WO2020026750A1 - Procédé de soudage par robot de soudage, et robot de soudage - Google Patents

Procédé de soudage par robot de soudage, et robot de soudage Download PDF

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Publication number
WO2020026750A1
WO2020026750A1 PCT/JP2019/027517 JP2019027517W WO2020026750A1 WO 2020026750 A1 WO2020026750 A1 WO 2020026750A1 JP 2019027517 W JP2019027517 W JP 2019027517W WO 2020026750 A1 WO2020026750 A1 WO 2020026750A1
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WO
WIPO (PCT)
Prior art keywords
wire
feeding device
filler wire
guide tube
speed
Prior art date
Application number
PCT/JP2019/027517
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English (en)
Japanese (ja)
Inventor
俊英 加藤
達也 天野
準一 齋藤
真弘 田代
Original Assignee
株式会社アマダホールディングス
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 株式会社アマダホールディングス filed Critical 株式会社アマダホールディングス
Priority to JP2019554706A priority Critical patent/JP6727456B2/ja
Publication of WO2020026750A1 publication Critical patent/WO2020026750A1/fr

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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
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by 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
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting

Definitions

  • the present invention relates to a welding method and a welding robot in a welding robot.
  • a laser welding robot is an example of a welding robot.
  • the laser welding robot includes a guide tube (flexible conduit) that guides the filler wire to a laser beam irradiation position.
  • a guide nozzle that guides the filler wire toward the welding position is provided on the distal end side of the guide tube.
  • JP-A-6-87073 Japanese Patent Application Laid-Open No. 7-24572 Japanese Patent Application Publication No. 2018-27571
  • a guide tube (flexible conduit) connected to a wire feeding device for feeding a filler wire can follow the movement of a robot arm or the like while smoothly guiding the filler wire, and has a bending habit. It is requested that there is not.
  • the guide tube has a triple structure including a lower winding in which a steel wire is spirally formed, a resin liner tube provided inside the lower winding, and a resin coating covering the lower winding. is there.
  • the liner tube moves in the feed direction of the filler wire, and shifts between the lower winding and the liner tube. May occur. If the supply of the filler wire becomes excessive and the liner tube moves greatly, the guide tube may be damaged.
  • One aspect of the present invention is a wire feeding device that feeds a filler wire, and a sub feeding device that is provided near a guide nozzle that guides the filler wire to a welding position and feeds the filler wire.
  • a welding tube provided between the wire feeding device and the sub-feeding device, and a guide tube for guiding the filler wire, the welding robot comprising: When detecting the fine movement of the guide tube, a step of controlling the driving state of the wire feeding device to stop or low-speed driving, and when detecting the return of the guide tube, the driving state of the wire feeding device is And a step of returning to the original driving state during the continuous feeding of the filler wire by the sub-feeding device.
  • Another aspect of the present invention is a wire feeding device that feeds a filler wire, and a sub feeding device that is provided near a guide nozzle that guides the filler wire to a welding position and feeds the filler wire.
  • a guide tube provided between the wire feeding device and the sub-feeding device, for guiding the filler wire, fine movement of the guide tube in the feeding direction of the filler wire, and A fine motion detector for detecting the return, and when the fine motion is detected by the fine motion detector, the driving state of the wire feeding device is stopped or controlled to a low speed drive, and the return of the guide tube is performed by the fine motion detector.
  • a control device for returning the driving state of the wire feeding device to the original driving state when the detection is detected.
  • FIG. 1 is a diagram conceptually and schematically showing the entire configuration of the welding robot according to the embodiment.
  • FIG. 2 is a partial cross-sectional view showing the configuration of the fine movement detector.
  • 3A and 3B are external views of the fine motion detector, wherein FIG. 3A is a side view, and FIG. 3B is a view as viewed from the direction of arrow IIIB of FIG. 4A and 4B are diagrams schematically illustrating the operation of the embodiment.
  • FIG. 4A illustrates a case where filler wire feeding speeds of the wire feeding device and the sub feeding device are substantially equal, and FIG. The case where the feeding speed of the device is higher than the feeding speed of the sub feeding device will be described.
  • FIG. 5 is a flowchart illustrating the operation of the embodiment.
  • FIG. 6 is a partial cross-sectional view schematically showing the configuration of another embodiment of the guide tube.
  • the welding robot 1 is, for example, a laser welding robot.
  • the welding robot 1 has a base frame 3.
  • a swivel table 5 that can be swiveled horizontally is provided.
  • the turntable 5 can turn horizontally by appropriately controlling a servomotor (not shown).
  • the turntable 5 supports the base end of the first arm 7 so as to be swingable in the direction of arrow A about a horizontal axis.
  • the base end of the second arm 9 is supported so as to be swingable in the direction of arrow B about a horizontal axis.
  • the second arm 9 is rotatable around its axis in the direction of arrow C.
  • the base end of the third arm 13 provided with the laser processing head 11 is supported so as to be swingable in the direction of arrow D.
  • the laser processing head 11 is provided with an end effector 15.
  • the end effector 15 is connected via an optical fiber 17 to a laser oscillator 19 such as a fiber laser oscillator.
  • a focusing lens 21 for focusing the laser beam LB is provided in the laser processing head 11.
  • the welding robot 1 is provided with a configuration for feeding the filler wire FW to the laser beam condensing position by the condensing lens 21, that is, the welding position of the work W.
  • a wire reel 23 wound with a filler wire FW and a wire feeding device 25 for feeding the filler wire FW are provided.
  • the welding robot 1 is provided with a guide nozzle 27 that guides the filler wire FW fed by the wire feeding device 25 to a welding position.
  • a sub-feeding device 29 that assists the feeding of the filler wire FW into the guide nozzle 27 is provided at a position upstream of the guide nozzle 27 and close to the guide nozzle 27.
  • a plurality of pairs of pinch rollers 33 for feeding the filler wire FW are rotatably provided in the casing 31 of the wire feeder 25, a plurality of pairs of pinch rollers 33 for feeding the filler wire FW are rotatably provided.
  • a pinch roller 36 for feeding the filler wire FW to the guide nozzle 27 is rotatably provided in the casing 35 of the sub feeding device 29.
  • the pinch roller 33 of the wire feeding device 25 and the pinch roller 36 of the sub feeding device 29 are rotationally driven by separate motors in synchronization with each other.
  • a guide tube 37 for guiding the filler wire FW fed (sent) from the outlet of the wire feeding device 25 to the entrance of the sub feeding device 29 is provided. Is provided. That is, the wire feeding device 25 is provided on the upstream side of the guide tube 37 in the feeding direction F of the filler wire FW, and the sub-feeding device 29 is provided on the downstream side of the feeding direction F.
  • the pinch roller 33 of the wire feeder 25 and the pinch roller 36 of the sub feeder 29 are used to feed the filler wire FW in the wire feeder 25 and feed the filler wire FW in the sub feeder 29. They are rotated synchronously so that their speeds are equal to each other.
  • the feed rate is the feed rate [m / min] of the filler wire FW per unit time.
  • the guide tube 37 may be damaged due to the following phenomenon.
  • a mechanism is provided that detects that the feed speed of the filler wire FW by the wire feed device 25 is higher than the feed speed of the sub feed device 29 and prevents the guide tube 37 from being damaged. Have been.
  • the fine movement detector 39 is provided in the casing 31 of the wire feeding device 25.
  • the fine movement detector 39 detects the fine movement of the guide tube 37 in the feeding direction F of the filler wire FW.
  • “Slight movement” means that the relative position or posture (such as an angle) of the guide tube 37 with respect to the wire feeding device 25 is displaced from the normal position and posture shown in FIG.
  • a control device 41 is connected to the fine movement detector 39 as shown in FIG.
  • the control device 41 controls the driving state of the wire feeding device 25 (hereinafter, also referred to as “driving mode”) to “stop” when detecting the slight movement of the guide tube 37, or the “low speed driving” set in advance. Is controlled.
  • the drive of the wire feeding device 25 is stopped for a predetermined time set in advance.
  • the predetermined time that is, the stop time is not particularly limited, but is, for example, 0.1 [sec].
  • the drive stop may be a continuous stop or an intermittent stop.
  • “Low-speed driving” refers to driving the wire feeding device 25 so as to satisfy the following condition A.
  • Condition A is that the feeding speed of the wire feeding device 25 is lower than the feeding speed of the sub feeding device 29 and is lower than the feeding speed of the wire feeding device 25 when "slight movement" is not detected. It is to be smaller.
  • the control device 41 can be composed of, for example, a general-purpose microcomputer including a CPU (Central Processing Unit), a storage unit, and an input / output unit.
  • CPU Central Processing Unit
  • the fine movement detector 39 includes a cylindrical base member 47 which can be attached to the casing 31 of the wire feeder 25 by a fixing tool 45 such as a bolt.
  • the base member 47 includes a flange portion 47F, and a cylindrical movable member 51 urged toward the base member 47 by an elastic member 49 such as a plurality of coil springs is provided on the flange portion 47F.
  • the elastic member 49 is held in a compressed and deformed state by a bolt 49B screwed to the base member 47, and urges the movable member 51 toward the base member 47.
  • the movable member 51 is provided with a tube connector 53 for connecting the end of the guide tube 37 to the movable member 51.
  • the tube connector 53 has, for example, a configuration similar to a collet chuck, includes a cylindrical collet 53A screwed to the movable member 51, and includes a fastener 53B such as a nut capable of tightening the collet 53A. I have.
  • the movable member 51 tends to be moved in the feeding direction F by the guide tube 37.
  • the force (thrust) for moving the movable member 51 in the feeding direction F becomes larger than the urging force of the elastic member 49, the movable member 51 moves (displaces) away from the base member 47. I do.
  • the movable member 51 is provided with a sensor 55 for detecting that the movable member 51 has been displaced away from the base member 47.
  • the fine movement detector 39 can detect fine movement with such a simple configuration.
  • the sensor 55 can be composed of an appropriate sensor such as a limit switch or a proximity sensor. As shown in FIGS. 3A and 3B, the sensors 55 may be provided around the movable member 51 at equal intervals in the circumferential direction. By the way, when the robot arms 7, 9, and 13 operate, the filler wire FW delivered into the guide tube 37 may be twisted or bent in the guide tube 37. Then, the force applied from the filler wire FW to the inner peripheral surface of the guide tube 37 due to the torsion, bending, or the like may not be balanced in the direction orthogonal to the axis of the guide tube 37, and a bending moment may be applied to the movable member 51. In this case, the movable member 51 may be slightly inclined with respect to the base member 47.
  • the attitude (angle) of the movable member 51 with respect to the base member 47 can be changed.
  • the plurality of sensors 55 are provided around the movable member 51, at least one of the inclination (displacement) in which a part of the movable member 51 in the circumferential direction is separated from the base member 47 is determined. It can be detected (detected) by the sensors 55. That is, the inclination of the movable member 51 can be detected regardless of the inclination direction.
  • the sensor 55 may be provided on one or both of the base member 47 and the movable member 51.
  • the length of the filler wire FW in the guide tube 37 is not appropriate. Is maintained at a suitable length. However, when the feeding speed of the wire feeding device 25 is higher than the feeding speed of the sub feeding device 29, the length of the filler wire FW in the guide tube 37 gradually becomes longer than the length of the guide tube 37. Become.
  • the filler wire FW in the guide tube 37 curves between the sub-feeding device 29 and the wire feeding device 25 to contact the inner surface of the guide tube 37. become.
  • the filler wire FW presses the guide tube 37 in the feeding direction F.
  • the pressing force (thrust) becomes larger than the urging force of the elastic member 49, the movable member 51 is moved in the feeding direction F as shown in an exaggerated manner in FIG. That is, the movable member 51 is slightly separated from the base member 47 fixed to the casing 31.
  • the movable member 51 When the movable member 51 is separated from the base member 47, for example, all of the plurality of sensors 55 are turned on to detect (detect) the separation.
  • the movable member 51 may be inclined with respect to the base member 47 such that a part of the movable member 51 in the circumferential direction is separated from the base member 47 depending on the positions and postures of the robot arms 7, 9, and 13. Also in this case, at least one of the plurality of sensors 55 provided around the movable member 51 is turned on.
  • the detection signal of the sensor 55 is input to the control device 41.
  • the control device 41 stops driving the wire feeding device 25 in step S1 or changes the driving state of the wire feeding device 25 in step S1, as shown in FIG. Is controlled to a preset low-speed drive.
  • the driving of the sub-feeding device 29 is not stopped, and the feeding of the filler wire FW is continuously performed. Therefore, the filler wire FW in the guide tube 37 is pulled from the downstream side by the sub-feeding device 29. Thereby, as shown in FIG. 4D, the bending of the filler wire FW and the contact with the guide tube 37 are eliminated, and the pressing of the guide tube 37 in the feeding direction F due to these is eliminated. For this reason, the guide tube 37 returns to the original state with respect to the wire feeding device 25, that is, the normal position and posture in which “fine movement” is not detected, and the sensor 55 is turned off. The elastic member 49 assists the guide tube 37 to return to the normal position and posture.
  • step S2 the control device 41 determines whether or not the detection signal has been turned off. In the case of YES in step S2, the control device 41 proceeds to step S3, and returns the drive state of the wire feeding device 25 to the “original drive state”.
  • the “original driving state” is a driving state or a driving mode when “fine movement” is not detected. For example, the feeding speed of the wire feeding device 25 and the feeding speed of the sub feeding device 29 become equal. It is such a drive mode. Then, after returning the drive state of the wire feeding device 25 to the original drive state, the control device 41 ends the process. In the case of NO in step S2, the control device 41 determines in step S4 whether a predetermined time set in advance after the start of the processing in step S1.
  • step S4 If NO in step S4, the process returns to step S2.
  • the control device 41 notifies the operator of the occurrence of the abnormal state in step S5, and ends the process. Then, when the fine movement detection signal is input again from the sensor 55, the control device 41 restarts the process from step S1. Thereby, the control device 41 controls the driving state of the wire feeding device 25 to be stopped or low-speed driving when detecting fine movement, and drives the wire feeding device 25 when detecting return of the guide tube 37. Returning the state to the original driving state can be alternately repeated.
  • the control device 41 of the welding robot 1 stops driving the wire feeding device 25 while continuing the feeding of the filler wire FW by the sub feeding device 29 while the fine movement is detected.
  • the driving state is controlled to low-speed driving. Then, when the fine movement is no longer detected, the driving state of the wire feeding device 25 is returned to the original driving state.
  • the wire feeder 25 and the sub feeder 25 are controlled from the time when the fine movement is detected until the time when it is no longer detected, that is, while the driving state of the wire feeder 25 is stopped or controlled to the low speed drive.
  • the feeding speed of each of the 29 is not particularly limited as long as the above condition A is satisfied.
  • the sub-feeding device 29 may continue to feed the filler wire FW at a preset predetermined feeding speed regardless of whether the driving of the wire feeding device 25 is stopped or driven at a low speed. Thereby, even when fine movement occurs, the filler wire FW can be continuously fed to the welding position and welding can be continued.
  • the feeding speed of the wire feeding device 25 in low-speed driving may be set to a feeding speed obtained by multiplying the feeding speed in the original driving state by a preset reduction ratio.
  • the feed speed in the original driving state is determined according to the moving speed of the laser processing head 11 with respect to the workpiece W, that is, the welding speed [mm / min]. It is determined according to welding processing conditions such as the material, material, and shape of the weld joint.
  • the deceleration ratio can be set according to filler information such as the material and diameter of the filler wire FW.
  • filler information such as the material and diameter of the filler wire FW.
  • the speed reduction ratio can be set to 80 [%].
  • the material of the filler wire FW is stainless steel (SUS) and the diameter is 0.3 [mm], it can be set to 50 [%].
  • the control device 41 may obtain the deceleration ratio from the filler information by calculation or from a map.
  • the feed rate in the low-speed drive should be a feed rate that matches the welding speed in the original drive state. Can be. Further, by setting the deceleration ratio at least based on the material and diameter of the filler wire FW as described above, it is possible to perform deceleration more suitable for welding processing conditions.
  • the set deceleration ratio may be set and changed by an operator as appropriate. Thus, even when the welding processing conditions and the welding speed are changed, the operator can set the feed speed of the filler wire FW suitable for the changed conditions in a timely manner.
  • control device 41 of the welding robot 1 controls the driving state of the wire feeding device 25 to stop or to control the driving speed to low speed when the feeding of the filler wire FW by the sub feeding device 29 is continuously performed. And returning to the original driving state may be alternately repeated. By alternately repeating, even when there is an error in the feeding speed between the wire feeding device 25 and the sub feeding device 29, the feeding of the filler wire FW to the welding position can be continuously continued. .
  • the control device 41 may control the low-speed driving continuously after stopping the driving of the wire feeding device 25, or may control the low-speed driving continuously after stopping the driving of the wire feeding device 25. That is, the control device 41 may alternately repeat the control of the drive state of the wire feeding device 25 to stop and the control of low-speed drive. Thereby, by changing the magnitude of the tensile force applied to the filler wire FW in the guide tube 37 with time, the contact, pressing, etc. of the filler wire FW with the guide tube 37 can be more efficiently eliminated. Can be.
  • the filler wire FW comes into contact with the inner peripheral surface of the guide tube 37 and moves the guide tube 37 in the feeding direction F.
  • the fine movement detector 39 detects the fine movement of the guide tube 37. Then, when the fine movement of the guide tube 37 is detected, the driving of the wire feeding device 25 is stopped, or the driving state of the wire feeding device 25 is controlled to low speed driving. At this time, by continuously operating the sub-feeding device 29 provided on the guide nozzle 27 side, the filler wire FW is pulled from the downstream side, the contact with the inner peripheral surface of the guide tube 37 is eliminated, and the pushing is performed. Progress is also canceled.
  • the fine movement detector 39 may be provided in the wire feeding device 25 as described above.
  • the thrust acting on the guide tube 37 in the feed direction F of the filler wire FW tends to be larger on the upstream side than on the downstream side. Since the fine movement detector 39 is provided in the wire feeding device 25 located on the upstream side of the guide tube 37, fine movement can be detected more efficiently.
  • a plurality of sensors 55 are provided around the movable member 51. Therefore, when at least one of the plurality of sensors 55 detects displacement in the feeding direction F, the driving state of the wire feeding device 25 is set to low-speed driving, and all of the plurality of sensors 55 move in the feeding direction F. When the displacement is detected, the driving can be stopped. As described above, by changing the drive mode of the wire feeding device 25 according to the detected form or magnitude of the displacement, the contact, pressing, and the like of the filler wire FW against the guide tube 37 are more efficiently eliminated. be able to. Note that the relationship between the number of sensors 55 that have detected the displacement and the drive mode of the wire feeding device 25 is not limited to the above.
  • the driving state of the wire feeding device 25 is set to the low-speed driving, and the number of the sensors 55 (for example, two) larger than the predetermined number is changed.
  • the drive of the wire feeding device 25 may be stopped when it is detected.
  • the guide tube 37 is inserted into a resin tube 61 such as a nylon tube, and the outer peripheral surface of the copper pipe 57 provided integrally at both ends of the guide tube 37 and the outer surface of the tube 61.
  • the inner peripheral surfaces at both ends may be integrally bonded with the adhesive 59.
  • the load applied to the guide tube 37 can be shared between the tube 61 and the guide tube 37, so that the tensile strength of the guide tube 37 can be improved. Therefore, damage to the guide tube 37 due to the feeding speed of the wire feeding device 25 being higher than the feeding speed of the sub feeding device 29 can be suppressed.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Wire Processing (AREA)
  • Laser Beam Processing (AREA)

Abstract

L'invention concerne un procédé de soudage par un robot de soudage (1) pourvu : d'un dispositif d'alimentation en fil (25) pour fournir un fil d'apport (FW) ; d'un dispositif d'alimentation secondaire (29) qui est disposé au voisinage d'une buse de guidage (27) pour guider le fil d'apport vers une position de soudage et fournit le fil d'apport ; et d'un tube de guidage (37) qui est disposé entre le dispositif d'alimentation en fil et le dispositif d'alimentation secondaire et guide le fil d'apport, à la fois une étape pour commander le dispositif d'alimentation en fil à arrêter de fonctionner ou à fonctionner à faible vitesse lorsqu'un léger mouvement du tube de guidage dans la direction d'alimentation (F) du fil d'apport est détecté et une étape pour ramener le dispositif d'alimentation en fil à l'état de fonctionnement d'origine lorsque le retour du tube de guidage est détecté étant effectuées tout en fournissant en continu le fil d'apport au moyen du dispositif d'alimentation secondaire.
PCT/JP2019/027517 2018-08-02 2019-07-11 Procédé de soudage par robot de soudage, et robot de soudage WO2020026750A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2019554706A JP6727456B2 (ja) 2018-08-02 2019-07-11 溶接ロボットにおける溶接方法及び溶接ロボット

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-145965 2018-08-02
JP2018145965 2018-08-02

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WO2020026750A1 true WO2020026750A1 (fr) 2020-02-06

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55112176A (en) * 1979-02-19 1980-08-29 Osaka Denki Kk Method and device for controlling wire feeding
JPH07246470A (ja) * 1994-03-11 1995-09-26 Babcock Hitachi Kk 溶接用ワイヤ送給装置
JP5411542B2 (ja) * 2008-10-27 2014-02-12 和仁 鬼頭 溶接装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS55112176A (en) * 1979-02-19 1980-08-29 Osaka Denki Kk Method and device for controlling wire feeding
JPH07246470A (ja) * 1994-03-11 1995-09-26 Babcock Hitachi Kk 溶接用ワイヤ送給装置
JP5411542B2 (ja) * 2008-10-27 2014-02-12 和仁 鬼頭 溶接装置

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JP6727456B2 (ja) 2020-07-22

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