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WO1996026038A1 - Dispositif de positionnement et de fixation electromagnetique pour soudeuse - Google Patents

Dispositif de positionnement et de fixation electromagnetique pour soudeuse Download PDF

Info

Publication number
WO1996026038A1
WO1996026038A1 PCT/US1996/002004 US9602004W WO9626038A1 WO 1996026038 A1 WO1996026038 A1 WO 1996026038A1 US 9602004 W US9602004 W US 9602004W WO 9626038 A1 WO9626038 A1 WO 9626038A1
Authority
WO
WIPO (PCT)
Prior art keywords
workpiece
welder
electrodes
clamping device
improvement
Prior art date
Application number
PCT/US1996/002004
Other languages
English (en)
Inventor
Emanuel Liebzon
Abraham Liran
Keith O. Stuart
Original Assignee
Aura Systems, Inc.
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 Aura Systems, Inc. filed Critical Aura Systems, Inc.
Priority to EP96906439A priority Critical patent/EP0812248A4/fr
Priority to AU49817/96A priority patent/AU4981796A/en
Priority to JP8525736A priority patent/JPH11500068A/ja
Publication of WO1996026038A1 publication Critical patent/WO1996026038A1/fr
Priority to MXPA/A/1997/006392A priority patent/MXPA97006392A/xx

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
    • B23K11/28—Portable welding equipment
    • 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
    • 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
    • B23K11/311—Electrode holders and actuating devices therefor the actuating device comprising an electric motor
    • 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
    • B23K11/314—Spot welding guns, e.g. mounted on robots

Definitions

  • the present invention relates generally to a combination 10 device for positioning and clamping electrodes into a predetermined location on a workpiece for a weldhead, and more particularly to a device using a ball screw motor and an electromagnetic clamping device for positioning and clamping electrodes into a predetermined position on a workpiece for a i s weldhead.
  • Robotized welding stations are widely used, for example 0 in automotive production lines.
  • the welding stations typically use a commercially available welding gun mounted to an arm of a robot.
  • the typical welding gun 10 has an 5 upper hand 12 and a lower hand 14 that are moveable around a pivot 16.
  • Upper and lower electrode holder arms 18,20 are mounted in the upper and lower hands, respectively.
  • An upper and a lower electrode 22, 24 are mounted on the upper and lower electrode holder arms, respectively, in a manner that 0 allows them to clamp a workpiece 26.
  • the upper hand 12 is pivoted or moved into position to hold the workpiece, and then the upper and lower electrode holder arms apply a clamping force to allow the welding to occur.
  • the pivoting and application of the clamping force is typically completed by a pneumatic cylinder 28. More specifically, a ram 30 of a pneumatic cylinder is connected to the upper hand 12 to pivot the upper hand with respect to the ?
  • a pneumatic locking device not shown in Figure 1 , is then used to engage the ram and lock the electrodes in position.
  • the locking device optimally prevents any movement of the electrodes during the welding process. Expansion of the t o weld nugget on the workpiece during the welding process may cause movement of the electrodes and result in a defective weld. It is therefore very important that the electrodes do not move during the welding process. It is desirable, therefore, to provide a clamping force on the workpiece when the welding i s occurs.
  • pneumatic devices are used to provide the clamping force, slow pressure build-up may occur as a result of the length of the air lines, the distance of the pressure reservoir and restrictions in the air lines.
  • a brake rod having a plurality of friction wedges extends into an axial bore in an interior end of the ram.
  • the brake rod has a frustro-conical shaped end portion extending axially from the friction wedges.
  • a piston is operable to move 5 the end portion inwardly between the friction wedges to displace the wedges outwardly against an inner surface of the bore of the ram.
  • the piston is displaced to engage the brake by the introduction of pressurized air from a first port, and the locking device is released by the introduction of pressurized air from a second port.
  • a problem with pneumatic locking devices is that the pneumatic device requires special piping and compressors to operate. Moreover, it is difficult to obtain the 5 necessary amount of consistent clamping force on the workpiece using pneumatics. Therefore, a need exists for an electrode positioning and clamping device that accurately and quickly positions the electrodes and applies a large amount of force on the workpiece during the welding process.
  • the present invention ove rcomes the problems encountered with pneumatic positioning and locking devices by utilizing a positioning actuator to move the electrodes into the predete rm ined position on the workpiece and an electromagnetic device to clamp the electrodes onto the workpiece.
  • a significant object of the present invention is to provide a device that accurately and quickly positions the electrodes into a predetermined position on a workpiece and applies a substantial amount of force onto the workpiece to prevent movement of the workpiece during the welding process.
  • the electromagnetic clamping device includes an electromagnet mounted to.the positioning actuator and a ring of magnetic material mounted to the welder frame wherein the electromagnet and the ring are in a normally spaced 5 relationship when the electromagnet is deenergized and such that the ring is adjacent the electromagnet when the electrodes are in clamping engagement with the workpiece.
  • a feature of the present invention is that the 10 electromagnetic clamping device provides a high clamping force on the workpiece during the welding process that can be easily changed and controlled.
  • Another feature of the present invention is positioning i actuator of the device provides accurate positioning of the electrodes on the workpiece.
  • the positioning actuator provides high speed motion to quickly o position the electrodes on the workpiece.
  • FIG. 1 is a side view of a conventional welder with which the present invention is used;
  • Figure 2 is a cross sectional view of the positioning and electromagnetic clamping device of the present invention
  • Figure 3 is a block diagram showing the control circuit of the positioning and electromagnetic clamping of the present invention .
  • the positioning and electromagnetic clamping device 40 is preferably mounted to the upper hand 12 of the welder 10.
  • the device 40 is a combination device utilizing both a positioning actuator 42 and a clamping device 44.
  • the positioning actuator 42 preferably comprises a motor 46 and an acme or ball screw 48
  • the electromagnetic clamping device 44 preferably 0 comprises an electromagnet 50 and a magnetic ring 52.
  • the motor 46 preferably comprises a DC motor that is coupled to the ball screw 48.
  • the ball screw 48 is coupled to the welder hand that positions the electrodes in a predetermined position on the workpiece. For example, in the welder shown in Figure 1. the ball screw 48 could be coupled to the lower hand 14.
  • the DC motor 46 therefore turns the ball screw 48 which, in turn, extends or retracts the welder hand.
  • the pitch of the ball screw and the RPM of the motor are selected to meet the speed requirements for positioning the electrodes on the work piece.
  • other types of actuators may be used for positioning the electrodes in connection with the electromagnetic clamping device.
  • electromagnetic actuators, hydraulic actuators or pneumatic actuators may be used as posi tioning actuators in connection with the 5 electromagnetic clamping device.
  • the electromagnetic clamping device 44 includes the electromagnet 50 and the magnetic ring 52.
  • the electromagnet 50 is preferably mounted to a housing 54 of the positioning actuator 42.
  • the electromagnet 50 is also preferably directly or indirectly coupled to the welding hand that positions the electrodes.
  • the electromagnet 50 is preferably mounted in a coaxial relationship with the positioning actuator 42.
  • the magnetic ring 52 is preferably coupled to the frame 56 of the weldhead.
  • the magnetic ring 52 has a substantially planar first surface 58 that extends perpendicular to the axis of movement of the positioning actuator.
  • the electromagnet 50 further comprises a core 60 and a coil 62.
  • the core 60 has a substantially planar first face 64 extending perpendicular to the axis of movement of the positioning actuator.
  • the coil 62 is disposed in an annular channel 65 in the first face 64 of the core 60.
  • the core first face 64 is in a facing relationship to the magnetic ring first surface 58.
  • the positioning of the electromagnet 50 and the magnetic ring 52 is determined so that the face 64 and surface 58 are adjacent each other with a predetermined gap 66 remaining therebetween when the positioning actuator is in its original retracted position.
  • the predetermined gap 66 is preferably a one to two and one-half millimeter gap.
  • the magnetic ring 52 and electromagnet 50 are provided to hold the positioning actuator in its fully extended position with the requisite force acting on the electrodes to hold them against the workpiece during the welding process.
  • the electromagnet 50 is turned on by applying a current to the coil 62 upon the positioning actuator bringing the electrodes to their predetermined position on the electrodes and turned off when the welding process is completed so that the positioning actuator can return the electrodes to their retracted position to 5 initiate the next welding cycle.
  • the magnetic force acting on the magnetic ring 52 when the electromagnet 50 is turned on is determined by the size of the electromagnet 50, the gap 66 between its face 64 and the surface of the magnetic ring 58, the area of the surface 58, the volume of the magnetic ring 58
  • the electromagnet 50 and the magnetic ring 58 are coaxially disposed about the positioning actuator 42 so that the force exerted on the electrodes will be uniformly distributed.
  • i s the current in the coil of the electromagnet may be predetermined so that the clamping force of the electrodes against the workpiece may be predetermined and varied depending on the material used.
  • a controller 70 of the control system 68 is coupled to the positioning actuator's DC motor 46 through a driver 72, and to the electromagnetic clamping device 44 through a 5 current amplifier 74.
  • the control system 68 further includes a load cell 76 for providing force feedback to the controller 70.
  • the load cell 76 is mounted either external or internal to the positioning actuator 42.
  • the controller 70 receives the force feedback from the load cell 76 and dynamically adjusts the level of current in the electromagnet coil 62 in order to maintain the proper pressure at the electromagnetic clamping device 44.
  • the positioning actuator 42 is energized and actuates the welder arm of the welder moving the electrodes into their predetermined position on the workpiece.
  • the positioning actuator motor applies a 5 force of approximately 300 pounds on the workpiece.
  • the electromagnetic clamping device 44 is then energized, applying force across the gap 66 between the electromagnet core first face 64 and magnetic ring first surface 58. Because of the previously described mounting arrangement of the clamping t o device 44, this force is transferred to the electrodes. In the preferred embodiment, the electromagnetic clamping device 44 is capable of providing 1.500 pounds of force, as is required in some spot welding applications.
  • the clamping device 44 is deenergized and the i s positioning actuator 42 retracts the welder hand and electrodes from the workpiece.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Resistance Welding (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)

Abstract

L'invention décrit un dispositif amélioré de soudage par résistance électrique comportant une soudeuse pourvue d'un cadre et d'une main pour déplacer des électrodes afin de les mettre en et hors de contact avec une pièce pour fixation. L'amélioration comprend un actionneur (42) de positionnement d'électrodes destiné à déplacer la main de la soudeuse afin de déplacer les électrodes pour les mettre en et hors de contact avec une pièce pour fixation ainsi qu'un dispositif de fixation électromagnétique (44) destiné à fixer les électrodes sur la pièce pendant la formation de la soudure. Le dispositif de fixation électromagnétique (44) comporte un électro-aimant (50) monté sur l'actionneur (42) de positionnement et un anneau (52) de matériau magnétique monté sur le cadre (56) de la soudeuse, l'électro-aimant (50) et l'anneau (52) étant en relation d'écartement perpendiculaire lorsque l'électro-aimant (50) est désexcité et l'anneau (52) étant adjacent à l'électro-aimant (50) lorsque les électrodes sont en contact avec la pièce pour fixation.
PCT/US1996/002004 1995-02-21 1996-02-15 Dispositif de positionnement et de fixation electromagnetique pour soudeuse WO1996026038A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP96906439A EP0812248A4 (fr) 1995-02-21 1996-02-15 Dispositif de positionnement et de fixation electromagnetique pour soudeuse
AU49817/96A AU4981796A (en) 1995-02-21 1996-02-15 Positioning and electromagnetic clamping device for welder
JP8525736A JPH11500068A (ja) 1995-02-21 1996-02-15 溶接機の位置決め及び電磁クランプ装置
MXPA/A/1997/006392A MXPA97006392A (en) 1995-02-21 1997-08-21 Electromagnetic placement and fixing device for a solda

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US39168095A 1995-02-21 1995-02-21
US08/391,680 1995-02-21

Publications (1)

Publication Number Publication Date
WO1996026038A1 true WO1996026038A1 (fr) 1996-08-29

Family

ID=23547538

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US1996/002004 WO1996026038A1 (fr) 1995-02-21 1996-02-15 Dispositif de positionnement et de fixation electromagnetique pour soudeuse

Country Status (6)

Country Link
EP (1) EP0812248A4 (fr)
JP (1) JPH11500068A (fr)
KR (1) KR19980702351A (fr)
AU (1) AU4981796A (fr)
CA (1) CA2213271A1 (fr)
WO (1) WO1996026038A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1078708A1 (fr) * 1999-07-02 2001-02-28 Obara Corporation Appareil de soudage électrique du type X
CN102873655A (zh) * 2012-10-26 2013-01-16 昆山集智成模具有限公司 一种冲压件夹具
US8490955B2 (en) 2008-09-19 2013-07-23 The Boeing Company Electromagnetic clamping device
WO2014095334A1 (fr) * 2012-12-18 2014-06-26 Nimak Gmbh Procédé et dispositif de soudage électrique par résistance équipé d'un électroaimant servant à générer et à régler la force de soudage
US8864120B2 (en) 2009-07-24 2014-10-21 The Boeing Company Electromagnetic clamping system for manufacturing large structures

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2844708A (en) * 1957-03-27 1958-07-22 Sidney M Harvey Welding electrode actuator
US2862100A (en) * 1957-10-14 1958-11-25 Prec Welder & Machine Company Magnetic force resistance welders of the inertia type provided with fixed air gap
US2863985A (en) * 1957-09-30 1958-12-09 Prec Welder & Machine Company Magnetic force welders
US2984804A (en) * 1956-11-13 1961-05-16 Gen Motors Corp Control device
US3770933A (en) * 1972-04-24 1973-11-06 Nasa Apparatus for welding blades to rotors
WO1990014920A1 (fr) * 1989-05-30 1990-12-13 Ferdinand Schwob Dispositif de commande d'une electrode de soudage ou d'une pince de soudage dans des appareils de soudage par resistance
US5138127A (en) * 1991-07-31 1992-08-11 Hughes Aircraft Company Pressure welding with closed loop force control
US5225647A (en) * 1991-11-04 1993-07-06 Unitek Equipment Inc. Motorized weld head
JPH0631462A (ja) * 1992-07-17 1994-02-08 Nissan Motor Co Ltd スポット溶接用ロボットの位置決め制御装置
US5386092A (en) * 1991-11-04 1995-01-31 Unitek Equipment Inc. Fast response weld head

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2925238C2 (de) * 1979-06-22 1981-09-17 Festo-Maschinenfabrik Gottlieb Stoll, 7300 Esslingen Um eine Achse mit horizontaler Komponente verschwenkbarer Greifer
JPS63199086A (ja) * 1987-02-12 1988-08-17 アエ−ルオ−　エス．ア−． 数値制御による抵抗溶接機およびこの抵抗溶接機の運転方法
FR2674780B1 (fr) * 1991-04-08 1995-06-23 Aro Installation de commande d'un outillage comportant une pince commandee par un systeme de positionnement automatique.
JP3114440B2 (ja) * 1993-07-22 2000-12-04 日産自動車株式会社 スポット溶接装置

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2984804A (en) * 1956-11-13 1961-05-16 Gen Motors Corp Control device
US2844708A (en) * 1957-03-27 1958-07-22 Sidney M Harvey Welding electrode actuator
US2863985A (en) * 1957-09-30 1958-12-09 Prec Welder & Machine Company Magnetic force welders
US2862100A (en) * 1957-10-14 1958-11-25 Prec Welder & Machine Company Magnetic force resistance welders of the inertia type provided with fixed air gap
US3770933A (en) * 1972-04-24 1973-11-06 Nasa Apparatus for welding blades to rotors
WO1990014920A1 (fr) * 1989-05-30 1990-12-13 Ferdinand Schwob Dispositif de commande d'une electrode de soudage ou d'une pince de soudage dans des appareils de soudage par resistance
US5138127A (en) * 1991-07-31 1992-08-11 Hughes Aircraft Company Pressure welding with closed loop force control
US5225647A (en) * 1991-11-04 1993-07-06 Unitek Equipment Inc. Motorized weld head
US5386092A (en) * 1991-11-04 1995-01-31 Unitek Equipment Inc. Fast response weld head
JPH0631462A (ja) * 1992-07-17 1994-02-08 Nissan Motor Co Ltd スポット溶接用ロボットの位置決め制御装置

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1078708A1 (fr) * 1999-07-02 2001-02-28 Obara Corporation Appareil de soudage électrique du type X
US8490955B2 (en) 2008-09-19 2013-07-23 The Boeing Company Electromagnetic clamping device
US8832940B2 (en) 2008-09-19 2014-09-16 The Boeing Company Electromagnetic clamping device
US9021704B2 (en) 2008-09-19 2015-05-05 The Boeing Company Electromagnetic clamping method
US8864120B2 (en) 2009-07-24 2014-10-21 The Boeing Company Electromagnetic clamping system for manufacturing large structures
CN102873655A (zh) * 2012-10-26 2013-01-16 昆山集智成模具有限公司 一种冲压件夹具
WO2014095334A1 (fr) * 2012-12-18 2014-06-26 Nimak Gmbh Procédé et dispositif de soudage électrique par résistance équipé d'un électroaimant servant à générer et à régler la force de soudage
DE102012112547B4 (de) * 2012-12-18 2021-02-18 Nimak Gmbh "Verfahren und Schweißeinrichtung zum elektrischen Widerstandsschweißen"

Also Published As

Publication number Publication date
AU4981796A (en) 1996-09-11
EP0812248A1 (fr) 1997-12-17
CA2213271A1 (fr) 1996-08-29
KR19980702351A (ko) 1998-07-15
JPH11500068A (ja) 1999-01-06
MX9706392A (es) 1997-11-29
EP0812248A4 (fr) 2002-03-20

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