• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a process for guiding workpieces on a rolling seam welding machine or vice versa. In the process the relatively moved part is driven via its guide means of a continuous path manipulating device in an extra conveyor motion in the same direction and with the same speed as a tool-caused conveyor motion. The two conveyor motions are monitored for synchronicity by a displacement sensor that is connected for control purposes with a control unit of the manipulating device. When a difference occurs between the two conveyor speeds, manifested by the turning of the moved part around the displacement sensor, one of the two conveyor speeds is readjusted, with short-term over-compensation of the difference.
    公开号:SU1544176A3
    申请号:SU874028946
    申请日:1987-02-06
    公开日:1990-02-15
    发明作者:Штиммель Буркард
    申请人:Кука Швейсанлаген Унд Роботер Гмбх (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to mechanical engineering and can be used in designing equipment for seam roller welding.,
    The goal is to expand technological capabilities by more easily feeding cumbersome and heavy workpieces and facilitating equipment changeovers.
    The method consists in matching the speeds of the roller electrodes and the blank
    Possible deviations from the specified weld seam contour are manifested in the difference in speeds, which is determined directly or indirectly. In this case, the ratio of both speeds to each other, rather than the possible deviation from the specified absolute value, is primarily controlled.
    Correction of possible deviations of the seam is achieved in a simple way without additional rotational drives by matching both speeds by briefly compensating for the difference that has occurred. At the same time, in principle, it does not matter from which drive this difference comes. With
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    Correction by adjusting can be subjected to either a drive of roller electrodes, or a drive of a manipulator.
    The synchronization of feed rates can be controlled in various ways. First of all, it is possible to directly measure and compare with each other the feed speed of the manipulator and the feed speed of the rollers by means of speed sensors. The possibility of precise control, regardless of the size and shape of the movable part, is provided by the use of a displacement transducer, which sets the joint deviation as a movement or moment of one of both parts around its holder.
    The method provides the implementation of seams roller welding of any complexity. The advantage also includes the possibility of a quick correction of all deviations of the seam from an ergonomic contour, regardless of whether they were due to deformation as a result of velocity mismatch or occurred due to other factors.
    It is possible to reliably superimpose curved seams, while there is no slip between the roller electrodes and the workpiece, which could negatively affect the correctness of the passage of the seam. In this case, a high quality of the weld is achieved, since such external effects are compensated for, such as partial replacement of material, temperature increase, etc.
    A contour-controlled manipulator, preferably a multi-axis industrial robot, is recommended for moving the movable part (workpiece). The contour program control is carried out in this case on the basis of the program, which can be simply replaced when another workpiece is installed. An industrial robot with contour program control can also deliver and dispose the blanks.
    It is recommended to position the displacement transducer on the arm of the manipulator and to introduce measurement signals into the control device of the manipulator for additional adjustment of the feed rate. This is of particular importance when welding workpieces with a curved seam contour. With this recommended0
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    In particular, the holder and the displacement sensor are positioned in such a way as to the workpiece, so that they are approximately at the same distance from all central points of the radii of the seam. Due to this, unequal and too high speeds on the holder are prevented.
    When machining workpieces whose geometry does not allow such an arrangement, it is recommended that the holder and the displacement transducer be interchanged with the workpiece or its clamping device by means of one or several additional axes. The displacement sensor may also be rigidly connected to the clamping device and move together with the latter when it is displaced relative to the holder. Due to the possibility of permutation, it is possible to change (preferably reduce) the distance to the central points of the radii and limit the speed of the manipulator.
    The differences between the feed speed of the roller electrodes and the speed of movement of the workpiece at the clamping point between the roller electrodes or the deviation of the roller electrodes from the seam contour caused by other reasons results in overstoring or twisting the workpiece around the manipulator holder. Using a displacement transducer, preferably a torque transducer with high sensitivity, both the magnitude and the direction of the arising moment can be measured. Sensitivity can be further enhanced by increasing the measurement base with consoles. In the above example, the seam of roller welding passes in one plane, as a result of which only moments around the vertical axis of this plane are to be measured. For more complex contours of the seams of roller welding, correspondingly more complex torque sensors are required, capable of measuring forces and moments in several axes (up to six).
    Figure 1 shows a roller welding machine, side view, and a workpiece moved by a manipulator; FIG. 2 is a view A of FIG. 3 and 4, embodiments
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    torque sensor; in fig. 5- principle regulation scheme; . figure 6 - the holder with an additional adjusting device; on
    Fig.7 - blank with an adjusting device.
    FIG. 1-7 shows a roller welding machine 1, a workpiece 2, a roller electrode 3, a manipulator (industrial robot) 4, a holder 5, a displacement sensor 6, a torque sensor 7, a console 8, a control device 9 of an industrial robot, a flange 10, roller welding seam 11, central point 12 of rounding radius, clamp 13, strain gage 14, bridge 15, notch 16, bridge 17, matching circuit 18, matching stub 19, guide frame 20, actuator 21.
    The stationary roller welding machine 1 is equipped with two opposite roller rollers.
    electrodes 3, driven separately or together. The blank 2 is a tank or similar product, both halves of which are pre-stuck to the rotating flange 10 and must be welded using a roller welding machine 1 (see Fig. 2). The blank 2 is fastened to the clamp 13, which is connected through the displacement sensor 6 to the holder 5 of the manipulator 4 (industrial robot). Industrial robot 4 is driven by a contour control, the program of which is presented in control block 9. Due to this, there is no need for backstage, stops, etc.
    During the welding process, the rotating flange 10 is in frictional connection with both roller P3 electrodes, which move the workpiece 2 in the direction of the arrow (see figure 2). In this way, the process of roller welding along the roller welding seam 11 passing along the flange 10 of the weld 11 is carried out in a known manner. The workpiece 2 is guided and driven by an industrial robot 4. The direction of movement and the feed rate are determined by a contour control device in which the characteristics of the seam of the roller welding are programmed. Industrial robot leads the workpiece 2 along the longitudinal
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    The flange 10 is in a straight line between the roller electrodes 3 and rotates it in the corner portions or flange corners in such a way that the two feed directions are consistently aligned with each other. The contour software control is so coordinated with the roller welding machine 1 that the speed with which the flange H moves through the roller electrodes 3 is equal to the feed rate i
    roller electrodes 3.
    As a result of wear of the roller electrodes 3 due to slip, unevenness of the flange 10 or for other reasons, a difference may occur between the feed speed of the manipulator 4 and the feed speed of the roller electrodes 3. While maintaining the friction connection between the roller electrodes and the flange 10, a moment occurs around the holder 5, at some distance from the clamping point, which leads to deformation or deviation of the path of movement of the workpiece 2. In both cases, the roller electrodes deviate from the specified contour This joint has a particularly critical nature in the flange-10 rounding zones. A torque also occurs when, despite the same feed rates, the roller electrodes 3 deviate from the predetermined circuit 11 due to inaccurate contour control or for other reasons.
    An unequal pair of feed forces, causing a torque, also arises when slip occurs at the clamping point between the roller electrodes 3. This can negatively affect the quality of the seam and compliance with the specified seam contour 11.
    As shown in FIG. 2, the workpiece 2 is attached to the clamp 13. The clip is connected via a displacement sensor 6 to the holder 5 of the industrial robot. The holder 5 is a driven rotary finite element of the industrial robot 4, the so-called mechanical arm. The holder 5 and the displacement sensor 6 are coaxial with each other and are connected (subject to a certain distance from the flange 10) with the clamp 13 in such a way that the distance from them to all central points 12 are the radii of curvature of the flange
    10 is equally about. The magnitude and direction of the torque acting through the clamp 13, around the axis of the holder 5, are measured by the displacement sensor 6.
    The displacement sensor 6 transmits from the measuring signal through the circuit shown in Fig. 5 to the control device 9 of the industrial robot 4. The magnitude and direction of the torque moment are analog values of the magnitude and direction of deviation of the weld contour or difference in feed rates. as well as feed effort. The control device 9 equalizes this difference in feed rates and feed forces in that it increases or decreases the feed rate by applying a loop control. The feed direction programmed in the contour control device is saved. "With additional adjustment of the feed rate, a certain overcompensation occurs, which in the short run causes the creation of an opposing pair of forces or torque. As a result, the resulting deviation of the weld contour is not only eliminated, but its initial position is reached, the roller electrodes 3 return to the specified contour of the 11 welding roller 11, the torque disappears and the workpiece 2 continues its movement during normal operation of the contour control device. .
    The movement sensor 6 is designed as a torque sensor 7 (Figs. 3 and 4).
    According to FIG. 3, the torque sensor 7 consists of a cylindrical tube, in the side surface of which recesses 16 are made, separated by elastic longitudinal bridges 15. On the bridges 15, tensometric strips 14 are placed in a known manner. Torque transmitted through clip 13 twists sensor 7 torque, with the jumpers 15 being bent in accordance with the strength and direction of this torsion.
    4 shows a variant of the torque sensor 7, according to which the clamp 13 and the holder 5 are aligned with each other so that they can be rotated around the longitudinal axis of the holder. On clip 13 and holder 5, two are separated but congruent
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    but protruding in the radial direction of the console 8, connected at the ends by elastic bridges 15, covered with strain gages 14. By increasing the distance between the bridges 15 and the torsion axis, the measurement sensitivity is increased.
    FIG. 6 and 7, an adjustment device is shown, with which the distance between the holder 5 and the central points 12 of the radii can be changed. This adjustment is recommended primarily for elongated and complex configuration blanks. The greater the aforementioned distance, the higher the angular speeds applied to the holder 5, in order to rotate the workpiece at the required speed at the clamping point of the flange 10. This creates problems with acceleration and deceleration processes. With the help of an adjustment device which provides the possibility of changing the position on one or several axes, these distances can be reduced.
    The clamp 13 moves along the guide frame 20 rotatably around one axis; its position relative to the holder 5 and the displacement sensor 6 is changed by the actuator 21. The guide frame 20 on the other side is rigidly connected to the displacement sensor 6 and transmits torque to the latter received from the clamp 13. The actuator 21 is connected in accordance with the principles of automatic regulation with a contour control device and preferably consists of an electric servomotor equipped with a displacement sensor and a driving spindle.
    When processing the straight sections of the flange 10, the holder 5 and the movement sensor 6 occupy a central position in the adjusting device, which coincides with the intersection point of the connecting straight lines between the central points 12 of the radii (Fig. 7). Before reaching the flanges rounding, the actuator 21 moves the clamp 13 together with the workpiece 2, as a result of which the holder 5 with the displacement sensor 6 takes relative to the workpiece 2 a position indicated by a dotted line at which the distances to the adjacent central points 12 of the radii are significantly reduced. The adjustment movement is controlled through the contour control device and is consistent with the feed movement carried out by the industrial robot 4 so that the feed rate occurring at the clamping point does not change due to the adjustment. For processing the longitudinal straight sections of the flange, the clamp 13 moves reverse - but to the central position, and after that to another extreme position.
    For multi-layer adjustment, a guide frame 20 with a corresponding actuator 21 can be applied as a cross support or an intelligent device. The displacement sensor 6 can be fixed on the clip 13 or can be moved in the guide frame 2Q itself. In this case, it moves during adjustment.
    Figure 5 is a schematic diagram of the additional adjustment. By means of a torque sensor with strain-gauge strips 14, a torque is generated around the longitudinal axis of the holder 5, and its magnitude and direction are measured. The measuring circuit operates at a high clock frequency which makes it possible to determine the torque before the roller electrodes 3 will definitely disappear from the contour of the seam 11 of the roller welding. The measuring signals located in different directions of the strain gauge strips 14 enter the bridge circuit 17, they are processed there and recalculated into a signal representing the torque in magnitude and direction. Through the matching circuit 18, this signal enters the control unit 9 of the manipulator 4 and is processed in the program with the imposition of a loop control. The feed rate increases: or decreases until the torque sensor 7 reports the presence of torque. Through the matching stub 19 and the matching circuit 18, it is possible before supplying the new blank 2 to the roller welding machine 1
    to balance relative zero torque sensor 7.
    The method and apparatus can also be used for other machines or tools — when the workpiece is fed through a power tool.
    权利要求:
    Claims (5)
    [1]
    1. A method of seam roller welding of parts with a curvilinear profile in which parts are moved by rotating the roller electrodes and matching the speed of movement of the parts with the speed of rotation of the roller electrodes, characterized in that with J
    The purpose of expanding technological capabilities is the additional forced constant movement of parts with the same speed and in the same direction as the speed of rotation of the roller electrodes.
    [2]
    2. Device for seam roller welding of parts with a curvilinear profile, containing drive roller electrodes, a manipulator with a holder, mounted on the holder coaxially with it, a clip for the parts to be welded, and a mechanism for matching the speed of movement of the holder with the speed of rotation of the roller electrodes, connected
    With a speed controller of rotation of the holder, characterized in that, in order to expand the technological capabilities, it is equipped with a drive of constant rotation of the holder, the matching mechanism is designed as a torque set on the holder coaxially connected to it and connected to the speed controller of the holder, wherein the torque sensor and the holder are placed at the same distance from the centers of the curvature of the clamp.
    [3]
    3. The device according to claim 2, characterized in that the manipulator is made in the form of a multi-tier industrial robot.
    [4]
    4. Device on PP. 2 and 3, characterized in that the torque sensor is made in the form of a cylindrical tube with notches
    on the lateral surface and strain gauge strips placed on the bridges between the grooves,
    [5]
    5. The device according to PP. 2 and 3, characterized in that 5 that the torque sensor is made in the form
    two fixed respectively on the clamp and the holder of consoles, perpendicular to the axis of rotation of the clamp and connected to each other by jumpers with strain gauges.
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    同族专利:
    公开号 | 公开日
    DE3603919C2|1988-12-29|
    US4785153A|1988-11-15|
    DE3603919A1|1987-08-13|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    SU90200A1|1950-03-06|1950-11-30|Б.Г. Гуткин|Copy machine for gas cutting metal|
    SU518300A1|1974-08-20|1976-06-25|Предприятие П/Я А-3959|Resistance Welding Machine|
    DE2928620A1|1979-07-16|1981-02-05|Karlsruhe Augsburg Iweka|Rotary jig for roller seam welding machine - where copying mechanism using cam disk keeps workpiece joint surfaces between electrode rollers|
    JPS5961581A|1982-09-28|1984-04-07|Kawasaki Steel Corp|Speed synchronizing device of narrow lap seam welding machine|
    JPS6219272B2|1982-12-13|1987-04-27|Nissan Motor|
    US4591944A|1984-09-10|1986-05-27|Gmf Robotics Corporation|Electronic circuit for tactile sensors|
    GB2175834B|1985-05-29|1988-10-05|Honda Motor Co Ltd|Workpiece feeding apparatus in a seam welding machine|JPH0292471A|1988-09-28|1990-04-03|Toyota Motor Corp|Automatic seam welding device for fuel tank|
    DE4209959A1|1992-03-27|1993-09-30|Bayerische Motoren Werke Ag|Use of a gas and liquid-tight welding process|
    ES2106387T3|1993-04-08|1997-11-01|Elpatronic Ag|PROCEDURE FOR WELDING WITH ROLLERS SEAMS OF DEPOSITS AND SEAM WELDING MACHINE WITH ROLLERS AND BY RESISTANCE FOR THE IMPLEMENTATION OF THE PROCEDURE.|
    US5471026A|1994-03-30|1995-11-28|Lakewood Engineering & Manufacturing Co.|Continuous resistance welding apparatus and method|
    JP3358982B2|1997-12-24|2002-12-24|本田技研工業株式会社|Method for manufacturing fuel tank for motorcycle|
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    AT6074U1|2002-07-04|2003-04-25|Tesma Motoren Getriebetechnik|METHOD FOR PRODUCING AN OBJECT WITH A THREE-DIMENSIONAL ROLL WELDING AND SYSTEM FOR IMPLEMENTING IT|
    TWI397448B|2007-06-07|2013-06-01|Nippon Steel & Sumitomo Metal Corp|Manufacturing method of fuel tank, and fuel tank|
    DE102009014766B4|2009-03-25|2012-02-09|Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.|Superimposed axes in a device for machining a workpiece with a tool|
    US9690282B2|2011-02-28|2017-06-27|Solidcam Ltd.|Computerized tool path generation|
    US8489224B2|2011-02-28|2013-07-16|Solidcam Ltd.|Computerized tool path generation|
    US9233470B1|2013-03-15|2016-01-12|Industrial Perception, Inc.|Determining a virtual representation of an environment by projecting texture patterns|
    CN104985368B|2015-07-17|2017-01-04|柳州海特迪桢瑟汽车部件有限公司|A kind of multiple-freedom linking welder|
    WO2018173030A1|2017-03-20|2018-09-27|Solidcam Ltd.|Computerized system and method for generating a chatter free milling cnc program for machining a workpiece|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE3603919A|DE3603919C2|1986-02-07|1986-02-07|
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