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Seam welding apparatus, seam welding method, robot control device, and robot control method

A robot and welding device technology, applied in the robot control device, the seam welding equipment for seam welding, and the control field of the robot, can solve the problems such as the separation of the rotating electrode, and achieve the effect of reducing the burden

Active Publication Date: 2015-09-16
YASKAWA DENKI KK +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, when the workpiece is three-dimensional, the rotating electrode is easily detached from the workpiece

Method used

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  • Seam welding apparatus, seam welding method, robot control device, and robot control method
  • Seam welding apparatus, seam welding method, robot control device, and robot control method
  • Seam welding apparatus, seam welding method, robot control device, and robot control method

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Embodiment Construction

[0038] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0039] Such as figure 1 As shown, the seam welding facility 10 is composed of an articulated robot 20 and a welding device 30 attached to the robot 20 .

[0040] The articulated robot 20 is, for example, a six-axis robot composed of a lower arm 23, an upper arm 26, and a wrist 29, wherein the lower arm 23 utilizes a first motor M1 (although the motor is built-in, but for convenience of description , the motor is shown outside. Other motors are also the same.) Rotate around the first axis 21 corresponding to the axis perpendicular to the ground, and swing around the second axis 22 corresponding to the horizontal axis by the second motor M2, so The upper arm part 26 is connected to the front end of the lower arm part 23 via the third shaft 24 and swings around the third shaft 24 by the third motor M3, and swings around the fourth shaft orthogonal to the third s...

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Abstract

In order to solve the problem of providing a seam welding device that is not affected by the surface condition or the entire body shape of a piece of work, a seam welding apparatus (10) is provided with: a pair of rotary electrodes (31, 32), an electrode support frame (37), a distance measuring means (50), and a control unit (43). The electrode support frame (37) supports the pair of rotary electrodes (31, 32). The distance measuring means (50) is provided to the electrode support frame (37), and measures the distance to an edge (61a) of a steel plate (61). When a real distance measured by the distance measuring means (50) deviates from a prescribed distance, the control unit (43) controls a robot (20) to adjust the travelling direction of the rotary electrodes (31, 32) such that the deviation reaches zero. Thus, the provided seam welding apparatus (10) has a reduced size whilst not being affected by the surface condition or the shape of a piece of work (steel plate (61)).

Description

technical field [0001] The invention relates to a seam welding equipment, a seam welding method, a robot control device and a robot control method suitable for seam welding, especially for body seam seam welding. Background technique [0002] A seam welding method using a rotating electrode is known. That is, the pair of rotating electrodes pinches the two steel plates in the state of overlapping. Power is supplied to the rotating electrode on one side and the rotating electrode on the other side acts as a ground electrode. A deposited metal (nugget) is formed between the two steel sheets. By relatively moving the rotating electrodes, the deposited metal is continuous in a linear form. [0003] Since seam welding is continuous welding, it is suitable for containers that require airtightness. However, when the workpiece is three-dimensional, the rotating electrode is likely to detach from the workpiece. Disengagement countermeasures are required. A seam welding apparatu...

Claims

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Application Information

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IPC IPC(8): B23K11/06B23K11/24B25J13/08
CPCG05B2219/40613G05B2219/37423G05B2219/45104B23K11/06B23K11/36B23K11/24B25J9/1697B23K11/067B23K11/252B23K11/3036B23K11/314B23K11/253B23K2101/18B23K2103/04B23K2101/006Y10S901/42B23K2101/04
Inventor 河合泰宏山足和彦小林晴彦金子贡栗本典子中仓雅美园田哲平
Owner YASKAWA DENKI KK
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