneumatic connections, so that the electrical and pneumatic connection and supply of the stud welding head are solely or exclusively via the Connection flange or through the connection flange takes place or can be done.
  • connection flange may include the supply of all electrical and pneumatic consumers, preferably also a pneumatically and / or electromotively operated charging device.
  • the electrical connection via the connection flange can in particular also serve to connect electronic devices of the stud welding head, for example for the monitoring and / or control of the welding process and / or charging process.
  • the stud welding device according to the invention is intended to be used in particular in bodywork for motor vehicles and can be used, for example, in automobile manufacturers or suppliers.
  • the stud welding head has a housing and that the housing bottom plate of this housing is designed as a connection flange.
  • an adapter plate is mounted with integrated electrical and pneumatic supply connections, with the connecting flange of the stud welding head is detachably connected or can be connected.
  • connection flange of the stud welding head and the electrical and pneumatic supply connections in the robot-side adapter plate are designed as releasably intermeshing plugs and couplings.
  • plugs and couplings can be made when mounting the stud welding head in a simple manner electrical and pneumatic connections to the stud welding head, which are separated again when dismantling the stud welding head.
  • a separate connection or disconnection of terminals is not required, which also eliminates the associated disadvantages (time required, accessibility and the like).
  • the adapter plate can be attached directly to the robot or to the robot arm. Preferably, however, it is provided that the adapter plate is attached indirectly via a hollow adapter piece on the robot arm and that run and laid electrical cables and pneumatic hoses for connecting the electrical and pneumatic supply connections in the adapter plate inside the hollow adapter piece.
  • the electrical cables and pneumatic hoses are thus no risk of collision and no wear, eg. Exposed by contact with the workpiece. Furthermore, the accessibility to the welding site is improved, in particular also simpler trajectories for the stud welding head are made possible.
  • the hollow adapter piece is preferably a pipe piece, U-profile piece, H- Profile piece (or a double-T profile piece) or the like. Preferably, laid in the interior of the hollow adapter piece of electrical cable and pneumatic hoses are guided at least one connection laterally outwards.
  • the stud welding head has an electromotive and / or pneumatically operated charging device with which the bolts supplied via a feed connection can be received and transferred to a gripper.
  • the electrical and / or pneumatic connection and supply preferably also takes place via the connecting flange of the stud welding head.
  • the adapter device according to the invention serves for the indirect or indirect attachment of a stud welding head to a robot or robotic arm in a stud welding device according to the invention.
  • the adapter device according to the invention comprises at least:
  • a hollow adapter piece, with electrical cables and pneumatic hoses for connecting the electrical and pneumatic supply connections in the adapter plate protected inside this hollow adapter piece are laid, and
  • FIG. 1 shows a schematic side view of the connection according to the invention of a stud welding head.
  • 1 shows a stud welding head 100, which is fastened via an adapter device 300 to a robot arm 210 of a robot 200 (not shown in the following).
  • the adapter device 300 also carries out the electrical and pneumatic connection of the stud welding head 100, as explained below.
  • the stud welding head 100 has a housing 110 in which inter alia electrical and pneumatic devices are accommodated for its operation. On the housing 110 designed as a gripper welding stud holder 130 is disposed, which is fixed to a movable plate 140. With 145 is a bellows and 135 is a power line for the welding current designated.
  • the stud welding head 100 further has a feed port 150 for automatically feeding the bolts to be welded. Feeding is done by an external feeder. The bolts fed via the feed connection 150 are picked up individually with a loading device 160 installed on the stud welding head 100 and transferred to the gripper 130.
  • the loading device 160 includes a relatively movable loading slide or loading slide 161 with a pivotable receiver 162, which receives at least one fed via the feed port 150 and next to be welded bolts at a transfer point, transport to the gripper 130 and there passed to this.
  • the feed port 150 and the charging device 160 may also be configured differently.
  • the stud welding head 100 may have a plurality of feed ports 150 for feeding different bolts.
  • the loading slide 161 of the loading device 160 can accordingly be designed as a multiple loading slide, so that it can pick up different pins supplied via different feed connections and supply them to the gripper 130 as required.
  • Other systems and devices for the automatic supply and transfer of the bolts to be welded, which can likewise be used on a stud welding device according to the invention, are also known from the state of the art.
  • the housing 110 belonging to the housing housing plate 120 is formed as a connection flange. With this designed as a flange housing base plate 120 of the stud welding head 100 is releasably attached to an adapter plate 320.
  • the detachable attachment to the adapter plate 320 may, for example, by screwing and / or a clamping mechanism.
  • another wall part of the housing 110 may be formed as a connection flange.
  • a separate connected to the housing 1 10 connection plate may be provided which serves as a connection flange.
  • the housing bottom plate 120 has integrated electrical and pneumatic connections 171 and 172.
  • an electrical connection 171 and a pneumatic connection 172 is shown by way of example, wherein a plurality of such electrical and pneumatic connections 171 and 172 can be provided depending on the devices or consumers present on the stud welding head 100. Furthermore, it is conceivable that the supply of the consumer to the stud welding head 100 takes place via distributors in the housing 110, so that the number of connections 171 and 172 can be kept low due to such a summary. At least, however, an electrical connection 171 and a pneumatic connection 172 are provided, which may possibly be combined to form a single combination connection 171/172.
  • the adapter plate 320 has electrical and pneumatic supply connections 371 and 371.
  • the electrical and pneumatic connections 171 and 172 in the connection flange 120 of the stud welding head 100 and the electrical and pneumatic supply connections 371 and 372 in the robot-side adapter plate 320 are designed as releasably intermeshing plugs and couplings, so that when mounting the stud welding head 100 to the adapter plate 320 direct connections are made, which are separated again during disassembly.
  • the plugs and couplings 171 and 172 or 371 and 372 are structurally integrated into the housing bottom plate 120 and into the adapter plate 320.
  • the electrical connectors and couplings are multi-pin connectors.
  • the electrical and pneumatic connection and supply of the stud welding head 100 which in particular also includes the operating supply for the charging device 160, takes place solely via the electrical and pneumatic connections 171 and 172 integrated in the housing bottom plate 120.
  • the connection of electronic devices in the stud welding head 100 which is, for example, The monitoring and / or control of the charging process (supply and transfer of the bolts to be welded) and / or the welding process can be carried out in the same way.
  • the stud welding head 100 is attached indirectly or indirectly to the robot 200 via an adapter device 300.
  • the adapter plate 320 which does not belong to the stud welding head 100, is fastened to a hollow tubular adapter piece 330.
  • the adapter plate 320 and the tubular adapter piece 330 form the adapter device 300, which also includes a flange plate 310, with which the adapter device 300 is attached to the robot arm 210 (for example by means of screwing, as shown).
  • the flange plate 310 and the adapter plate 320 are bolted or welded to the end portions of the tubular adapter piece 330, for example.
  • the electrical cables 341 (which is at least an electrical cable) and pneumatic hoses 342 (which is at least a pneumatic hose) for connecting the electrical and pneumatic supply ports 371 and 372 in the adapter plate 320 extend inside the tubular adapter 330 and can, as shown, be combined into a cable and hose package.
  • tubular adapter piece 330 can also be a U-shaped piece or H-profile piece or the like may be used, wherein the electric cable 341 and pneumatic tubes 342 extend within a profile chamber formed by the profile leg or are laid.
  • connection 360 is firmly installed on the tubular adapter piece 330.
  • the connection 360 is, for example, a combination connection formed as a plug and / or coupling, which can comprise electrical and pneumatic connection elements. be provided separate terminals, wherein it can be a multi-pin connector (plug and / or coupling) in the electrical connection.
  • a central supply line 400 (or alternatively individual supply lines) is detachably connected to the connection 360.
  • the central supply line 400 (or alternatively individual supply lines) is not directly connected to the stud welding head 100.
  • the electrical and pneumatic connection and supply of the stud welding head 100 takes place in the previously explained manner via the adapter device 300. Externally routed line connections (electrical cables and pneumatic hoses) and the associated disadvantages (wear and risk of collision) are eliminated.
  • the 400 supply line need not be removed.
  • the designed as couplings and connectors 171, 172, 371 and 372 in the housing base plate 120 and in the adapter plate 320 allow fast and easy assembly and disassembly of the stud welding head 100 without longer downtime of Bolzenschwei ßvorraum.
  • Stud welding device with improved connection of the stud welding head and adapter device for fastening the stud welding head to the robot
  • connection flange 120 Caseback plate, connection flange

Abstract

L'invention concerne une installation de soudage de goujons pour le soudage automatisé de goujons à souder sur la surface d'une pièce à l'aide d'un arc électrique, comprenant un robot (200) et au moins une tête de soudage (100) fixée sur le bras (210) dudit robot. Selon l'invention, la tête de soudage (100) est dotée d'une bride de raccordement (120) permettant de la fixer de manière libérable sur le bras (210) du robot, ladite bride de raccordement (120) étant dotée de connecteurs de raccordement électrique et pneumatique (171, 172), de manière à permettre le raccordement et l'alimentation électriques et pneumatiques de la tête de soudage (100) par la seule bride de raccordement (120).
PCT/EP2014/068024 2013-09-03 2014-08-26 Installation de soudage de goujons présentant un raccordement amélioré de la tête de soudage, et dispositif adaptateur pour la fixation de la tête de soudage sur le robot. WO2015032648A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013217542.6 2013-09-03
DE201310217542 DE102013217542A1 (de) 2013-09-03 2013-09-03 Bolzenschweißvorrichtung mit verbesserter Anbindung des Bolzenschweißkopfs, sowie Adaptereinrichtung zur Befestigung des Bolzenschweißkopfs am Roboter

Publications (1)

Publication Number Publication Date
WO2015032648A1 true WO2015032648A1 (fr) 2015-03-12

Family

ID=51398628

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2014/068024 WO2015032648A1 (fr) 2013-09-03 2014-08-26 Installation de soudage de goujons présentant un raccordement amélioré de la tête de soudage, et dispositif adaptateur pour la fixation de la tête de soudage sur le robot.

Country Status (2)

Country Link
DE (1) DE102013217542A1 (fr)
WO (1) WO2015032648A1 (fr)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5294209A (en) * 1991-07-25 1994-03-15 Yamaha Hatsudoki Kabushiki Kaisha Tool attaching device
DE20003127U1 (de) 2000-02-21 2000-06-29 Trw Nelson Bolzenschweisstechn Bolzenschweißvorrichtung
EP1252964A2 (fr) 2001-04-28 2002-10-30 Bayerische Motoren Werke Aktiengesellschaft Système de soudage de goujons
US6491612B1 (en) * 2000-10-23 2002-12-10 Ati Industrial Automation, Inc. Stud welding tool changer
DE102006036981A1 (de) * 2006-08-08 2008-02-21 Wilhelm Karmann Gmbh Verfahren und Vorrichtung zum Befestigen eines Befestigungselements an einem Werkstück
US20110162185A1 (en) * 2005-09-09 2011-07-07 Alfred Gerhardt Fastening system head, fastening system, and method for feeding and fastening elements

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE453168B (sv) * 1982-04-19 1988-01-18 Lennart Palmer Anordning for att utbytbart anordna verktyg pa en industrirobot
US4664588A (en) * 1984-03-09 1987-05-12 Applied Robotics Inc. Apparatus and method for connecting and exchanging remote manipulable elements to a central control source
US5779609A (en) * 1996-01-16 1998-07-14 Applied Robotics, Inc. Integrated stud welding robotic tool changing system
DE102005038189A1 (de) * 2005-08-12 2007-02-15 Daimlerchrysler Ag Mobiler Bolzen-Schweisskopf
CN101607398B (zh) * 2008-06-18 2012-06-20 鸿富锦精密工业（深圳）有限公司 夹具更换装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5294209A (en) * 1991-07-25 1994-03-15 Yamaha Hatsudoki Kabushiki Kaisha Tool attaching device
DE20003127U1 (de) 2000-02-21 2000-06-29 Trw Nelson Bolzenschweisstechn Bolzenschweißvorrichtung
US6491612B1 (en) * 2000-10-23 2002-12-10 Ati Industrial Automation, Inc. Stud welding tool changer
EP1252964A2 (fr) 2001-04-28 2002-10-30 Bayerische Motoren Werke Aktiengesellschaft Système de soudage de goujons
US20110162185A1 (en) * 2005-09-09 2011-07-07 Alfred Gerhardt Fastening system head, fastening system, and method for feeding and fastening elements
DE102006036981A1 (de) * 2006-08-08 2008-02-21 Wilhelm Karmann Gmbh Verfahren und Vorrichtung zum Befestigen eines Befestigungselements an einem Werkstück

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