WO2004004968A1 - Method for producing an object using three-dimensional roller welding and an assembly for carrying out said method - Google Patents
Method for producing an object using three-dimensional roller welding and an assembly for carrying out said method Download PDFInfo
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- WO2004004968A1 WO2004004968A1 PCT/AT2003/000187 AT0300187W WO2004004968A1 WO 2004004968 A1 WO2004004968 A1 WO 2004004968A1 AT 0300187 W AT0300187 W AT 0300187W WO 2004004968 A1 WO2004004968 A1 WO 2004004968A1
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- 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
- B23K11/06—Resistance welding; Severing by resistance heating using roller electrodes
- B23K11/067—Resistance welding; Severing by resistance heating using roller electrodes for welding three-dimensional seams
Definitions
- the invention relates to a method for producing an object with a roller welding, the object consisting of at least two sheet metal parts, the edges of which are to be welded form spatial flanges which fit together and pass through between the rollers of a resistance welding machine during welding.
- a spatial flange is to be understood as a flange that not only describes a curve in the plane, but also a space curve, ie also leads out of the plane.
- the method consists of the following steps: a) The sheet metal parts are put together with their flanges and attached to each other at some points, b) one of the sheet metal parts with the attached further part is gripped by the arm of a robot, for which purpose it is equipped with a holder which holds this part in a hollow over a large area, c) the robot carries out a spatial movement with the object, in which the adjacent spatial flanges of the object pass the fixed-axis rollers of the roller welding machine during welding at a constant speed of the welding location, d) the robot delivers the finished object or sets it down ,
- the roll welding machine can thus be of the simple, reliable and precise design with fixed roll axes.
- the guidance of the rollers is naturally also very precise, they cannot "run off track”.
- the preceding stitching ensures that the parts to be connected - in the case of a fuel tank, the two half-shells - fit exactly together and also during welding do not move against each other.
- the large area of the workpiece makes a double contribution to the quality of the weld.
- the large-area and generally also positive connection between the workpiece and the robot hand ensures precise guidance of the workpiece, even at the variable speed required for constant welding point speed. and linear accelerations (both linear and rotary) of the robot hand.
- the workpiece is not distorted by being held near the flange. Without this bracket, the flange could pull the adjacent curved regions of the parts outwards during welding or afterwards and thus distort or put the workpiece under its own stress.
- the rollers of the roller welding machine are freely rotatable during step c), and the feed during welding is carried out exclusively by the robot (claim 2). It can also be used to create very complex shapes. It is surprising that the normal contact pressure (better: compression of the rollers) creates a sufficient frictional connection between the idling rollers and the workpiece “driving” the rollers in order to take them practically without slippage. As a result, significantly smaller forces also act on the robot arm, which benefits its accuracy and the precision of its control.
- the invention is also embodied in a system for carrying out a three-dimensional roll welding, which consists of the following components: a) a stationary roll welding machine, the rolls of which are mounted on fixed axes, b) a robot with a fixed foot, the hand of which is held by its holder is movable in all six degrees of freedom and its control moves the workpiece in such a way that the adjacent spatial flanges of the object pass through the fixed-axis rollers of the roller welding machine during welding at a constant speed of the welding location.
- Such a system initially makes it possible to produce such weld seams with sufficient tightness and process reliability. Furthermore, compared to the unsuccessful constellation with a roll welding machine with swiveling rolls and a pantograph, such a system is much cheaper and, on top of that, much more flexible. Among other things, more flexible means that different models can be produced in production with only short downtimes.
- the roll welding machine has rolls which are not connected to a drive element (claim 4), that is to say they run freely; and the two rollers are also separated from one another in terms of drive (claim 5).
- the hand of the robot is preferably formed by a receptacle that holds only one of the parts to be welded over a large area (claim 6), for which purpose the receptacle is a trough with holding means that receives a part in a form-fitting manner (claim 7).
- the workpiece is held reliably and reliably, although only on one side.
- suction cups as holding means (claim 8), which are arranged as close as possible to the flange. If suction cups cannot be used for other reasons, individual hold-down devices can also be provided, which come loose when the rollers pass.
- FIG. 1 A schematic view of a system according to the invention
- Fig. 2 A section through the workpiece and part of the system according to the invention during welding at a first time
- Fig. 3 View according to A in Fig. 2, at a second time
- a conventional roller seam welding machine is designated 1. It has a lower and an upper copper welding roller 2, 3, which are each fastened and supported on shafts 2 ', 3' (see FIG. 2).
- the workpiece is summarily designated by 4. It is a fuel tank for a motor vehicle of approximately rectangular shape with very rounded corners.
- 6 also denotes a conventional industrial robot which, analogous to the human anatomy, consists of a foot 7, an upper arm 8, a forearm 9 and a hand 10 which holds a receptacle 11 for the workpiece 4.
- This receptacle 11 can be exchanged, for which the robot can put it down at a suitable point, release it, and take hold of another itself, and so another workpiece can be produced without further modification.
- the robot has a control, which is usually housed in a box, not shown.
- Fig. 2 the workpiece is cut in the plane spanned by the shafts 2 ', 3'.
- the workpiece 4 consists of a lower shell 14 with a lower flange 16 and an upper shell 15 with an upper flange 17, which are the drawn parts to be welded from sheet metal.
- the bottom 14 'of the lower shell 14 is arched upwards in the middle in order to utilize the space available in a motor vehicle. This shape also forces it to deviate from the flat flange shape, which is why both flanges at 18 have a spatial elevation in the third dimension.
- the two flanges 16, 17 running all around on the two shells 14, 15 are therefore not in one plane, but are spatial.
- the receptacle 11 is a form of the drawing tool in which the half-shell was drawn, not unlike body, which is held on one side by the robot hand and has a trough on the side facing the workpiece, into which the upper shell 15 extends over a large area - hugs.
- the side walls 21 of the receptacle 11 surround the upper shell 15 up to the beginning of the flange 17.
- suction cups 22 are also provided in the receptacle 11, which hold the upper shell 15 in place. 2 also leads to the method according to the invention and shows the plant at the beginning of method step c).
- This step was preceded by joining the two shells 14, 15 with their flanges 16, 17 and connecting them point by point by means of some tack welds 23 distributed over the flange. Then the workpiece 4 was received by the receptacle 11. Because the two shells 14, 15 are connected by the tack welds 23, it is sufficient for the receptacle 11 to receive only the upper shell 15 and to surround it in a form-fitting manner.
- the entire welding movement is carried out by the robot 6, its hand 10 making use of all the degrees of freedom available to it.
- the robot guides the movement in such a way that the welding point 24 - this is the point through which the welding current flows between the two rollers 2, 3 - moves at the flange at a constant welding current with a constant speed.
- the two shafts 2 ', 3' on which the welding rollers 2, 3 are seated are neither connected to one another nor to a drive, they run freely, are, so to speak, "driven” by the flange moved by the robot.
- the flange part still in one plane, with further rotation and displacement in the horizontal plane, the rounded corner is passed and moved into the flange parts shown in FIG. 2 with the elevation 18.
- a workpiece with, even complicated, spatial flanges can be manufactured with conventional machines with high quality using conventional "intelligence" (meaning the robot's).
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Abstract
Description
VERFAHREN ZUR HERSTELLUNG EINES GEGENSTANDES MIT EINER DREIDIMENSIONALEN ROLLENSCHWEISSUNG UND ANLAGE ZU DEREN AUSFÜHRUNG METHOD FOR PRODUCING AN OBJECT WITH A THREE-DIMENSIONAL ROLL WELDING AND SYSTEM FOR IMPLEMENTING IT
Die Erfindung betrifft ein Verfahren zur Herstellung eines Gegenstandes mit einer Rollenschweissung, wobei der Gegenstand aus zumindest zwei Blechteilen besteht, deren zu verschweißende Ränder räumliche Flansche bilden, die zusammenpassen und beim Verschweissen zwischen den Rollen einer Widerstandsschweissmaschine durchlaufen. Dabei ist unter einem räumlichen Flansch ein Flansch zu verstehen der nicht nur in der E- bene eine Kurve beschreibt, sondern eine Raumkurve, also auch aus der Ebene herausführt.The invention relates to a method for producing an object with a roller welding, the object consisting of at least two sheet metal parts, the edges of which are to be welded form spatial flanges which fit together and pass through between the rollers of a resistance welding machine during welding. Here, a spatial flange is to be understood as a flange that not only describes a curve in the plane, but also a space curve, ie also leads out of the plane.
Die Verbindung von Blechteilen mittels Rollenschweissung ist im Kraftfahrzeugbau, insbesondere bei der Herstellung von Treibstofftanks und anderer Hohlköφer, eingeführt, weil sie unter günstigen Bedingungen schnell eine durchlaufende dichte Schweissnaht ergibt. Die zu verbindenden Teile sind dann die beiden Halbschalen des Treibstofftanks, jeweils mit einem in einer Ebene rundum verlaufenden Flansch. Die Forderung nach hoher Raumökonomie und Kollisionssicherheit macht es nötig, den im Fahrzeug zur Verfügung stehenden knappen Raum besonders gut auszunutzen. Das führt zu Treibstofftanks besonderer Form, deren Teile nicht mehr mit in einer Ebene liegenden Flanschen ausführbar sind. Das Verschweissen solcher Teile in einer Rollenschweissmaschine ist zwar prinzipiell möglich, bislang jedoch nicht in Großserie mit hoher und seriensicherer Dichtheit. Versuche mit Rollenschweissmaschinen, deren Rollen während des Schweissens verschwenkbar sind, und wobei diese und das Werkstück mittels eines Pantografen bewegt werden, haben zu keinen befriedigenden Resultaten geführt; ganz abgesehen von den hohen Kosten und der geringen Flexibilität derartiger Anlagen.The connection of sheet metal parts by means of roller welding has been introduced in motor vehicle construction, in particular in the production of fuel tanks and other hollow bodies, because it quickly results in a continuous, tight weld seam under favorable conditions. The parts to be connected are then the two half-shells of the fuel tank, each with a flange running all around in one plane. The demand for high space economy and collision safety makes it necessary to make particularly good use of the limited space available in the vehicle. This leads to fuel tanks of special shape, the parts of which can no longer be designed with flanges lying on one level. The welding of such parts in a roll welding machine is possible in principle, but so far not in large series with high and series-proof tightness. Experiments with roller welding machines, the rollers of which can be pivoted during welding, and where these and the workpiece are moved by means of a pantograph, have not led to satisfactory results; quite apart from the high costs and the low flexibility of such systems.
Die seriensichere Dichtheit muss aber aus Sicherheits- und Emissionsgründen unbedingt gewährleistet sein. Die kleinste Unregelmäßigkeit bei Stromversorgung, Vorschubgeschwindigkeit oder Zusammenpressdruck der Rollen kann zu einer Schwachstelle führen, an der der Treibstofftank bereits im Druckversuch aufplatzt.The series-proof tightness must be guaranteed for safety and emission reasons. The slightest irregularity in the power supply, feed speed or compression pressure of the rollers can lead to a weak point at which the fuel tank bursts during the pressure test.
Es ist daher Ziel der Erfindung, ein Verfahren anzugeben, nach dem räum- liehe Rollenschweissungen seriensicher ausführbar sind, zeitgemäß bei minimalen Kosten.It is therefore the aim of the invention to provide a method according to which spatial roll welding can be reliably carried out in series, in a timely manner at minimal costs.
Erfindungsgemäß besteht das Verfahren aus folgenden Schritten: a) Die Blechteile werden mit ihren Flanschen aneinandergelegt und an einigen Punkten aneinander geheftet, b) eines der Blechteile mit dem angehefteten weiteren Teil wird vom Arm eines Roboters erfasst, wozu dieser mit einer Aufnahme ausgerüstet ist, die diesen Teil in einer Mulde großflächig festhält, c) der Roboter führt mit dem Gegenstand eine räumliche Bewegung aus, bei der die aneinanderliegenden räumlichen Flansche des Gegenstandes die festachsigen Rollen der Rollenschweissmaschine während des Schweissens mit konstanter Geschwindigkeit des Schweissortes passie- ren, d) der Roboter gibt den fertigen Gegenstand oder legt ihn ab.According to the invention, the method consists of the following steps: a) The sheet metal parts are put together with their flanges and attached to each other at some points, b) one of the sheet metal parts with the attached further part is gripped by the arm of a robot, for which purpose it is equipped with a holder which holds this part in a hollow over a large area, c) the robot carries out a spatial movement with the object, in which the adjacent spatial flanges of the object pass the fixed-axis rollers of the roller welding machine during welding at a constant speed of the welding location, d) the robot delivers the finished object or sets it down ,
Die Vorschubbewegung beim Schweissen wird somit ausschließlich vom Roboter ausgeführt, die Rollenschweissmaschine kann so von der einfa- chen, betriebssicheren und präzisen Bauart mit feststehenden Rollenachsen sein. Bei dieser ist naturgemäß auch die Führung der Rollen sehr genau, sie können nicht „aus der Spur laufen". Die vorangehende Heftung stellt sicher, dass die zu verbindenden Teile - im Falle eines Treibstofftanks die beiden Halbschalen - genau aufeinanderpassen und sich auch während des Schweissens nicht gegeneinander verschieben.The feed movement during welding is therefore carried out exclusively by the robot, the roll welding machine can thus be of the simple, reliable and precise design with fixed roll axes. With this, the guidance of the rollers is naturally also very precise, they cannot "run off track". The preceding stitching ensures that the parts to be connected - in the case of a fuel tank, the two half-shells - fit exactly together and also during welding do not move against each other.
Das vorherige Heften schafft auch die Voraussetzung für den Einsatz eines Roboters. Dieser kann seine Freiheitsgrade ja nur voll entfalten, wenn er das Werkstück nur von einer Seite hält. Damit wurde mit der Vorstel- lung gebrochen, dass die beiden zu verschweissenden Teile wäh-rend der Schweissung von einer Hilfsvorrichtung zusammengedrückt werden müssen.The previous stitching also creates the prerequisites for using a robot. This can only fully develop its degrees of freedom if it only holds the workpiece from one side. This broke with the idea that the two parts to be welded must be pressed together by an auxiliary device during the welding process.
Die großflächige Aufnahme des Werkstückes liefert einen zweifachen Beitrag zur Qualität der Schweissnaht. Erstens stellt die großflächige und in der Regel auch formschlüssige Verbindung zwischen Werkstück und Roboterhand die genaue Führung des Werkstückes sicher, auch bei der für konstante Schweisspunktgeschwindigkeit nötigen variablen Geschwin- digkeiten und Beschleunigungen (sowohl linear als auch rotativ) der Roboterhand. Zweitens wird das Werkstück dadurch, dass es in der Nähe des Flansches gehalten ist, nicht verzogen. Ohne diese Halterung könnte der Flansch während des Schweissens oder danach die angrenzenden gewölbten Regionen der Teile nach aussen ziehen und das Werkstück so verzie- hen oder unter Eigenspannung setzen.The large area of the workpiece makes a double contribution to the quality of the weld. Firstly, the large-area and generally also positive connection between the workpiece and the robot hand ensures precise guidance of the workpiece, even at the variable speed required for constant welding point speed. and linear accelerations (both linear and rotary) of the robot hand. Second, the workpiece is not distorted by being held near the flange. Without this bracket, the flange could pull the adjacent curved regions of the parts outwards during welding or afterwards and thus distort or put the workpiece under its own stress.
Für die Qualität der Schweissnaht ist die Konstanz aller Schweissparame- ter wesentlich, somit auch der Geschwindigkeit, mit der der Schweissort (=Schweisspunkt) am Werkstück fortschreitet. Bei ebenen Flanschen wäre diese Geschwindigkeit gleich der Umfangsgeschwindigkeit der Rollen. Bei räumlichen Flanschen ist, wegen des Radius der Rollen bei einem Gefallebruch mit einem Krümmungsradius in der Größenordnung des Radius der Rollen, diese Gleichheit nicht mehr gegeben.The consistency of all welding parameters is essential for the quality of the weld seam, and thus also the speed at which the welding location (= welding point) progresses on the workpiece. For flat flanges, this speed would be the circumferential speed of the rollers. In the case of spatial flanges, because of the radius of the rollers in the event of an incline fracture with a radius of curvature in the order of the radius of the rollers, this equality is no longer ensured.
Da die ganze Vorschubbewegung durch den Roboter ausgeführt wird, muss dieser auch die gesamte Bewegung „erlernen". Das ist bei Ausnützung der Möglichkeiten der „teach-in - Moduln", die alle gängigen Roboter - Steuerungsprogramme enthalten auch ohne zusätzliche Maßnahmen oder Kunstgriffe durchführbar.Since the entire feed movement is carried out by the robot, the robot must also "learn" the entire movement. This is possible by using the possibilities of the "teach-in modules", which contain all common robot control programs, without additional measures or tricks.
In einer bevorzugten Weiterbildung des erfindungsgemäßen Verfahrens sind während des Schrittes c) die Rollen der Rollenschweissmaschine frei drehbar, und der Vorschub beim Schweissen wird ausschließlich durch den Roboter besorgt (Anspruch 2). Damit lassen sich auch sehr komplexe Formen verwirklichen. Überraschend ist, dass der normale Anpressdruck (besser: Zusammenpressdruck der Rollen) einen ausreichenden Reib- schluss zwischen den leerlaufenden Rollen und dem die Rollen „antreibenden" Werkstück erzeugt, um diese praktisch schlupffrei mitzunehmen. Dadurch wirken aber auch auf den Roboterarm wesentlich kleinere Kräfte, was seiner Genauigkeit und der Präzision seiner Steuerung zugute kommt.In a preferred development of the method according to the invention, the rollers of the roller welding machine are freely rotatable during step c), and the feed during welding is carried out exclusively by the robot (claim 2). It can also be used to create very complex shapes. It is surprising that the normal contact pressure (better: compression of the rollers) creates a sufficient frictional connection between the idling rollers and the workpiece “driving” the rollers in order to take them practically without slippage. As a result, significantly smaller forces also act on the robot arm, which benefits its accuracy and the precision of its control.
Die Erfindung ist auch in einer Anlage zur Ausführung einer dreidimensionalen Rollenschweissung verköφert, die aus den folgenden Kompo- nenten besteht: a) Einer ortsfesten Rollenschweissmaschine, deren Rollen auf festen Achsen gelagert sind, b) einem Roboter mit ortsfestem Fuß, dessen Hand mit ihrer Aufnahme in allen sechs Freiheitsgraden bewegbar ist und dessen Steuerung das Werkstück so bewegt, dass die aneinanderliegenden räumlichen Flansche des Gegenstandes die festachsigen Rollen der Rollenschweissmaschine während des Schweissens mit konstanter Geschwindigkeit des Schweissortes passieren.The invention is also embodied in a system for carrying out a three-dimensional roll welding, which consists of the following components: a) a stationary roll welding machine, the rolls of which are mounted on fixed axes, b) a robot with a fixed foot, the hand of which is held by its holder is movable in all six degrees of freedom and its control moves the workpiece in such a way that the adjacent spatial flanges of the object pass through the fixed-axis rollers of the roller welding machine during welding at a constant speed of the welding location.
Eine solche Anlage ermöglicht es zunächst, derartige Schweißnähte überhaupt mit ausreichender Dichtheit und Prozesssicherheit herzustellen. Weiters ist eine derartige Anlage, verglichen mit der erfolglosen Konstellation mit einer Rollenschweissmaschine mit schwenkbaren Rollen und einem Pantographen, wesentlich billiger und obendrein noch viel flexibler. Flexibler heisst unter anderem, dass in der Produktion mit nur kurzen Stillstandszeiten verschiedene Modelle gefertigt werden können.Such a system initially makes it possible to produce such weld seams with sufficient tightness and process reliability. Furthermore, compared to the unsuccessful constellation with a roll welding machine with swiveling rolls and a pantograph, such a system is much cheaper and, on top of that, much more flexible. Among other things, more flexible means that different models can be produced in production with only short downtimes.
In weiterer Ausgestaltung der erfindungsgemäßen Anlage verfügt die Rollenschweissmaschine über Rollen, die nicht mit einem Antriebsele-ment verbunden sind (Anspruch 4), also frei mitlaufen; und sind die bei-den Rollen auch voneinander antriebsmäßig getrennt (Anspruch 5). Da-durch sind die auf den Roboterarm wirkenden Kräfte vermindert und des-sen Genauigkeit ist verbessert. Vorzugsweise wird die Hand des Roboters von einer Aufnahme gebildet, die nur eines der zu verschweissenden Teile großflächig festhält (Anspruch 6), wozu die Aufnahme eine einen Teil formschlüssig aufnehmende Mulde mit Haltemitteln ist (Anspruch 7). Dadurch wird das Werkstück - obwohl nur einseitig - zuverlässig und prozesssicher gehalten. Besonders vorteilhaft ist es, als Haltemittel eine Anzahl von Saugnäpfen vorzusehen (Anspruch 8), die möglichst nahe dem Flansch angeordnet sind. Wenn Saugnäpfe aus anderen Gründen nicht einsetzbar sind, können auch einzelne Niederhalter vorgesehen sein, die sich bei Passieren der Rollen lösen.In a further embodiment of the system according to the invention, the roll welding machine has rolls which are not connected to a drive element (claim 4), that is to say they run freely; and the two rollers are also separated from one another in terms of drive (claim 5). As a result, the forces acting on the robot arm are reduced and its accuracy is improved. The hand of the robot is preferably formed by a receptacle that holds only one of the parts to be welded over a large area (claim 6), for which purpose the receptacle is a trough with holding means that receives a part in a form-fitting manner (claim 7). As a result, the workpiece is held reliably and reliably, although only on one side. It is particularly advantageous to provide a number of suction cups as holding means (claim 8), which are arranged as close as possible to the flange. If suction cups cannot be used for other reasons, individual hold-down devices can also be provided, which come loose when the rollers pass.
Im folgenden wird die Erfindung anhand von Abbildungen beschrieben und erläutert. Es stellen dar:The invention is described and explained below with the aid of figures. They represent:
Fig. 1 : Eine schematische Ansicht einer erfindungsgemäßen Anlage, Fig. 2: einen Schnitt durch das Werkstück und einen Teil der erfindungsgemäßen Anlage während des Schweissens zu einem ersten Zeitpunkt, Fig. 3 : Ansicht nach A in Fig. 2, zu einem zweiten Zeitpunkt.Fig. 1: A schematic view of a system according to the invention, Fig. 2: A section through the workpiece and part of the system according to the invention during welding at a first time, Fig. 3: View according to A in Fig. 2, at a second time ,
In Fig. 1 ist eine konventionelle Rollnahtschweissmaschine mit 1 bezeichnet. Sie hat eine untere und eine obere kupferne Schweissrolle 2,3, die jeweils auf Wellen 2', 3' (siehe Fig. 2) befestigt und gelagert sind. Mit 4 ist summarisch das Werkstück bezeichnet. Es ist hier ein Treibstofftank für ein Kraftfahrzeug von angenähert rechteckiger Form mit stark abgerundeten Ecken. Mit 6 ist ein ebenfalls konventioneller Industrieroboter bezeichnet, der analog zur menschlichen Anatomie aus einem Fuß 7, einem Oberarm 8, einem Unterarm 9 und einer Hand 10 besteht, welche eine Aufnahme 11 für das Werkstück 4 hält. Diese Aufnahme 11 ist auswechselbar, wozu der Roboter sie an geeigneter Stelle ablegen, loslassen, und selbst eine andere ergreifen kann, und so ohne weiteren Umbau ein anderes Werkstück ge- ertigt werden kann. Weiters besitzt der Roboter eine Steuerung, die in der Regel in einem nicht dargestellten Kasten untergebracht ist.In Fig. 1, a conventional roller seam welding machine is designated 1. It has a lower and an upper copper welding roller 2, 3, which are each fastened and supported on shafts 2 ', 3' (see FIG. 2). The workpiece is summarily designated by 4. It is a fuel tank for a motor vehicle of approximately rectangular shape with very rounded corners. 6 also denotes a conventional industrial robot which, analogous to the human anatomy, consists of a foot 7, an upper arm 8, a forearm 9 and a hand 10 which holds a receptacle 11 for the workpiece 4. This receptacle 11 can be exchanged, for which the robot can put it down at a suitable point, release it, and take hold of another itself, and so another workpiece can be produced without further modification. Furthermore, the robot has a control, which is usually housed in a box, not shown.
In Fig. 2 ist das Werkstück in der durch die Wellen 2 ',3' aufgespannten Ebene geschnitten. Das Werkstück 4 besteht aus einer unteren Schale 14 mit einem unteren Flansch 16 und einer oberen Schale 15 mit einem oberen Flansch 17, die die miteinander zu verschweissenden Ziehteile aus Blech sind. Der Boden 14' der unteren Schale 14 ist in der Mitte aufwärts gewölbt, um den in einem Kraftfahrzeug zur Verfügung stehenden Bau- räum auszunutzen. Diese Ausformung zwingt auch dazu, von der ebenen Flanschform abzuweichen, weshalb beide Flansche bei 18 eine räumliche Erhebung in die dritte Dimension aufweisen. Die beiden auf den beiden Schalen 14,15 rundum verlaufenden Flansche 16,17 liegen daher nicht in einer Ebene, sondern sind räumlich.In Fig. 2 the workpiece is cut in the plane spanned by the shafts 2 ', 3'. The workpiece 4 consists of a lower shell 14 with a lower flange 16 and an upper shell 15 with an upper flange 17, which are the drawn parts to be welded from sheet metal. The bottom 14 'of the lower shell 14 is arched upwards in the middle in order to utilize the space available in a motor vehicle. This shape also forces it to deviate from the flat flange shape, which is why both flanges at 18 have a spatial elevation in the third dimension. The two flanges 16, 17 running all around on the two shells 14, 15 are therefore not in one plane, but are spatial.
Die Aufnahme 11 ist ein einer Form des Ziehwerkzeuges, in dem die Halbschale gezogen wurde, nicht unähnlicher Köφer, der auf einer Seite von der Roboterhand gehalten ist und an der dem Werkstück zugekehrten Seite eine Mulde hat, in die sich die obere Schale 15 grossflächig ein- schmiegt. Die Seitenwände 21 der Aufnahme 11 umgeben die obere Schale 15 bis an den Beginn des Flansches 17. Zusätzlich sind in der Aufnahme 11 noch Saugnäpfe 22 vorgesehen, die die obere Schale 15 festhalten. Fig. 2 führt auch in das erfindungsgemäße Verfahren und zeigt die Anlage zu Beginn des Verfahrensschrittes c). Vorausgegangen ist diesem Schritt ein Aneinanderfügen der beiden Schalen 14,15 mit ihren Flanschen 16,17 und deren punktweise Verbindung durch einige über den Flansch verteilte Heftschweissungen 23. Sodann wurde das Werkstück 4 von der Aufnahme 11 aufgenommen. Wegen der Verbindung der beiden Schalen 14,15 durch die Heftschweissungen 23 genügt es dazu, dass die Aufnahme 11 nur die obere Schale 15 in sich aufnimmt und formschlüssig umgibt.The receptacle 11 is a form of the drawing tool in which the half-shell was drawn, not unlike body, which is held on one side by the robot hand and has a trough on the side facing the workpiece, into which the upper shell 15 extends over a large area - hugs. The side walls 21 of the receptacle 11 surround the upper shell 15 up to the beginning of the flange 17. In addition, suction cups 22 are also provided in the receptacle 11, which hold the upper shell 15 in place. 2 also leads to the method according to the invention and shows the plant at the beginning of method step c). This step was preceded by joining the two shells 14, 15 with their flanges 16, 17 and connecting them point by point by means of some tack welds 23 distributed over the flange. Then the workpiece 4 was received by the receptacle 11. Because the two shells 14, 15 are connected by the tack welds 23, it is sufficient for the receptacle 11 to receive only the upper shell 15 and to surround it in a form-fitting manner.
Bei der Rollnahtschweissung selbst wird die gesamte Schweissbewegung von dem Roboter 6 ausgeführt, wobei dessen Hand 10 von allen ihr zur Verfügung stehenden Freiheitsgraden Gebrauch macht. Dabei führt der Roboter die Bewegung so, dass sich der Schweisspunkt 24 - das ist der Punkt durch den der Schweissstrom zwischen den beiden Rollen 2,3 gerade fliesst, bei konstanter Schweissstromstärke mit konstanter Geschwin- digkeit am Flansch dahinbewegt. Die beiden Wellen 2', 3' auf denen die Schweissrollen 2,3 sitzen, sind weder miteinander, noch mit einem Antrieb verbunden, sie laufen frei mit, werden sozusagen von dem vom Roboter bewegten Flansch „angetrieben". In Fig. 2 wäre der gerade zwischen den Rollen 2,3 befindliche Flanschteil noch in einer Ebene, bei weiterem Drehen und Verschieben in der Horizontalebene wird das abgerundete Eck passiert und in die in Fig. 2 in Ansicht gezeigten Flanschteile mit der Erhebung 18 eingefahren.In the case of the roller seam welding itself, the entire welding movement is carried out by the robot 6, its hand 10 making use of all the degrees of freedom available to it. The robot guides the movement in such a way that the welding point 24 - this is the point through which the welding current flows between the two rollers 2, 3 - moves at the flange at a constant welding current with a constant speed. The two shafts 2 ', 3' on which the welding rollers 2, 3 are seated are neither connected to one another nor to a drive, they run freely, are, so to speak, "driven" by the flange moved by the robot. In FIG just between the rollers 2, 3, the flange part still in one plane, with further rotation and displacement in the horizontal plane, the rounded corner is passed and moved into the flange parts shown in FIG. 2 with the elevation 18.
Fig. 3 zeigt nun die Schweissung des sich in die dritte Dimension erhe- benden Teiles 18 der Flansche 16,17. Die Blickrichtung wäre nun die in Fig. 2 mit „A" angedeutete, das Auge des Betrachters ist jedoch mit dem Werkstück 4 mitgedreht worden. Daher sieht man nun die Rollen 2,3 in Ansicht als Kreise. Die Bewegung in die dritte Dimension wurde auch wieder nur durch entsprechende Neigung der Roboterhand 10 bei gleichzeitigem Vorschub vorgenommen. Dabei sind die Steuergrößen- und Befehle dem Roboter so eingelernt, dass die Geschwindigkeit, mit der der Schweisspunkt 24 am Flansch 16,17 dahinbewegt, konstant ist. Um die Verhältnisse zu verdeutlichen, ist der Radius der Rolle 25 und der Krüm- mungsradius 26 der Flansche 16,17 in der Nähe des Schweisspunktes 24 eingetragen.3 now shows the welding of the part 18 of the flanges 16, 17 which rises into the third dimension. The viewing direction would now be that indicated with "A" in FIG. 2, but the viewer's eye has also been rotated with the workpiece 4. Therefore, the rollers 2, 3 are now seen in circles as a view. The movement into the third dimension also became again only by appropriate inclination of the robot hand 10 with simultaneous feed. The control variables and commands for the robot are taught in such a way that the speed at which the welding point 24 on the flange 16, 17 moves there is constant. In order to clarify the conditions, the radius of the roller 25 and the radius of curvature 26 of the flanges 16, 17 are entered in the vicinity of the welding point 24.
In der beschriebenen Art und Weise kann ein Werkstück mit, auch komplizierten, räumlichen Flanschen mit konventionellen Maschinen durch Nutzung der vorhandenen „Intelligenz" (gemeint ist hier die im Roboter vorhandene) mit hoher Qualität seriensicher hergestellt werden. In the manner described, a workpiece with, even complicated, spatial flanges can be manufactured with conventional machines with high quality using conventional "intelligence" (meaning the robot's).
Claims
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP03762347A EP1519808A1 (en) | 2002-07-04 | 2003-07-04 | Method for producing an object using three-dimensional roller welding and an assembly for carrying out said method |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ATGM447/2002 | 2002-07-04 | ||
| AT0044702U AT6074U1 (en) | 2002-07-04 | 2002-07-04 | METHOD FOR PRODUCING AN OBJECT WITH A THREE-DIMENSIONAL ROLL WELDING AND SYSTEM FOR IMPLEMENTING IT |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2004004968A1 true WO2004004968A1 (en) | 2004-01-15 |
Family
ID=3490840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/AT2003/000187 Ceased WO2004004968A1 (en) | 2002-07-04 | 2003-07-04 | Method for producing an object using three-dimensional roller welding and an assembly for carrying out said method |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP1519808A1 (en) |
| AT (1) | AT6074U1 (en) |
| WO (1) | WO2004004968A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2705922A1 (en) * | 2012-09-06 | 2014-03-12 | Kabushiki Kaisha Yaskawa Denki | Seam welding robot with roller electrodes |
| CN112930240A (en) * | 2018-10-16 | 2021-06-08 | 气体运输技术公司 | Method for welding fluid-tight membranes of cans |
| CN117921293A (en) * | 2024-03-21 | 2024-04-26 | 沈阳富创精密设备股份有限公司 | Welding tool and welding method for precise semiconductor flange parts |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2928620A1 (en) * | 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 |
| JPS6221470A (en) * | 1985-07-18 | 1987-01-29 | Honda Motor Co Ltd | Electrode roll drive device in automatic seam welding equipment |
| US4785153A (en) * | 1986-02-07 | 1988-11-15 | Kuka Schweissanlagen+Roboter | Process and device for reciprocal guidance of workpieces and tools that move relative to one another, particularly rolling seam welding machines |
| US5010226A (en) * | 1988-09-28 | 1991-04-23 | Toyota Jidosha Kabushiki Kaisha | Automatic seam welding apparatus |
| JPH09277059A (en) * | 1996-04-16 | 1997-10-28 | Daihatsu Motor Co Ltd | Welding device |
| US6069337A (en) * | 1997-12-24 | 2000-05-30 | Honda Giken Kogyo Kabushiki Kaisha | Fuel tank for motorcycle, and process for producing the same |
-
2002
- 2002-07-04 AT AT0044702U patent/AT6074U1/en not_active IP Right Cessation
-
2003
- 2003-07-04 WO PCT/AT2003/000187 patent/WO2004004968A1/en not_active Ceased
- 2003-07-04 EP EP03762347A patent/EP1519808A1/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2928620A1 (en) * | 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 |
| JPS6221470A (en) * | 1985-07-18 | 1987-01-29 | Honda Motor Co Ltd | Electrode roll drive device in automatic seam welding equipment |
| US4785153A (en) * | 1986-02-07 | 1988-11-15 | Kuka Schweissanlagen+Roboter | Process and device for reciprocal guidance of workpieces and tools that move relative to one another, particularly rolling seam welding machines |
| US5010226A (en) * | 1988-09-28 | 1991-04-23 | Toyota Jidosha Kabushiki Kaisha | Automatic seam welding apparatus |
| JPH09277059A (en) * | 1996-04-16 | 1997-10-28 | Daihatsu Motor Co Ltd | Welding device |
| US6069337A (en) * | 1997-12-24 | 2000-05-30 | Honda Giken Kogyo Kabushiki Kaisha | Fuel tank for motorcycle, and process for producing the same |
Non-Patent Citations (2)
| Title |
|---|
| PATENT ABSTRACTS OF JAPAN vol. 011, no. 199 (M - 602) 26 June 1987 (1987-06-26) * |
| PATENT ABSTRACTS OF JAPAN vol. 1998, no. 02 30 January 1998 (1998-01-30) * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2705922A1 (en) * | 2012-09-06 | 2014-03-12 | Kabushiki Kaisha Yaskawa Denki | Seam welding robot with roller electrodes |
| US9434020B2 (en) | 2012-09-06 | 2016-09-06 | Kabushiki Kaisha Yaskawa Denki | Seam welding robot |
| CN112930240A (en) * | 2018-10-16 | 2021-06-08 | 气体运输技术公司 | Method for welding fluid-tight membranes of cans |
| CN112930240B (en) * | 2018-10-16 | 2022-11-08 | 气体运输技术公司 | Method for welding fluid tight membranes of tanks |
| CN117921293A (en) * | 2024-03-21 | 2024-04-26 | 沈阳富创精密设备股份有限公司 | Welding tool and welding method for precise semiconductor flange parts |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1519808A1 (en) | 2005-04-06 |
| AT6074U1 (en) | 2003-04-25 |
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