JPH02263576A - Automatic welding method - Google Patents
Automatic welding methodInfo
- Publication number
- JPH02263576A JPH02263576A JP8633889A JP8633889A JPH02263576A JP H02263576 A JPH02263576 A JP H02263576A JP 8633889 A JP8633889 A JP 8633889A JP 8633889 A JP8633889 A JP 8633889A JP H02263576 A JPH02263576 A JP H02263576A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- robots
- work
- workpiece
- plural
- 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.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 93
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000010586 diagram Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000005493 welding type Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は複数の多関節ロボットを用いた自動溶接方法に
関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an automatic welding method using a plurality of articulated robots.
（従来技術）
自動車の車体のように複数の溶接箇所を有するワークに
対して自動溶接を行うには、複数台の多関節ロボットを
コンヘアに沿って配置した上、これらに予めティチング
した通りの三次元的な動きをさせてワーク上の指定され
た溶接箇所にそれぞれ溶接を行なわせるようにしている
。(Prior art) To perform automatic welding on a workpiece that has multiple welding points, such as an automobile body, multiple articulated robots are arranged along a con-hair line, and a tertiary The original movement is made to perform welding at each designated welding location on the workpiece.
これを第２図によりざらに具体的に説明すると、これま
での自動溶接では、例えば溶接箇所が７箇所あるワーク
Ｗに対しては、４菌所の溶接部署工〜・■に配設した７
台の溶接ロボット１′〜７゛により溶接しく第２図（ａ
））溶接箇所が１０箇所あるワークＷに対しでは、４箇
所の溶接部署工〜■に配設した１０台の溶接ロボット１
゛〜１０’により溶接するようにしている。このため、
溶接箇所の多いワークＷに対しでは、多数の溶接ロボッ
トが必要になって設備費が嵩むばかりでなく、溶接箇所
によっては直接溶接できない場合も生じるため、人手に
よる溶接作業が必要になったり、あるいはワークを支持
する治具を回転させるようｆこしなければならないなど
の問題を抱えている。To explain this in detail with reference to Fig. 2, in conventional automatic welding, for example, for a workpiece W with 7 welding points, 7
Figure 2 (a)
)) For workpiece W with 10 welding locations, 10 welding robots 1 are installed at 4 welding department workers ~ ■.
Welding is performed by 10' to 10'. For this reason,
For a workpiece W with many welding points, not only will a large number of welding robots be required, which increases equipment costs, but also some welding points cannot be directly welded, so manual welding work is required, or There are problems such as having to rotate the jig that supports the workpiece.
（発明が解決しようとする課題）
本発明はこのような問題に鑑みてなされたもので、その
目的とするところは、溶接箇所の如何にかかわりなく、
より少ない数の溶接ロボットをもってワークを自動的に
溶接することのできる新たな溶接方法を提供することに
ある。(Problems to be Solved by the Invention) The present invention has been made in view of these problems, and its purpose is to
The purpose of the present invention is to provide a new welding method that can automatically weld workpieces using fewer welding robots.
（課題を解決するための手段）
すなわち、本発明はかかる課題を達成するための自動溶
接方法として、移動可能に配設した複数の多関節溶接ロ
ボットのうち、少なくとも１つの溶接ロボットを、単独
にもしくは他の溶接ロボットとともに複数の溶接工程の
各指定されたワーク上の溶接部位へ工程毎に順次移動さ
せてワーク上の溶接箇所を溶接するようにしたものであ
る。(Means for Solving the Problems) That is, the present invention provides an automatic welding method for achieving the above problems, in which at least one welding robot among a plurality of movably arranged articulated welding robots is independently operated. Alternatively, the welding robot may sequentially move together with other welding robots to a designated welding site on a workpiece in each of a plurality of welding processes, and weld the welding site on the workpiece.
（実施例） そこで以下に図示した実施例について説明する。(Example) Therefore, the illustrated embodiment will be explained below.
第１図は本発明方法に使用される装置の一例を示したも
ので、図中符号１１は２つの溶接ゾーンＡ、Ｂを跨ぐよ
うにして支柱］２．１２上に固定されたガイドレールで
あって、このガイドレール１１上には、溶接工程あるい
は溶接態様に応じて決められる数台の多関節溶接ロボッ
ト、この実施例においては４台の溶接ロボット１．２．
３．４が走行自在に取付けられてい°Ｃ１各溶接ゾーン
Ａ、Ｂに投入されたワークＷに対し、予めティーチング
された通りの走行を行なわせて、決められた各位置にお
いでワークＷの溶接箇所に溶接を行なわせるように構成
されている。Fig. 1 shows an example of the apparatus used in the method of the present invention, and the reference numeral 11 in the figure is a guide rail fixed on the support column 2.12 so as to straddle the two welding zones A and B. On this guide rail 11 are several articulated welding robots determined according to the welding process or welding mode, in this embodiment four welding robots 1.2.
3.4 is installed so that it can move freely °C1 Workpieces W placed in each welding zone A and B are moved as taught in advance, and the workpieces W are welded at each predetermined position. It is configured to allow welding to be performed at the location.
第２図はこの溶接製雪を用いた溶接作業を従来の溶接作
業との対比において示したもので、はじめにＡパターン
として３台の溶接ロボット１．２．３を用いた溶接作業
を第２図（ａ）によって説明する。Figure 2 shows welding work using this welding snowmaking in comparison with conventional welding work. First, as pattern A, welding work using three welding robots 1.2.3 is shown in Figure 2. This will be explained using (a).
溶接ゾーンＡに投入されたワークＷが溶接ステーション
に送られてくると、実線で示した定位置で待機していた
第１０ボツト１及び第２０ボツト２は、それぞれ予めテ
ィーチングされた通りにワークＷ上の指定された溶接箇
所を溶接するのに適した位でへとガイドレール１１上を
走行し、ここで第１の溶接工程Ｉで指定された動作に従
った溶接作業を行い、ついで第２の溶接工程■でも、第
１、第２のロボット１．２にさきと同様の移動動作を行
なわせて、ワークＷ上の指定された溶接箇所に溶接作業
を行う、そして、つぎの第３の溶接工程■と第４の溶接
工程■においては、第２のロボット２と第３のロボット
３＠それぞれの工程毎にワークＷ上の指定された溶接箇
所を溶接するのに相応しい位置へと移動させた上、各工
程に従った溶接作業を行なわせる。When the work W introduced into the welding zone A is sent to the welding station, the 10th bot 1 and the 20th bot 2, which were waiting at the fixed positions indicated by the solid lines, respectively perform the work W as taught in advance. The robot travels on the guide rail 11 to a position suitable for welding the designated welding location above, and performs the welding work according to the operation specified in the first welding process I, and then the second welding process I. In the welding process ■, the first and second robots 1.2 perform the same movement as before to perform welding work on the designated welding location on the workpiece W, and then in the third welding process. In the welding process ■ and the fourth welding process ■, the second robot 2 and the third robot 3 @ move the designated welding location on the workpiece W to a position suitable for welding for each process. Then, have them perform welding work according to each process.
第２図（ｂ）はワークＷ上の１ｏ箇所の溶接箇所を４台
の溶接ロボット１．２．３．４を用いて４工程で行うＢ
パターンの溶接作業を示したもので、第１の工程Ｉでは
第１、第２のロボット１．２を移動させて指定した箇所
への溶接を、同様に第２の工程■では第１、第２、第３
のロボット１．２．３を、第３の工程■では第２、第３
のロボット２．３を、菓４の工程■では第２、第３、第
４のロボット２．３．４をそれぞれ予めティーチングさ
れた通りにワークＷの指定された溶接箇所へ移動させた
上、それらの各位置で各工程に従った溶接作業を行なわ
せるようにする。Figure 2 (b) shows B in which 10 welding points on the workpiece W are welded in 4 steps using 4 welding robots 1.2.3.4.
This shows the pattern welding work.In the first process I, the first and second robots 1.2 are moved to weld to the specified location, and in the second process 2. 3rd
In the third process ■, the robot 1.2.3 is
In step 4, the second, third, and fourth robots 2.3.4 are each moved to the designated welding location of the workpiece W as taught in advance, and Welding work according to each process is performed at each of these positions.
なお、上述した実施例は、溶接ロボ・ントを吊り掛は式
として構成したものであるが、基板面にレールを敷設し
て、その上に溶接ロボットを移動し得るように配設して
もよい。In the above embodiment, the welding robot is configured as a hanging type, but it is also possible to lay a rail on the board surface and arrange the welding robot on it so that it can be moved. good.
（効果）
以上述べたように本発明によれば、移動可能に配設した
複数の溶接ロボットのうちの少なくとも１つを複数の溶
接工程の各指定されたワーク上の溶接部位へ工程毎に順
次移動させて溶接するようにしたので、同じ溶接ロボッ
トを複数の溶接工程に開存させている数たけワークの溶
接箇所に対する溶接ロボットの数を少なへして、設備費
の軽減を図ることができる。しかも、指定された溶接箇
所を溶接するのに適した位置へ溶接ロボットを移動させ
ることにより、アームの動きをより単純な二次元的なも
のにすることができるほか、設置式の溶接ロボットでは
入り込むことができないような部位の溶接箇所をも溶接
可能となして、この種の溶接作業をより自動化すること
ができる。(Effects) As described above, according to the present invention, at least one of a plurality of movably arranged welding robots is sequentially moved to a welding site on a designated workpiece in a plurality of welding processes. Since welding is carried out while moving, the same welding robot can be used for multiple welding processes.It is possible to reduce the number of welding robots for welding parts of several workpieces and reduce equipment costs. . Moreover, by moving the welding robot to a position suitable for welding the specified welding location, the arm movement can be made simpler and two-dimensional, and it is possible to This type of welding work can be further automated by making it possible to weld parts that cannot be welded.
第１図は本発明方法に使用する装置の一例を示した図、
第２図（ａ）（ｂ）は従来方法との対比をもっで示した
本発明の溶接工程を説明した図である。
１．２．３．４・・・・溶接ロボット
１１・・・・ガイドレール
■、■、■、■・・・・溶接工程
Ｗ・・・・ワークFIG. 1 is a diagram showing an example of the apparatus used in the method of the present invention;
FIGS. 2(a) and 2(b) are diagrams illustrating the welding process of the present invention, showing a comparison with the conventional method. 1.2.3.4... Welding robot 11... Guide rail ■, ■, ■, ■... Welding process W... Work
Claims (1)
、少なくとも１つの溶接ロボットを、単独にもしくは他
の溶接ロボットとともに複数の溶接工程の各指定された
ワーク上の溶接部位へ工程毎に順次移動させてワーク上
の溶接箇所を溶接するようにすることを特徴とする自動
溶接方法。At least one welding robot out of multiple movably arranged articulated welding robots is moved individually or together with other welding robots to the welding site on each designated workpiece in multiple welding processes in sequence for each process. An automatic welding method characterized in that the welding point on the workpiece is welded.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1086338A JP2549355B2 (en) | 1989-04-04 | 1989-04-04 | Automatic welding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1086338A JP2549355B2 (en) | 1989-04-04 | 1989-04-04 | Automatic welding method |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6331696A Division JP2650094B2 (en) | 1994-12-09 | 1994-12-09 | Automatic welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02263576A true JPH02263576A (en) | 1990-10-26 |
| JP2549355B2 JP2549355B2 (en) | 1996-10-30 |
Family
ID=13884064
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1086338A Expired - Fee Related JP2549355B2 (en) | 1989-04-04 | 1989-04-04 | Automatic welding method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2549355B2 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5768271A (en) * | 1980-10-15 | 1982-04-26 | Mazda Motor Corp | Carriage circulation type welding system |
| JPS61167272U (en) * | 1985-04-04 | 1986-10-17 |
-
1989
- 1989-04-04 JP JP1086338A patent/JP2549355B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5768271A (en) * | 1980-10-15 | 1982-04-26 | Mazda Motor Corp | Carriage circulation type welding system |
| JPS61167272U (en) * | 1985-04-04 | 1986-10-17 |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2549355B2 (en) | 1996-10-30 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |