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WO1993003892A1 - Positionnement d'un transformateur sur un robot programmable - Google Patents

Positionnement d'un transformateur sur un robot programmable Download PDF

Info

Publication number
WO1993003892A1
WO1993003892A1 PCT/SE1991/000559 SE9100559W WO9303892A1 WO 1993003892 A1 WO1993003892 A1 WO 1993003892A1 SE 9100559 W SE9100559 W SE 9100559W WO 9303892 A1 WO9303892 A1 WO 9303892A1
Authority
WO
WIPO (PCT)
Prior art keywords
transformer
axis
robot
welding gun
gun
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/SE1991/000559
Other languages
English (en)
Inventor
Sune Synnelius
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rotech Tooling AB
Original Assignee
Rotech Tooling AB
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 Rotech Tooling AB filed Critical Rotech Tooling AB
Priority to PCT/SE1991/000559 priority Critical patent/WO1993003892A1/fr
Publication of WO1993003892A1 publication Critical patent/WO1993003892A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/318—Supporting devices for electrode holders

Definitions

  • This invention relates to a method and apparatus for achieving good transformer welding capacity without decreasing the accessibility at spotwelding robots and without the need of integrating the trans ⁇ former into the design of the robot (including secondary current supply) or integrating the transformer into the welding gun.
  • This invention even relates to a method and apparatus for keeping the working area of the robot without the need to integrate
  • This invention even relates to a method and apparatus for increasing the transformer welding capacity by a standard equipment which can be used for many different robot and gun suppliers.
  • This invention even relates to a method and apparatus for increasing the transformer welding capaci'ty by a standard equipment which can be supplied for different types of welding guns and which,together with gun, can be exchanged to another with a different type of gun during the production cycle.
  • An industrial robot is normally designed to perform three movements over what here will be called axis to reach a point and another three movements over what here will be called axis to achieve a desired direction in a three-dimensional space.
  • the system of axis for the desired direction has for many robot sup ⁇ pliers become very similar and one example is shown in Fig. 1 where D,E and P show the axis.
  • the axe D and P can be set parallel but not always in line as shown in the figure.
  • the axis E is often but not always perpendicular towards axis D.
  • the moving of the axis closest to the gun (P) has traditionally the most limited capacity and/or most sensitive design.
  • the transformer integrated in the guns has in practice a capacity limit because of the limited size and cooling of the transformer. In practice it sometimes happens the last spots in a sequence is not supplied with the proper current. More details of the transformer demands is given in international standard ISO-5826 where even the influence of the limited cooling ( " thermal time constant of the secondary winding") is specified in detail.
  • transformer integrated in the gun is the increase of distance between the centre of the axis for achieving desired direction and the electrode tips upon the gun which in practice decrease the access of the robot and by that the possible number of spots which can be set by one robot upon one detail.
  • the transformer has been mounted upon the robot behind more than the last direction axis or separate over the robot.
  • the principal object of the invention is to improve the transformer capacity without secondary current feed over more than one robot axis and to keep the robot working range without inte ⁇ grate the transformer into the gun design with mentioned disadvan ⁇ tages and by this to improve the economy of robotized welding.
  • a particular object of the invention is to make possible a gun ex- change system without integration of the transformer into the gun and without the problem to keep the contact surfaces clean on the secon- dary si de.
  • Another particular object of the invention is to make possible to have very clean border of responsibility between the robot supplier, the supplier of invented unit, and gun supplier making it possible for the end user to choose the most preferred combination.
  • the deliver of invented unit may include more in his responsibility, such as needed valves and even such things as thyris- tor may be suitable to include.
  • the invention use the type of axis for the desired direction shown in Fig. 1 for fixing the transformer towards the mechanical part where two axis for direction has been working and towards where the third direction axe closest to the gun for finally moving the gun is working.
  • the axe with the tradi ⁇ tionally most limited capacity or most sensitive design is not used for moving the transformer.
  • This invention means the transformer by the mounting principle upon design shown in fig 1 will not hit any part of the robot when any axe is moving. By this there is only one movement between the transformer and the gun over which the secondary current shall be supplied. It is understood electrical contact between transformer and gun shall be performed by use of any of the known methods available on the market. ,By this mounting the centre of gravity upon the gun is not moved more far from the axis for achieving desired direction with described disadvantages.
  • Such a gun-transformer exchange system use components similar to those used for exchange of transformer guns but here there is two units instead of one:
  • a second unit which fix the gun and those parts of the equip- ment who are moving together with the gun. Service such as cooling water and air may even become supplied over this unit.
  • Fig 1 shows a typical set-up of axis to achieve the desired direction an a typical welding gun (1).
  • the movements are performed around the axis D, E and P.
  • D is rotated even E and P are rotated around the axis D
  • E is rotated even P is rotated around the axis E.
  • Fig 2 shows the spaces (2 and 3) where anything can be mounted, not moving together with axe P but moved by axis D and E without inter ⁇ fering with any mechanical part or the gun during the movement.
  • Fig 3 shows the mounting of the transformer (4) mounted upon part (7) in one area shown in fig 2 which is moved by part (8) around the axis E.
  • the gun (1) and the contact unit (6) is moved around the axis P relative to the part (7).
  • the secondary current supply (5) connect the transformer to the contact unit (6) for feeding the sec ⁇ ondary current.
  • Fig 4 shows same as fig 3 but with the robot disconnected when an exchange system for the unit transformer, secondary current supply and gun is used. (Details of exchange system not shown. This is known technology upon the market).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Resistance Welding (AREA)

Abstract

L'invention se rapporte à un procédé et un appareil permettant de réaliser le montage d'un transformateur de puissance suffisante sur un robot programmable près d'un pistolet à souder sans limiter la zone de travail du robot et sans intégrer le transformateur au pistolet à souder. L'invention permet de choisir un fournisseur spécialisé dans le soudage et qui n'est pas fournisseur du pistolet à souder ou du robot. L'invention permet également de maintenir le centre du poignet du robot tout près de l'objet à souder, ce qui améliore les possibilités d'accès.
PCT/SE1991/000559 1991-08-23 1991-08-23 Positionnement d'un transformateur sur un robot programmable Ceased WO1993003892A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/SE1991/000559 WO1993003892A1 (fr) 1991-08-23 1991-08-23 Positionnement d'un transformateur sur un robot programmable

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/SE1991/000559 WO1993003892A1 (fr) 1991-08-23 1991-08-23 Positionnement d'un transformateur sur un robot programmable

Publications (1)

Publication Number Publication Date
WO1993003892A1 true WO1993003892A1 (fr) 1993-03-04

Family

ID=20381991

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE1991/000559 Ceased WO1993003892A1 (fr) 1991-08-23 1991-08-23 Positionnement d'un transformateur sur un robot programmable

Country Status (1)

Country Link
WO (1) WO1993003892A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016162647A1 (fr) * 2015-04-09 2016-10-13 Fts Welding Transformateur pour pince a souder et pince a souder integrant un tel transformateur

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3320400A (en) * 1966-08-01 1967-05-16 Cal Mfg Company Portable welder with autotransformer
SE395633B (sv) * 1973-05-25 1977-08-22 Ind Veneta Spa S I V Soc Svetsmaskin
EP0021306A1 (fr) * 1979-06-28 1981-01-07 ESAB Aktiebolag Dispositif de contact pour un circuit de courant fort d'une machine pour la soudure à résistance
EP0424230A1 (fr) * 1989-10-16 1991-04-24 Automobiles Peugeot Robot perfectionné

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3320400A (en) * 1966-08-01 1967-05-16 Cal Mfg Company Portable welder with autotransformer
SE395633B (sv) * 1973-05-25 1977-08-22 Ind Veneta Spa S I V Soc Svetsmaskin
EP0021306A1 (fr) * 1979-06-28 1981-01-07 ESAB Aktiebolag Dispositif de contact pour un circuit de courant fort d'une machine pour la soudure à résistance
EP0424230A1 (fr) * 1989-10-16 1991-04-24 Automobiles Peugeot Robot perfectionné

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016162647A1 (fr) * 2015-04-09 2016-10-13 Fts Welding Transformateur pour pince a souder et pince a souder integrant un tel transformateur
FR3034907A1 (fr) * 2015-04-09 2016-10-14 Fts Welding Transformateur pour pince a souder et pince a souder integrant un tel transformateur

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