JPH04190998A - welding equipment - Google Patents

Abstract

PURPOSE:To perform welding high in accuracy by positioning each of an annular or cylindrical metallic plate material and a member to be welded to welding positions by a welding head based on a measured result by a position measuring means. CONSTITUTION:The measurement of a position of the surface of a steel sheet 1 is executed by a detecting sensor 34 at a measuring position of the steel sheet 1 on a mandrel table 3 to be compared with the measured result of the position on a reference position plate 31. The welded position on the surface of the steel sheet (a dimension from the center of a mandrel jig 2 to the surface of the steel sheet 1) is found easily. Therefore, when drive motors 32, 33 as driving sources of a mandrel table 3 and a material supply table 10 are subjected to positioning control, the contact part (welding position) between the steel sheet 1 and the member 8 to be welded can be controlled near the same line as the center 22 of laser beam welding and the steel sheet 1 and the member 8 to be welded can be positioned on the welding center 22 automatically.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field 1] The present invention relates to a four-contact device for welding a metal member by bringing a member to be welded into contact with the member, and particularly relates to improving welding position accuracy.

[Conventional technology]

For convenience of explanation, this invention will be explained by taking as an example a laser welding apparatus for laser welding a thin steel plate to be attached to an annular or cylindrical thin steel plate that is a motor frame. 6 to 9 are diagrams showing a conventional welding apparatus according to a first embodiment.

In the figure, (1) is a cylindrical thin steel plate that forms the motor frame, (2) is a mandrel jig that holds the cylindrical thin steel plate (1), and (3) is a mandrel jig that supports the mandrel jig (2). Mandrel table, (4) is a linear guide that guides mandrel table (3), (5) is a ball screw (6) that moves mandrel table (3) in the direction of the arrow in Figure 6, and is connected to a pole screw (5). Manual handle, (7) is a frame that supports the thin steel plate (1) to manual handle (6), (8) is a welded member made of a thin steel plate that forms the mounting foot of the motor frame, and (9) is a welded member. (8
), (IU) is the supply hand (9)
(11) is a linear guide that guides the component supply table (10), (12) is a pole screw that moves the component supply table (10) in the direction of arrow C in FIG. Manual handle connected to pole screw (12), (14) is component supply table (8) ~
A frame supporting the manual handle (13), (15) a welding head for laser welding the abutting portion of the thin steel plate (1) and the welded member (8), and (16) a head traveling supporting the welding head (15). The table (17) is the head traveling table (
16), (18) is a pole screw that moves the head traveling table (16) in the direction of arrow C in Fig. 6, (19) is a drive motor connected to the pole screw (18), (20) is a welding A beam that supports the head (15) to the drive motor (19), (21) is a conical beam (2o)
It is a pillar that supports the Note that (22) is the center of laser welding. The conventional welding device is constructed as described above, and after setting the thin steel plate (1) on the mandrel jig (2), the manual handle (6) is operated to move the thin steel plate (1) to the welding position [thin steel plate (
11 and the part to be welded (8) is at the laser welding center (
22) (see Figure 8)], the welded member (8) is
After setting the supply hand (9), turn the manual handle (13)
) to move it to the welding position [the position where it contacts the thin steel plate (1) (see Figure 8)].

Next, using the welding head (15), as shown in FIG. 9, the drive motor ( 19
), the welding head (15) moves sequentially (arrow F
) and then laser weld the entire length of the relevant joint (between D and E).

At this time, the amount of deviation (dimension G in Fig. 10) between the abutting part of the thin steel plate (1) and the part to be welded (18) and the laser welding center is 0.
Unless it is set within 2 to 0.3 mm, the specified welding strength cannot be obtained.

By the way, in the above description, the reference laser welding center position (22) is the welding head (15), as shown in FIGS.
), and this beam (20) and column (21)
Since it is made of steel materials such as square pipes, it expands and contracts due to changes in temperature (the coefficient of linear expansion of iron is 11.7X 10-'/"C
It is common knowledge that the beam (20) expands and contracts by approximately 0.3"-/m (R), assuming that the temperature difference is approximately 30°C. ) moves in the direction of arrow C in Fig. 6 depending on the temperature.Then, the manual handle (6) moves with respect to the changed laser welding center (22).
(13), the thin steel plate (1) and the workpiece to be welded (8).
The position of the abutting part was being adjusted.

In addition, regarding the material dimensions of the thin steel plate (1), the dimensional tolerance of the circumferential length shown in Fig. 11 (circumferential length 1000 m depending on the processing method)
±0.m or so. Ei mm) and the tolerance of the plate thickness T (tolerance of 5 mm thick hot rolled steel plate ±0.5 mm), the dimension R from the center of the mandrel jig (2) to the surface of the thin steel plate (1) When moving the thin steel plate (1) to the welding position, it was adjusted visually using the manual handle (6) so that the surface (outer diameter surface) of the thin steel plate (11) was at the welding position. .

Further, as a second conventional example, there is a sensor robot disclosed in Japanese Patent Application Laid-Open No. 2-44405, in which a sensor robot performs sensing before welding and then performs correction welding. That is, this sensor robot has a coordinate system generating means that calculates a reference vector of an orthogonal coordinate system, that is, a coordinate origin and three orthogonal axes, from data at a specific position, and a position converting means between coordinate systems, that is, converting the origin of the coordinate system O to OO1. The reference vector is UO1■0,
When the WO1 position is the PO1 coordinate system source point is ON, and the reference vectors are UN, VN, and WN, PN=ON+UN [UO, (PO-00)1+VN
[VO, (PO-00)] +WN [WO, (PO-00)] A coordinate system conversion means that calculates the position PN of the coordinate system N by calculations such as If it is an arc welding robot, it has a jig for positioning the consumable electrode, which is used exclusively for checking the positional relationship between A coordinate system N is determined by the coordinate system generation means, and a coordinate system O is determined by the coordinate system generation means from the memorized teaching position of the specific point, and when the teaching position during the work is set as PO, the correction calculation is performed. The position PN to be moved is determined by the coordinate system conversion means, and when the work position is corrected, the position of the robot arm located at the target position of the workpiece is set as PO using the positioning jig, The stored taught position is rewritten with the position obtained by the coordinate system conversion means used by exchanging the two sets of coordinate systems as PN.

Since the quantity PS is calculated and obtained by the robot during operation, it is a known quantity for the robot control device. Therefore, it is sufficient to calculate (current position - PS). Since the current position is (PK + ps ten pw),
The value written as a result of the calculation is (PK+PW).

When the sensor corrects the corrected position after correction in this way, it becomes exactly the desired position.

[Problems to be Solved by the Invention] Since the conventional welding device according to the first embodiment is configured as described above, the welding center position (22) of the welding head (15) changes depending on the temperature, so that it Steel plate (1) and
To move the welding member (8) to the welding position, visual position adjustment is required using the manual handle (6) (13), and the tolerance of the material dimensions (perimeter and plate thickness) of the thin steel plate (1) is required. The outer diameter of thin steel plate (11 varies, thin steel plate (1)
Moving to the welding position required visual position adjustment using the manual handle (6).

Furthermore, in the conventional sensor robot according to the second embodiment, although there is a disclosure that the position of the workpiece is measured before welding and that gap correction is also performed in this case, there are doubts about the accuracy of the welding position.

This invention was made to solve the above-mentioned problems, and it is an object of the present invention to provide a welding device that can automatically position a metal member and a member to be welded to a welding position and has high welding position accuracy.

[Means for Solving the Problems] A welding apparatus according to the present invention includes a driving means for moving each of the metal plate material and the welded member so that the welded member comes into contact with the annular or cylindrical metal plate material; When using a welding device equipped with a welding head that is movable parallel to the central axis of the annular or cylindrical metal plate in order to weld the abutting portion, a predetermined distance from the central axis of the annular or cylindrical metal plate Near the reference position plate and the above welding head, which are in a positional relationship,
a position measuring means that is movably arranged as one unit and measures the positions of the reference position plate and the outer surface of the annular or cylindrical metal plate; and positioning means for positioning each of the metal plate material and the member to be welded at the welding position by the welding head.

[Effect]

The welding device according to the present invention uses a position measuring means to measure the position of a reference position plate having a predetermined positional relationship from the central axis of the annular or cylindrical metal plate and the outer surface of the annular or cylindrical metal plate. Based on this measurement result, the annular or cylindrical metal plate material and the member to be welded are each positioned at the welding position by the welding head by the positioning means.

[Embodiments of the invention]

The present invention will be described in detail below based on an embodiment shown in FIGS. 1 to 4. In addition, in these figures, (1) to (
5), (71-(12), (14)-(22) are completely the same as the above conventional device.

In the figure, (31) is located at a certain position (dimension ■ shown in Figure 2) from the central axis of the mandrel jig (2), and the reference position plate (31) is fixed to the mandrel table (3).
32) is, for example, a servo motor that can control positioning with a drive motor as a drive means connected to the pole screw (5). (33) is the same drive motor as the driving means connected to the pole screw (12), such as a servo motor that can control positioning.
), a drive motor (32), and a mount (7) constitute a positioning means A [38] for positioning a cylindrical metal plate. Also, supply hand (9), component supply table (lO), linear guide (11), pole screw (12)
, a drive motor (33), and a frame (14) constitute positioning means B (39) for positioning the member to be welded (8). (34) is a position measuring means that is movably arranged near the welding head (15) and measures the positions of the reference position plate (31) and the outer surface of the metal plate (1). as a detection sensor, (35) supports the detection sensor (34), and the detection sensor (34)
A cylinder that moves up and down the head traveling table (16
) is supported.

The first detection sensor (34) is mounted on the head traveling table (16) together with the bracketed welding head (15) in the vicinity of the welding head (15) via the cylinder (35). Then, the welding head (15) is attached to the thin steel plate (
1) is movable parallel to the central axis of the mandrel jig (2) that holds the mandrel jig (2).

FIG. 5 is an example of an external perspective view of a motor frame welded by the welding device according to the present invention, (36)
(37) is the L plate mounting foot, and (37) is the flat plate mounting foot. The L plate mounting foot (36) and the flat plate mounting foot (37) are the same as the above-mentioned member to be welded (8).

Next, the operation will be explained.

In the welding equipment configured as described above, thin steel plates (
Set 1) on the mandrel jig (2).

Next, the pole screw (
18) rotates, and the linear guide (17) moves.

Then, the head traveling table (16) also moves together with the movement of the linear guide (17). Then, the head traveling table (16) is moved to a measurement position of the reference position plate (31), that is, a specific position where the position of the outer surface of the reference position plate (31) can be measured by the detection sensor (34). Head travel table (16) in the direction of arrow C in Figure 1.
) to move.

Next, operate the cylinder (35) and detect the sensor (3).
4), the mandrel table (3) is moved by the drive motor (32).
is driven, the pole screw (5) rotates, and the measurement position of the reference position plate (31), that is, the detection sensor (3) is rotated.
In step 4), the reference position plate (31) is moved to a measurable specific position, and the mandrel table (3) is moved in the direction of arrow C in FIG. 1, and the position is measured by the detection sensor (34).

(Status shown in Figure 2) The measurement data in this case includes the amount of variation △xmm in the position of the detection sensor (34) in the H direction shown in Figure 7 due to expansion and contraction of the beam (20) due to temperature. . That is, the detection sensor (34) is supported by the head traveling table (16), supported by the same beam (20) and support (21) as the welding head (15), and is The welding head (see Figure 7) for the expansion and contraction of the beam (20)
15) (laser welding center +221) has the same effect on the detection sensor (34), and the detection sensor C at the reference position plate measurement position of the mandrel table (3)
34), the laser welding center position (22) can be easily determined by measuring the position of the reference position plate (31). This amount of variation ΔX can be approximately expressed by the following equation. △x =
11.7X 10-'x [x-20) X i2(
(mm) However, the above formula holds true under the condition that the temperature is x ``length I! of the C1 beam (20), (m) when the air temperature is 20°C as a reference.

Next, by driving the drive motor (19), the head traveling table (16) is moved to the measurement position of the thin steel plate (1) (a specific position in the C direction where the surface of the thin steel plate (1) can be measured with the detection sensor (34)). ), the mandrel table (3) is driven by the drive motor (32) to move the mandrel table (3) to the thin steel plate (11 measurement positions (detection sensor (34) identifies six directions in which the surface of the thin steel plate (1) can be measured). position), and the position of the surface of the thin steel plate (1) is measured using the detection sensor (341). (Situation shown in Figure 3) In this case, the measurement data includes the detection sensor
4) variation △X and the difference △y(
Thin steel plate (occurs due to variations in materials in 11) (1st
(see Figure 1).

That is, when moving the thin steel plate (1) to the welding position, △
Considering the dimensions of X and △y, mandrel table (3)
When moving to the welding position, the positioning position by the drive motor (32) is corrected by the amount of variation of ΔX and Δy.

On the other hand, regarding the welded member (8), the welded member (8)
After setting it in the supply hand (9), considering the dimension of △X,
When moving the component supply table (lO) to the welding position, the positioning position by the drive motor (33) is corrected by the amount of variation ΔX.

As mentioned above, the thin steel plate (1) of the mandrel table (3)
) At the measurement position, the detection sensor (34) detects the thin steel plate (
1) Measure the surface position and perform the reference position play h C3
Comparing with the position measurement results of 1), the welding position on the surface of the thin steel plate (1) (from the center of the mandrel jig (2) to the welding position of the thin steel plate (1)
) The dimension (radius) to the surface, dimension R) in FIG. 11, is easily determined. Therefore, if the drive motors (32) (33), which are the drive sources of the mandrel table (3) and the component supply table (lO), are controlled in position, the thin steel plate (1
) and the welded member (8) can be suppressed to be close to the same line as the laser welding center (22), and the thin steel plate (1) and the welded member to the laser welding center (22) Automatic positioning of members can be achieved. (The state shown in FIG. 4) Then, by sequentially moving the head traveling table (16) using the welding head (15) and completing the predetermined welding, welding work by laser welding can be performed reliably.

In addition, in the above embodiment, the case where the welded member (8) is laser welded to the cylindrical thin steel plate (1) was explained as an example, but welding other than laser welding may be used, and the same method as in the above embodiment may be used. be effective.

〔Effect of the invention〕

As described above, according to the present invention, the position of the reference position plate, which is located at a predetermined positional relationship from the central axis of the annular or cylindrical metal plate by the position measuring means, and the outer surface of the annular or cylindrical metal plate is determined by the position measuring means. Based on this measurement result, the annular or cylindrical metal plate and the workpiece are positioned at the welding position by the welding head by the positioning means, so that changes in temperature, metal plate,
It is possible to provide a welding apparatus with high welding accuracy, which is not affected by variations in the material dimensions of the members to be welded, and which enables automatic feeding of metal plates and the members to be welded to the welding position.

[Brief explanation of the drawing]

Figures 1 to 5 relate to an embodiment of the present invention, in which Figure 1 is a plan view of the welding device, Figure 2 is a front view showing the measurement state of the reference position plate, and Figure 3 is the measurement of a thin steel plate. 4 is a front view showing the welding state, FIG. 5 is an external view of the motor frame after welding has been completed by the welding device according to the present invention, and FIGS. 6 to 11 are the conventional views. 6 is a plan view showing the welding device, FIG. 7 is a front view of the welding head and related supporting parts of the welding device, FIG. 8 is a front view showing the welding state, and FIG. 9 is a plan view showing the welding device. FIG. 8 is a perspective view, FIG. 1θ is a detailed view showing the amount of deviation between the contact portion between the thin steel plate and the welded member and the center of laser welding, and FIG. 11 is a dimensional explanatory view of the thin steel plate. In the figure, (1) is a metal plate material (thin steel plate), +8)
is the part to be welded, (15) is the welding head, (22) is the laser welding center, (31) is the reference position plate, (32)
(33) is a driving means (drive motor), (34) is a position measuring means (detection sensor), (38) is a positioning means A, and (39) is a positioning means B. In addition, in the figures, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Claims] a driving means for moving each of the metal plate material and the welded member so that the member to be welded contacts the annular or cylindrical metal plate material; In a welding device equipped with a welding head that is movable parallel to the central axis, a reference position plate that is in a predetermined positional relationship from the central axis of the annular or cylindrical metal plate material, and a reference position plate that is integrally provided near the welding head, a position measuring means that is movably disposed on the reference position plate and the outer surface of the annular or cylindrical metal plate; A welding device comprising positioning means for positioning each of a metal plate material and a member to be welded at a welding position by the welding head.