JP5184956B2 - Electrode tip removal device, electrode tip exchange device, electrode tip removal system, and electrode tip exchange system - Google Patents

Electrode tip removal device, electrode tip exchange device, electrode tip removal system, and electrode tip exchange system Download PDF

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JP5184956B2
JP5184956B2 JP2008115142A JP2008115142A JP5184956B2 JP 5184956 B2 JP5184956 B2 JP 5184956B2 JP 2008115142 A JP2008115142 A JP 2008115142A JP 2008115142 A JP2008115142 A JP 2008115142A JP 5184956 B2 JP5184956 B2 JP 5184956B2
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electrode
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JP2009262201A (en
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清二 石川
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本発明は、スポット溶接用のシャンクに装着された電極チップを取外し、又は電極チップを取外すとともに新たな電極チップを装着する電極チップの取外し装置及び電極チップの交換装置、並びに電極チップの取外しシステム及び電極チップの交換システムに関するものである。   The present invention relates to an electrode tip detachment device, an electrode tip replacement device, an electrode tip detachment system, and an electrode tip detachment device for removing an electrode tip attached to a spot welding shank or removing an electrode tip and attaching a new electrode tip. The present invention relates to an electrode tip exchange system.

従来、スポット溶接用のシャンクの先端にテーパ嵌合による圧入状態で装着された電極チップは、溶接回数の増加に伴いその先端が変形や磨耗するため適宜の時期に先端を研削して継続的に使用されるが、やがて使用限界に達した場合には新たな電極チップに交換しなければならない。この電極チップの交換に際して、前記シャンクから使用限界の電極チップを取外す手段としては、例えば、先端部に形成された二股状の先端爪部がシャンクと電極チップとの隙間に進退可能な取外し具（てこ式レバー）が傾動するように２対のカム穴が設けられ、前記取外し具には２対のカム穴に係合する２対のカム係合突起が設けられたチップ取外し装置により、前記取外し具を前進させてシャンクと電極チップとの隙間に先端爪部を進入させるとともに、カム穴の作用により前記取外し具を傾動させて、先端爪部の梃子運動によりシャンクから電極チップを取外していた（特許文献１参照）。   Conventionally, electrode tips mounted in a press-fit state by taper fitting at the tip of a spot welding shank are deformed and worn as the number of welding increases, so the tip is ground continuously at an appropriate time. It is used, but when it reaches the limit of use, it must be replaced with a new electrode tip. When replacing the electrode tip, as a means for removing the electrode tip at the limit of use from the shank, for example, a removal tool that allows the bifurcated tip claw portion formed at the tip portion to advance and retreat into the gap between the shank and the electrode tip ( The pair of cam holes are provided so that the lever lever is tilted, and the detaching device is provided with a tip detaching device provided with two pairs of cam engaging projections engaging with the two pairs of cam holes. The tool was advanced to allow the tip claw to enter the gap between the shank and the electrode tip, and the removal tool was tilted by the action of the cam hole, and the electrode tip was removed from the shank by lever movement of the tip claw ( Patent Document 1).

しかしながら、この装置においては、先端爪部の梃子運動によりシャンクから電極チップを取外すために、シャンクに曲げモーメントが付与され、この梃子運動の繰り返しによりシャンクが変形されるため該シャンクの交換が必要である問題があった。また、取外し具は傾動させずに、シャンクを傾動又は揺動させて先端爪部の梃子運動によりシャンクから電極チップを取外すこともできるが、シャンクに曲げモーメントが付与されるばかりでなく、溶接ロボットのガンの運動量が大きくなり溶接場所が狭い場合にはチップ取外し装置が設置できないという問題があった。   However, in this apparatus, in order to remove the electrode tip from the shank by the lever movement of the tip claw, a bending moment is applied to the shank, and the shank is deformed by the repetition of this lever movement, so the shank needs to be replaced. There was a problem. In addition, it is possible to remove the electrode tip from the shank by tilting or swinging the shank without tilting the removal tool, and to apply a bending moment to the shank. There was a problem that the tip removal device could not be installed when the momentum of the gun increased and the welding location was narrow.

そこで、上記二股状の取外し具の使用によるシャンクの変形を回避するものとして、例えば、取付け部（シャンク）に装着された電極チップを案内部（挿入空間）に位置させることにより歯形状の凹凸面を有するカム部材（挟持部材）に外接させ、シャンクの回転により電極チップとともに前記挟持部材を回転させて該電極チップと該挟持部材とを係止（回転停止）させ（挟持部材と挿入空間の内周面との間に電極チップを挟むようにして移動不能にロックさせ）、このロック状態からさらにシャンクを回転させるとともに、シャンクを引抜き方向へ上昇させて電極チップからシャンクを引き抜いた後、挟持部材を逆回転させて電極チップと挟持部材との係止状態を解除するようにした電極チップの交換方法及び装置に係る発明が提案されている（特許文献２参照）。
特開２００２−０７９３８２号公報 特開２００４−１１４１０９号公報 Therefore, as a means for avoiding the deformation of the shank due to the use of the above-mentioned bifurcated removal tool, for example, by positioning the electrode tip mounted on the mounting portion (shank) in the guide portion (insertion space), the tooth-shaped uneven surface The cam member (clamping member) having an outer diameter is externally contacted, and the clamping member is rotated together with the electrode tip by rotation of the shank to lock (stop rotation) the electrode tip and the clamping member (inside the clamping member and the insertion space). The electrode tip is sandwiched between the electrode and the peripheral surface so that it cannot move. The shank is further rotated from this locked state, and the shank is lifted in the pulling direction to pull out the shank from the electrode tip. An invention relating to a method and apparatus for replacing an electrode tip that is rotated to release the locked state between the electrode tip and the clamping member has been proposed. That (see Patent Document 2).
JP 2002-079382 A JP 2004-114109 A

しかしながら、上記特許文献２に開示された発明では、電極チップと挟持部材のロック状態からさらにシャンクを回転させるとともに、シャンクを引抜き方向へ上昇させて電極チップからシャンクを引き抜いた後、挟持部材を逆回転させて電極チップと挟持部材との係止状態を解除しても、電極チップは、挟持部材の凹凸面に食込んだまま離間されないという問題があった。すなわち、電極チップが停止された状態においてシャンクを回転させることにより、圧入状態にあるシャンクと電極チップとのテーパ嵌合を緩める際には、上記電極チップと挟持部材の凹凸面との間に大きな面圧が付与されるとともに、電極チップの素材が挟持部材よりも軟質な銅又は銅合金であるため、電極チップは挟持部材の歯形状の凹凸面に食込んだまま離間されない。   However, in the invention disclosed in Patent Document 2, the shank is further rotated from the locked state of the electrode tip and the holding member, and the shank is lifted in the pulling direction to pull out the shank from the electrode tip, and then the holding member is reversed. Even if the electrode chip and the holding member are released from the locked state by being rotated, there is a problem that the electrode chip is not separated from the uneven surface of the holding member. That is, when loosening the taper fitting between the press-fitted shank and the electrode tip by rotating the shank while the electrode tip is stopped, a large gap is formed between the electrode tip and the uneven surface of the clamping member. Since the surface pressure is applied and the electrode tip material is copper or copper alloy that is softer than the sandwiching member, the electrode tip is not spaced apart from the tooth-shaped uneven surface of the sandwiching member.

また、例えば、上記特許文献１に開示された取外し具の二股状の先端爪部に傾斜面を形成し、この傾斜面により電極チップをシャンクの先端側に付勢して、電極チップと挟持部材のロック状態からシャンクを回転させるようにしても、電極チップを軸直角方向から付勢して挟持部材の凹凸面から離間させる力は作用しないことから、電極チップは挟持部材の凹凸面に食込んだ状態が維持され、電極チップを該電極チップの自重により前記挿入空間から落下させて排出することはできない。   In addition, for example, an inclined surface is formed on the bifurcated tip claw portion of the removal tool disclosed in Patent Document 1, and the electrode tip and the clamping member are urged by the inclined surface toward the tip side of the shank. Even when the shank is rotated from the locked state, the force that separates the electrode tip from the concave / convex surface of the holding member by urging the electrode tip from the direction perpendicular to the axis does not act, so the electrode tip bites into the concave / convex surface of the holding member. This state is maintained, and the electrode tip cannot be dropped and discharged from the insertion space by its own weight.

そこで、本発明は、上述した従来の発明が有する課題を解決するために提案されたものであって、挟持部材に食込んだ電極チップを自重により挿入空間から容易に排出することができる新規な電極チップの取外し装置及び電極チップの交換装置、並びに電極チップの取外しシステム及び電極チップの交換システムを提供することを目的とするものである。   Therefore, the present invention has been proposed in order to solve the above-described problems of the conventional invention, and is a novel device that can easily discharge an electrode chip bitten into a holding member from an insertion space by its own weight. An object of the present invention is to provide an electrode tip detaching device, an electrode tip exchanging device, an electrode tip detaching system, and an electrode tip exchanging system.

本発明は、上記の課題を解決するために提案されたものであって、第１の発明（請求項１記載の発明）は、電極チップの取外し装置であって、先端側中途部に形成された段差部を介して細径とされたスポット溶接用のシャンクの先端に装着された電極チップが挿入される挿入空間と、上記挿入空間に挿入された電極チップの背面と上記段差部との間に圧入され、該電極チップを上記シャンクの先端側に付勢する圧入部材と、この圧入部材を上記挿入空間方向及びその逆方向に進退移動させる第１の駆動装置と、上記挿入空間内に挿入された電極チップを挟持するとともに該電極チップの軸心を回転軸として回転可能となされた一方及び他方の挟持部材と、上記一方及び他方の挟持部材の少なくとも何れかの挟持面を上記挿入空間に挿入された電極チップに当接する方向及び離間する方向に駆動するとともに、該一方及び他方の挟持部材を回転させる第２の駆動装置と、上記一方及び他方の挟持部材が上記第２の駆動装置の駆動により上記挿入空間に挿入された電極チップから離間する際に、該電極チップの外周面と一方又は他方の挟持部材の挟持面とが離間するよう該電極チップを付勢するチップ離間手段と、を備えてなることを特徴とするものである。   The present invention has been proposed in order to solve the above-described problems, and the first invention (the invention according to claim 1) is an electrode chip detaching device, which is formed in the middle part on the front end side. An insertion space into which the electrode tip attached to the tip of the shank for spot welding having a small diameter through the stepped portion is inserted, and a gap between the back surface of the electrode tip inserted into the insertion space and the stepped portion. A press-fitting member that is press-fitted into the shank and urges the electrode tip toward the tip of the shank; a first drive device that moves the press-fitting member forward and backward in the direction of the insertion space and vice versa; and insertion into the insertion space One and the other clamping members that are sandwiched between the electrode tips and rotatable about the axis of the electrode tip as a rotation axis, and at least one clamping surface of the one and the other clamping members are inserted into the insertion space. Inserted A second driving device that drives in a direction to contact and separate from the pole tip and rotates the one and the other clamping members; and the one and the other clamping members are driven by the second driving device to Chip separation means for urging the electrode chip so that the outer circumferential surface of the electrode chip and the clamping surface of one or the other clamping member are spaced apart from the electrode chip inserted into the insertion space. It is characterized by.

この第１の発明では、スポット溶接用のシャンクの先端に装着され上記挿入空間に挿入された電極チップを上記圧入部材により上記シャンクの先端側に付勢し、このシャンクの先端側に付勢された電極チップを上記一方及び他方の挟持部材により挟持するとともに、該電極チップの軸心を回転軸として回転させることにより該電極チップと上記シャンクとの嵌合を緩め、この嵌合が緩められた電極チップから上記シャンクを抜き出すとともに、上記一方及び他方の挟持部材による電極チップの挟持を解放し、この挟持が開放された電極チップの外周面と一方又は他方の挟持部材の挟持面とが離間するよう上記チップ離間手段により電極チップを付勢して、該電極チップを上記挿入空間から排出することができる。   In the first aspect of the invention, the electrode tip mounted on the tip of the shank for spot welding and inserted into the insertion space is urged toward the tip of the shank by the press-fitting member, and is urged toward the tip of the shank. The electrode tip is clamped by the one and the other clamping members, and the fitting between the electrode tip and the shank is loosened by rotating the axis of the electrode tip around the axis of rotation, and the fitting is loosened. The shank is extracted from the electrode tip, and the holding of the electrode tip by the one and the other holding members is released, and the outer peripheral surface of the electrode tip that has been released is separated from the holding surface of the one or the other holding member. Thus, the electrode tip can be urged by the tip separation means so that the electrode tip can be discharged from the insertion space.

そして、上記挿入空間に挿入された電極チップの背面と上記段差部との間に圧入され、上記電極チップを上記シャンクの先端側に付勢する圧入部材を備えてなることから、この圧入部材の付勢力により、一方及び他方の挟持部材により電極チップを挟持しながら回転させて該電極チップとシャンクとの嵌合を緩める際に容易に緩めることができる。すなわち、電極チップは上記シャンクとテーパ嵌合により圧入されているものであって、該電極チップを上記シャンクの先端側への移動ができない状態で回転させただけでは圧入状態は解除されず、強制的に回転させることはできても、回転を停止させると圧入状態は維持されたままである。これに対して、この第１の発明では、電極チップをシャンクの先端側に付勢しながら電極チップを回転させることができるから、該電極チップとシャンクとの嵌合を緩める際に容易に圧入状態を解除することができる。   Since the press-fitting member is press-fitted between the back surface of the electrode tip inserted into the insertion space and the stepped portion and urges the electrode tip toward the tip end side of the shank, The biasing force can be easily loosened when the electrode tip is rotated by being clamped by one and the other clamping members to loosen the fitting between the electrode tip and the shank. That is, the electrode tip is press-fitted with the shank by taper fitting, and the press-fitting state is not released only by rotating the electrode tip without being able to move the tip of the shank. Although it can be rotated automatically, the press-fitted state is maintained when the rotation is stopped. In contrast, in the first aspect of the invention, the electrode tip can be rotated while urging the electrode tip toward the tip end of the shank. Therefore, when the fitting between the electrode tip and the shank is loosened, it is easily press-fitted. The state can be released.

また、この第１の発明では、電極チップを一方及び他方の挟持部材により挟持しながら、該電極チップをシャンクに対して回転させて該電極チップとシャンクとの嵌合を緩めることができるものであって、挟持された電極チップに対してシャンクを該シャンクの軸線を中心にして回転させるものではないことから、電極チップの取外しの際に溶接ロボットのガンは静止の状態が維持され回転運動をする必要がないので、挟持された電極チップに対してシャンクを回転させるもののように、チップ取外し装置の周辺が狭い場合には設置できないという制限を受けることはない。   In the first aspect of the invention, the electrode tip can be rotated with respect to the shank while the electrode tip is held between the one and the other holding member, and the fitting between the electrode tip and the shank can be loosened. Therefore, since the shank is not rotated around the axis of the shank with respect to the sandwiched electrode tip, the gun of the welding robot is maintained stationary when the electrode tip is removed, and rotates. Therefore, there is no restriction that the chip removal device cannot be installed when the periphery of the chip removal device is narrow, as in the case where the shank is rotated with respect to the sandwiched electrode tip.

さらに、本発明では、チップ離間手段を構成要素としていることから、第２の駆動装置の駆動により、チップ挿入空間の中心方向とは逆方向に一方及び他方の挟持部材が移動する際、電極チップは、上記チップ離間手段により挟持部材の挟持面と離間する方向に付勢される。したがって、この第１の発明によれば、一方及び他方の挟持部材により電極チップが挟持された際、該挟持部材の挟持面に形成された凹凸により該電極チップの外周面が変形することにより、一方又は他方の挟持部材の何れかに電極チップが食込んだ場合であっても、上記チップ離間手段により電極チップの離間方向へ付勢され互いに離間させられることから、確実に電極チップを上記挿入空間から下方に落下させることができる。   Further, in the present invention, since the chip separating means is a constituent element, when one and the other clamping members move in the direction opposite to the center direction of the chip insertion space by driving the second driving device, the electrode chip Is biased in a direction away from the clamping surface of the clamping member by the tip separating means. Therefore, according to the first invention, when the electrode chip is clamped by the one and other clamping members, the outer peripheral surface of the electrode chip is deformed by the irregularities formed on the clamping surface of the clamping member, Even when the electrode tip bites into one of the other clamping members, the tip tip separating means urges the tip tip away from the electrode tip so that the electrode tip is securely inserted. It can be dropped downward from the space.

また、第２の発明（請求項２記載の発明）は、上記第１の発明において、前記挿入空間は、先端側中途部に形成された段差部を介して細径とされたスポット溶接用の一方のシャンクの先端に装着された一方の電極チップが挿入される一方側挿入口と、この一方側挿入口と連通し該一方側挿入口とは反対側に形成されてなるとともに、先端側中途部に形成された段差部を介して細径とされたスポット溶接用の他方のシャンクの先端に装着された他方の電極チップが挿入される他方側挿入口と、を備え、前記圧入部材は、前記挿入空間の一方側挿入口から挿入された前記一方の電極チップの背面と前記一方のシャンクの段差部との間に圧入され該一方の電極チップを該一方のシャンクの先端側に付勢する一方の圧入部材と、前記挿入空間の他方側挿入口から挿入された前記他方の電極チップの背面と前記他方のシャンクの段差部との間に圧入され該他方の電極チップを該他方のシャンクの先端側に付勢する他方の圧入部材と、を備えてなることを特徴とするものである。   Further, in a second invention (invention according to claim 2), in the first invention, the insertion space is for spot welding in which the insertion space has a small diameter through a step portion formed in a middle portion on the tip side. One side insertion port into which one electrode tip attached to the tip of one shank is inserted, and formed on the side opposite to the one side insertion port, communicated with the one side insertion port, The other side insertion port into which the other electrode tip attached to the tip of the other shank for spot welding, which has a small diameter via a stepped portion formed in the portion, is inserted, and the press-fitting member includes: It is press-fitted between the back surface of the one electrode tip inserted from the one side insertion port of the insertion space and the step portion of the one shank, and biases the one electrode tip toward the tip end side of the one shank. One press-fitting member and the other side of the insertion space The other press-fitting member that is press-fitted between the back surface of the other electrode tip inserted from the inlet and the step portion of the other shank and biases the other electrode tip toward the tip side of the other shank; It is characterized by comprising.

この第２の発明では、前記圧入部材は、前記挿入空間の一方側挿入口から挿入された前記一方の電極チップを前記一方のシャンクの先端側に付勢する一方の圧入部材と、前記挿入空間の他方側挿入口から挿入された前記他方の電極チップを前記他方のシャンクの先端側に付勢する他方の圧入部材とを備えて、挿入空間の一方側挿入口又は他方側挿入口から挿入された前記一方又は他方の電極チップの何れにも対応することができることから、対向する一方のシャンク及び他方のシャンクのどちら側に装着された電極チップであっても、前記挿入空間に挿入することができ、溶接ロボットによる電極チップの挿入動作が単純化され、作業時間の短縮化が図れるとともに、溶接ロボットの動作空間を小さくすることができる。   In the second invention, the press-fitting member includes one press-fitting member that urges the one electrode tip inserted from the one-side insertion port of the insertion space toward the distal end side of the one shank, and the insertion space. And the other press-fitting member that urges the other electrode chip inserted from the other insertion port to the tip end side of the other shank, and is inserted from the one insertion port or the other insertion port of the insertion space. In addition, since it can correspond to either the one or the other electrode chip, it is possible to insert the electrode chip mounted on either one of the opposing shank and the other shank into the insertion space. In addition, the electrode tip insertion operation by the welding robot is simplified, the working time can be shortened, and the operation space of the welding robot can be reduced.

また、第３の発明（請求項３記載の発明）は、上記第２の発明において、前記挿入空間は、前記一方側挿入口から挿入された前記一方の電極チップと、前記他方側挿入口から挿入された前記他方の電極チップとの両方を同時に受容可能な空間とされてなり、
前記一方及び他方の挟持部材は、前記挿入空間内に挿入された前記一方及び他方の電極チップを同時に挟持可能であるとともに前記一方及び他方の電極チップの軸心を回転軸として回転可能に形成されてなることを特徴とするものである。 According to a third invention (invention according to claim 3), in the second invention, the insertion space is formed from the one electrode tip inserted from the one side insertion port and the other side insertion port. A space capable of simultaneously receiving both the inserted electrode tip and the other electrode tip;
The one and the other clamping members are formed so as to be capable of simultaneously clamping the one and the other electrode tips inserted into the insertion space and to be rotatable about the axis of the one and the other electrode tips. It is characterized by.

この第３の発明では、前記挿入空間は、前記一方側挿入口から挿入された前記一方の電極チップと、前記他方側挿入口から挿入された前記他方の電極チップとの両方を同時に受容可能な空間とされてなり、前記一方及び他方の挟持部材は、前記挿入空間内に挿入された前記一方及び他方の電極チップを同時に挟持可能であるとともに前記一方及び他方の電極チップの軸心を回転軸として回転可能に形成されてなることから、対向する一方のシャンクに装着された一方の電極チップと、他方のシャンクに装着された他方の電極チップとを同時に前記挿入空間に挿入し、該挿入空間内に挿入された前記一方及び他方の電極チップを同時に挟持するとともに同時に回転させることができ、作業時間をさらに短縮することができる。   In the third invention, the insertion space can simultaneously receive both the one electrode tip inserted from the one side insertion port and the other electrode tip inserted from the other side insertion port. The one and the other clamping members are configured to be spaces, and the one and the other electrode chips inserted into the insertion space can be clamped at the same time, and the axes of the one and the other electrode chips are rotational axes. Since one electrode tip attached to one opposing shank and the other electrode tip attached to the other shank are simultaneously inserted into the insertion space, the insertion space The one and the other electrode tips inserted into the inside can be sandwiched and rotated simultaneously, and the working time can be further shortened.

また、第４の発明（請求項４記載の発明）は、上記第１，２又は３の発明の何れかにおいて、前記チップ離間手段は、前記挿入空間内に配置され内側に前記電極チップが挿入されるリング部材と、このリング部材を介して前記電極チップを前記一方又は他方の挟持部材から離間する方向に該リング部材を付勢する弾性材と、を備えてなることを特徴とするものである。   According to a fourth invention (invention according to claim 4), in any one of the first, second and third inventions, the chip separating means is disposed in the insertion space, and the electrode chip is inserted inside. And a resilient member that urges the ring member in a direction away from the one or the other clamping member via the ring member. is there.

この第４の発明では、前記チップ離間手段は、前記挿入空間内に配置され内側に前記電極チップが挿入されるリング部材と、このリング部材を介して前記電極チップを前記一方又は他方の挟持部材から離間する方向に該リング部材を付勢する弾性材とを備えてなり、前記電極チップは、弾性材に付勢されるリング部材により一方又は他方の挟持部材から離間する方向（すなわち、前記挟持部材の挟持面と直交する方向）に付勢されることから、一方又は他方の挟持部材の挟持面から確実に離間され、該電極チップの自重により前記挿入空間から落下させて排出することができる。   In the fourth aspect of the invention, the tip separating means includes a ring member that is disposed in the insertion space and into which the electrode tip is inserted, and the one or other clamping member that sandwiches the electrode tip via the ring member. An elastic material that urges the ring member in a direction away from the electrode member, and the electrode tip is separated from one or the other holding member by the ring member urged by the elastic material (that is, the holding member). Is biased in the direction perpendicular to the clamping surface of the member), it is reliably separated from the clamping surface of one or the other clamping member, and can be dropped and discharged from the insertion space by its own weight. .

また、第５の発明（請求項５記載の発明）は、上記第４の発明において、前記リング部材は、円筒状に成形されてなるとともに、前記一方及び他方の挟持部材が挿入される１又は複数の貫通穴が形成されてなり、該リング部材は、上記一方及び他方の挟持部材に支持されていることを特徴とするものである。   According to a fifth invention (invention of claim 5), in the fourth invention, the ring member is formed in a cylindrical shape, and the one and the other clamping members are inserted 1 or A plurality of through holes are formed, and the ring member is supported by the one and other clamping members.

この第５の発明では、前記リング部材は、１又は複数の貫通穴に一方及び他方の挟持部材が挿入され、該一方及び他方の挟持部材に支持されていることから、この電極チップの取外し装置の方向性や傾斜角度が限定されず、したがって、前記挿入空間にどの方向からシャンクが挿入されるように配置しても、リング部材が脱落することがなく、確実に電極チップの取外しが可能となる。   In the fifth aspect of the invention, since the ring member has one and the other holding members inserted into one or a plurality of through holes and is supported by the one and the other holding members, the electrode chip removing device is provided. The directionality and the inclination angle are not limited. Therefore, even if the shank is inserted into the insertion space from any direction, the ring member does not fall off, and the electrode tip can be reliably removed. Become.

また、第６の発明（請求項６記載の発明）は、上記第１ないし５の発明の何れかにおいて、前記一方又は他方の挟持部材の挟持面は、略Ｖ字状に形成されてなることを特徴とするものである。   According to a sixth invention (invention of claim 6), in any one of the first to fifth inventions, the clamping surface of the one or the other clamping member is formed in a substantially V shape. It is characterized by.

この第６の発明では、前記一方又は他方の挟持部材の挟持面は、略Ｖ字状に形成されてなり、電極チップの外径が異なる場合でも、常に少なくとも３点で挟持されるから、確実に挟持することができる。なお、一方及び／又は他方の挟持部材の挟持面には、電極チップとの滑り止めのための先端鋭角な凹凸を形成することにより、電極チップをさらに確実に挟持することができる。   In the sixth aspect of the invention, the clamping surface of the one or the other clamping member is formed in a substantially V shape, and even when the outer diameter of the electrode tip is different, it is always clamped at at least three points. Can be held between. It should be noted that the electrode tip can be more securely held by forming a sharp concavity and convexity on the holding surface of one and / or the other holding member to prevent slippage with the electrode tip.

また、第７の発明（請求項７記載の発明）は、前記第１ないし６の発明の何れかの電極チップの取外し装置と、この電極チップの取外し装置の近傍に配置され、新たに装着する複数の電極チップが収納されるチップ装着装置と、を備えた電極チップの交換装置であって、上記チップ装着装置は、上記電極チップが収容される収容部と、この収容部の一側に形成されるとともに該電極チップに形成されシャンクの先端が嵌合する凹部が露出する開口部と、この開口部とは反対側に形成され該電極チップの先端が当接する当接壁部と、を有するチップ装着室と、このチップ装着室よりも上方に形成されてなるとともに、上記チップ装着室に形成された収容部内の空間と連通し、複数の電極チップが該電極チップの長さ方向と直交する方向に並んで収納される収納部と、この収納部内に電極チップを供給する供給用開口部とを有るチップ収納室と、を備えてなることを特徴とするものである。   The seventh invention (the invention according to claim 7) is disposed in the vicinity of the electrode chip removing device of any of the first to sixth inventions and the electrode chip removing device, and is newly attached. An electrode chip exchanging device comprising a chip mounting device for storing a plurality of electrode chips, wherein the chip mounting device is formed on a side of the storage unit for storing the electrode chip. And an opening formed in the electrode tip through which a recess into which the tip of the shank fits is exposed, and a contact wall formed on the opposite side of the opening and in contact with the tip of the electrode tip. The chip mounting chamber is formed above the chip mounting chamber and communicates with the space in the housing portion formed in the chip mounting chamber. The plurality of electrode chips are orthogonal to the length direction of the electrode chip. Side by side A storage unit which is accommodated, is to the chip accommodating chamber there a supply opening for supplying the electrode tip to the housing portion, characterized in that it comprises a.

この第７の発明では、前記請求項１ないし６記載の何れかの電極チップの取外し装置と、この電極チップの取外し装置の近傍に配置され新たに装着する複数の電極チップが収納されるチップ装着装置とを備えて、上記シャンクの先端に装着された電極チップの取外しと、該電極チップが取外された後のシャンクへの新たな電極チップの装着とを一貫して行う電極チップの交換装置を構築できることから、装置の簡素化ができるとともに、電極チップの交換時間を短縮することができる。   According to the seventh aspect of the present invention, the electrode tip detaching device according to any one of claims 1 to 6 and a tip mounting in which a plurality of newly installed electrode tips are housed in the vicinity of the electrode tip detaching device. An electrode tip exchange device that consistently performs removal of the electrode tip attached to the tip of the shank and attachment of a new electrode tip to the shank after the electrode tip is removed. Therefore, the apparatus can be simplified and the electrode chip replacement time can be shortened.

また、第８の発明（請求項８記載の発明）は、電極チップの取外しシステムであって、前記請求項１ないし６記載の何れかの電極チップの取外し装置と、電極チップがスポット溶接用のシャンクに装着された溶接ロボットと、上記電極チップの取外し装置を構成する第１の駆動装置及び第２の駆動装置並びに上記溶接ロボットとにそれぞれ接続された制御手段と、この制御手段に接続されてなるとともに上記溶接ロボットによる溶接回数をカウントするカウント手段又は電極チップの先端の磨耗値を検出する磨耗検出手段の何れかと、上記制御手段に接続されてなるとともに溶接回数又は磨耗値の限界値の何れかを記憶してなる記憶手段と、を備え、上記制御手段により、上記カウント手段による溶接回数又は上記磨耗検出手段による磨耗値の何れかが、上記記憶手段に記憶された限界値に達したと判断したことを条件に、それまで行われていた溶接ロボットによる溶接動作を停止するステップと、停止した溶接ロボットのシャンクの先端に装着された電極チップを、電極チップの取外し装置に形成された前記挿入空間内に、若しくは、前記一方の挿入口及び／又は他方の挿入口から該挿入空間内に挿入するステップと、上記第１の駆動装置を駆動させ、電極チップの背面と前記段差部との間に前記圧入部材若しくは前記一方の圧入部材及び／又は他方の圧入部材を圧入させるステップと、上記第２の駆動装置を駆動させ、前記一方及び／又は他方の挟持部材を移動させ該一方及び他方の挟持部材により電極チップを挟持させるとともに、該一方及び他方の挟持部材を回転させるステップと、上記溶接ロボットを駆動させ、シャンクの先端を上記挿入空間から抜き出すステップと、上記第１の駆動手段を初期位置に復帰させるステップと、上記第２の駆動装置を初期位置に復帰させ、上記一方及び他方の挟持部材による電極チップの挟持状態を解除するステップと、を備えてなることを特徴とするものである。   An eighth invention (invention according to claim 8) is an electrode tip removal system according to any one of claims 1 to 6, wherein the electrode tip is used for spot welding. Control means connected to the welding robot mounted on the shank, the first drive device and the second drive device constituting the electrode tip detaching device, and the welding robot, and connected to the control means Any of the counting means for counting the number of times of welding by the welding robot or the wear detecting means for detecting the wear value of the tip of the electrode tip, and either the number of welding times or the limit value of the wear value connected to the control means Storage means for storing such information, and by the control means, the number of weldings by the counting means or the wear value by the wear detection means. On the condition that any one has reached the limit value stored in the storage means, the step of stopping the welding operation performed by the welding robot, and the tip of the stopped shank of the welding robot stopped. Inserting the attached electrode chip into the insertion space formed in the electrode chip removal device or from the one insertion port and / or the other insertion port into the insertion space; And driving the second driving device by driving the pressing member or the one pressing member and / or the other pressing member between the back surface of the electrode chip and the stepped portion. The one and / or the other clamping member is moved, the electrode chip is clamped by the one and the other clamping member, and the one and the other clamping member are rotated. Driving the welding robot to extract the tip of the shank from the insertion space; returning the first driving means to the initial position; and returning the second driving device to the initial position. And releasing the clamping state of the electrode tip by the one and the other clamping members.

この第８の発明では、電極チップの溶接回数又は磨耗値が上記記憶手段に記憶された限界値に達したと判断されたことを条件に溶接ロボットの溶接動作を停止させた後、この溶接ロボットのシャンクに装着された電極チップを前記挿入空間内に、若しくは、前記一方の挿入口及び／又は他方の挿入口から該挿入空間内に挿入し、該挿入空間内の電極チップの背面と前記段差部との間に前記圧入部材若しくは前記一方の圧入部材及び／又は他方の圧入部材を圧入させて該電極チップをシャンクの先端側に付勢し、前記一方及び／又は他方の挟持部材を移動させ該一方及び他方の挟持部材により電極チップを挟持させるとともに回転させて、シャンクの先端を上記挿入空間から抜き出した後、上記一方及び他方の挟持部材による電極チップの挟持状態を解除して、該電極チップを上記挿入空間から落下させて排出する電極チップの取外し作業が、上記制御手段により溶接ロボットの溶接動作と関連的に自動的にできる。そして、上記電極チップの取外し装置が有する作用効果を奏するとともに、手動操作のように誤操作を招くことがなく、作業時間を短縮することができる。   In the eighth invention, after the welding operation of the welding robot is stopped on the condition that it is determined that the number of times of welding or the wear value of the electrode tip has reached the limit value stored in the storage means, the welding robot The electrode chip mounted on the shank is inserted into the insertion space or into the insertion space from the one insertion port and / or the other insertion port, and the back surface of the electrode chip and the step in the insertion space The press-fitting member or the one press-fitting member and / or the other press-fitting member is press-fitted between the electrode part and the electrode tip is urged toward the tip of the shank, and the one and / or the other clamping member is moved. The electrode chip is clamped and rotated by the one and other clamping members, and the tip of the shank is extracted from the insertion space, and then the electrode chip is clamped by the one and other clamping members. To release the state, dismounting of the electrode tip of the electrode tip and discharging is dropped from the insertion space it can be related to automatic welding operation of the welding robot by the control unit. And while having the effect which the said electrode tip removal apparatus has, there is no misoperation like manual operation and working time can be shortened.

また、第９の発明（請求項９記載の発明）は、電極チップの交換システムであって、前記請求項１ないし４記載の何れかの電極チップの取外し装置と、電極チップがスポット溶接用のシャンクに装着された溶接ロボットと、上記電極チップの取外し装置を構成する第１の駆動装置及び第２の駆動装置並びに上記溶接ロボットとにそれぞれ接続された制御手段と、この制御手段に接続されてなるとともに上記溶接ロボットによる溶接回数をカウントするカウント手段又は電極チップの先端の磨耗値を検出する磨耗検出手段の何れかと、上記制御手段に接続されてなるとともに溶接回数又は磨耗値の限界値の何れかを記憶してなる記憶手段と、前記請求項７記載の電極チップの交換装置を構成するチップ装着装置と、を備え、上記制御手段により、上記カウント手段による溶接回数又は上記磨耗検出手段による磨耗値の何れかが、上記記憶手段に記憶された限界値に達したと判断したことを条件に、それまで行われていた溶接ロボットによる溶接動作を停止するステップと、停止した溶接ロボットのシャンクの先端に装着された電極チップを、電極チップの取外し装置に形成された前記挿入空間内に、若しくは、前記一方の挿入口及び／又は他方の挿入口から該挿入空間内に挿入するステップと、上記第１の駆動装置を駆動させ、電極チップの背面と前記段差部との間に前記圧入部材若しくは前記一方の圧入部材及び／又は他方の圧入部材を圧入させるステップと、上記第２の駆動装置を駆動させ、前記一方及び／又は他方の挟持部材を移動させ該一方及び他方の挟持部材により電極チップを挟持させるとともに、該一方及び他方の挟持部材を回転させるステップと、上記溶接ロボットを駆動させ、シャンクの先端を上記挿入空間から抜き出すステップと、上記第１の駆動手段を初期位置に復帰させるステップと、上記第２の駆動装置を初期位置に復帰させ、上記一方及び他方の挟持部材による電極チップの挟持状態を解除するステップと、上記シャンクの先端が上記挿入空間から抜き出された溶接ロボットを駆動させ、該シャンクの先端を、上記チップ装着装置を構成する装着室内に収容された電極チップ内に挿入するステップと、を備えてなることを特徴とするものである。
A ninth invention (invention according to claim 9) is an electrode tip replacement system, wherein the electrode tip removal device according to any one of claims 1 to 4 and the electrode tip are for spot welding. Control means connected to the welding robot mounted on the shank, the first drive device and the second drive device constituting the electrode tip detaching device, and the welding robot, and connected to the control means Any of the counting means for counting the number of times of welding by the welding robot or the wear detecting means for detecting the wear value of the tip of the electrode tip, and either the number of welding times or the limit value of the wear value connected to the control means and comprising storage means to store or, and a chip mounting apparatus which constitutes the switching device of the electrode tip of claim 7, wherein, by said control means Welding operation by the welding robot performed so far, on the condition that either the number of welding by the counting means or the wear value by the wear detecting means has reached the limit value stored in the storage means And stopping the electrode tip attached to the tip of the shank of the stopped welding robot into the insertion space formed in the electrode tip removal device, or inserting the one insertion port and / or the other. A step of inserting into the insertion space from the mouth, and driving the first driving device, the press-fitting member or the one press-fitting member and / or the other press-fitting member between the back surface of the electrode chip and the stepped portion. Press-fitting and driving the second driving device to move the one and / or the other clamping member, and the one and the other clamping member A step of rotating the one and the other clamping members, a step of driving the welding robot, extracting a tip of the shank from the insertion space, and returning the first driving means to the initial position. A step of returning the second driving device to an initial position and releasing the clamping state of the electrode tip by the one and the other clamping members, and a welding robot in which the tip of the shank is extracted from the insertion space And a step of inserting the tip of the shank into an electrode chip accommodated in a mounting chamber constituting the chip mounting apparatus.

この第９の発明では、電極チップの溶接回数又は磨耗値が上記記憶手段に記憶された限界値に達したと判断されたことを条件に溶接ロボットの溶接動作を停止させた後、この溶接ロボットのシャンクに装着された電極チップを前記挿入空間内に、若しくは、前記一方の挿入口及び／又は他方の挿入口から該挿入空間内に挿入し、該挿入空間内の電極チップの背面と前記段差部との間に前記圧入部材若しくは前記一方の圧入部材及び／又は他方の圧入部材を圧入させて該電極チップをシャンクの先端側に付勢し、前記一方及び／又は他方の挟持部材を移動させ該一方及び他方の挟持部材により電極チップを挟持させるとともに回転させて、シャンクの先端を上記挿入空間から抜き出した後、上記一方及び他方の挟持部材による電極チップの挟持状態を解除して、該電極チップを上記挿入空間から落下させて排出させるとともに、上記挿入空間から抜き出されたシャンクの先端を上記チップ装着装置の装着室内に収容された電極チップ内に挿入する電極チップの交換作業が、上記制御手段により溶接ロボットの溶接動作と関連的に自動的にできる。そして、上記電極チップの交換装置が有する作用効果を奏するとともに、手動操作のように誤操作を招くことがなく、作業時間を短縮することができる。   In the ninth aspect of the invention, after the welding operation of the welding robot is stopped on the condition that the number of weldings or the wear value of the electrode tip has reached the limit value stored in the storage means, the welding robot The electrode chip mounted on the shank is inserted into the insertion space or into the insertion space from the one insertion port and / or the other insertion port, and the back surface of the electrode chip and the step in the insertion space The press-fitting member or the one press-fitting member and / or the other press-fitting member is press-fitted between the electrode part and the electrode tip is urged toward the tip of the shank, and the one and / or the other clamping member is moved. The electrode chip is clamped and rotated by the one and other clamping members, and the tip of the shank is extracted from the insertion space, and then the electrode chip is clamped by the one and other clamping members. The state is released, the electrode tip is dropped from the insertion space and discharged, and the tip of the shank extracted from the insertion space is inserted into the electrode tip accommodated in the mounting chamber of the tip mounting device. The electrode tip replacement operation can be automatically performed in association with the welding operation of the welding robot by the control means. And while having the effect which the said electrode chip replacement | exchange apparatus has, there is no misoperation like manual operation and working time can be shortened.

第１の発明（請求項１記載の発明）では、一方及び他方の挟持部材により電極チップが挟持された際、該挟持部材の挟持面に形成された凹凸により該電極チップの外周面が変形することにより、一方又は他方の挟持部材の何れかに電極チップが食込んだ場合であっても、本発明の構成要素であるチップ離間手段により電極チップの離間方向へ付勢され互いに離間させられ、確実に電極チップを上記挿入空間から下方に落下させることができることから、前記挿入空間内に電極チップが残留することによる異常現象又は故障を防止できるとともに、該挿入空間内に残留した電極チップを手作業により取除く無駄な作業も不要となる。   In the first invention (the invention described in claim 1), when the electrode chip is clamped by one and the other clamping member, the outer peripheral surface of the electrode chip is deformed by the irregularities formed on the clamping surface of the clamping member. By this, even if the electrode tip bites into either one of the other clamping members, it is biased in the electrode tip separation direction by the tip separation means that is a component of the present invention and separated from each other, Since the electrode tip can be reliably dropped downward from the insertion space, an abnormal phenomenon or failure due to the electrode tip remaining in the insertion space can be prevented, and the electrode tip remaining in the insertion space can be manually handled. The useless work which is removed by the work becomes unnecessary.

また、第２の発明（請求項２記載の発明）では、前記圧入部材は、前記挿入空間の一方側挿入口から挿入された前記一方の電極チップを前記一方のシャンクの先端側に付勢する一方の圧入部材と、前記挿入空間の他方側挿入口から挿入された前記他方の電極チップを前記他方のシャンクの先端側に付勢する他方の圧入部材とを備えて、挿入空間の一方側挿入口又は他方側挿入口から挿入された前記一方又は他方の電極チップの何れにも対応することができることから、対向する一方のシャンク及び他方のシャンクのどちら側に装着された電極チップであっても、前記挿入空間に挿入することができ、溶接ロボットによる電極チップの挿入動作が単純化され、作業時間の短縮化が図れるとともに、溶接ロボットの動作空間を小さくすることができる。特に、こうした第２の発明では、第１の発明を構成するチップ離間手段により、一方及び他方の電極チップは確実に落下し、その落下方向は、一方のシャンク又は他方のシャンクの何れかが挿入された方向ないし反対側であることから、該第２の発明によれば、一方又は他方の電極チップが落下する方向から、次に挿入される一方のシャンク又は他方のシャンクの挿入時において、該一方又は他方のシャンクに装着された電極チップが干渉して異常現象又は故障の原因となることを有効に防止することができる。   In the second invention (the invention according to claim 2), the press-fitting member biases the one electrode tip inserted from the one-side insertion port of the insertion space toward the tip side of the one shank. One press-fitting member, and the other press-fitting member for urging the other electrode chip inserted from the other-side insertion port of the insertion space toward the tip side of the other shank, Since it can correspond to either the one or the other electrode chip inserted from the mouth or the other side insertion opening, the electrode chip mounted on either side of the opposite one shank and the other shank The insertion operation of the electrode tip by the welding robot can be simplified, the working time can be shortened, and the operation space of the welding robot can be reduced. That. In particular, in the second invention, one and the other electrode tips are surely dropped by the tip separating means constituting the first invention, and either one shank or the other shank is inserted in the dropping direction. Therefore, according to the second aspect of the present invention, when one or the other shank is inserted from the direction in which one or the other electrode tip falls, It can be effectively prevented that the electrode tip mounted on one or the other shank interferes to cause an abnormal phenomenon or failure.

また、第３の発明（請求項３記載の発明）では、前記挿入空間は、前記一方側挿入口から挿入された前記一方の電極チップと、前記他方側挿入口から挿入された前記他方の電極チップとの両方を同時に受容可能な空間とされてなり、前記一方及び他方の挟持部材は、前記挿入空間内に挿入された前記一方及び他方の電極チップを同時に挟持可能であるとともに前記一方及び他方の電極チップの軸心を回転軸として回転可能に形成されてなることから、対向する一方のシャンクに装着された一方の電極チップと、他方のシャンクに装着された他方の電極チップとを同時に前記挿入空間に挿入し、該挿入空間内に挿入された前記一方及び他方の電極チップを同時に挟持するとともに同時に回転させることができ、作業時間をさらに短縮することができる。   In the third invention (the invention described in claim 3), the insertion space includes the one electrode chip inserted from the one side insertion port and the other electrode inserted from the other side insertion port. The one and the other clamping members are capable of simultaneously clamping the one and the other electrode tips inserted into the insertion space and the one and the other. The electrode tip is formed so as to be rotatable with the axis of the electrode tip as the rotation axis, so that the one electrode tip attached to one opposing shank and the other electrode tip attached to the other shank are simultaneously Inserting into the insertion space, the one and the other electrode chips inserted into the insertion space can be sandwiched and rotated simultaneously, further reducing the work time Kill.

また、第４の発明（請求項４記載の発明）では、前記チップ離間手段は、前記挿入空間内に配置され内側に前記電極チップが挿入されるリング部材と、このリング部材を介して前記電極チップを前記一方又は他方の挟持部材から離間する方向に該リング部材を付勢する弾性材とを備えてなり、前記電極チップは、弾性材に付勢されるリング部材により一方又は他方の挟持部材から離間する方向（すなわち、前記挟持部材の挟持面と直交する方向）に付勢されることから、一方又は他方の挟持部材の挟持面から確実に離間され、該電極チップの自重により前記挿入空間から落下させて排出することができる。その結果、前記挿入空間内に電極チップが残留することによる異常現象又は故障を防止できるとともに、該挿入空間内に残留した電極チップを手作業により取除く無駄な作業も不要となる。   In the fourth invention (the invention according to claim 4), the tip separating means includes a ring member that is disposed in the insertion space and into which the electrode tip is inserted, and the electrode is interposed via the ring member. An elastic material that urges the ring member in a direction separating the tip from the one or the other clamping member, and the electrode tip is one or the other clamping member by a ring member that is urged by the elastic material. Is biased in a direction away from the holding member (that is, a direction orthogonal to the holding surface of the holding member), and is reliably separated from the holding surface of one or the other holding member, and the insertion space is caused by the weight of the electrode chip. Can be dropped and discharged. As a result, an abnormal phenomenon or failure due to the electrode tip remaining in the insertion space can be prevented, and a wasteful operation of manually removing the electrode tip remaining in the insertion space is not required.

また、第５の発明（請求項５記載の発明）では、前記リング部材は、１又は複数の貫通穴に一方及び他方の挟持部材が挿入され、該一方及び他方の挟持部材に支持されていることから、この電極チップの取外し装置の方向性や傾斜角度が限定されず、したがって、前記挿入空間にどの方向からシャンクが挿入されるように配置しても、リング部材が脱落することがなく、確実に電極チップの取外しが可能となる。   In the fifth invention (the invention described in claim 5), the ring member is supported by one or the other clamping member by inserting one or the other clamping member into one or a plurality of through holes. Therefore, the directionality and the inclination angle of the electrode tip removal device is not limited, and therefore the ring member does not fall off even if the shank is arranged from any direction into the insertion space. The electrode tip can be reliably removed.

また、第６の発明（請求項６記載の発明）では、前記一方又は他方の挟持部材の挟持面は、略Ｖ字状に形成されてなり、電極チップの外径が異なる場合でも、常に少なくとも３点で挟持されるから、確実に挟持することができる。   In the sixth invention (the invention described in claim 6), the clamping surface of the one or the other clamping member is formed in a substantially V shape, and even when the outer diameter of the electrode tip is different, it is always at least. Since it is clamped at three points, it can be securely clamped.

また、第７の発明（請求項７記載の発明）では、前記請求項１ないし６記載の何れかの電極チップの取外し装置と、この電極チップの取外し装置の近傍に配置され新たに装着する複数の電極チップが収納されるチップ装着装置とを備えて、上記シャンクの先端に装着された電極チップの取外しと、該電極チップが取外された後のシャンクへの新たな電極チップの装着とを一貫して行う電極チップの交換装置を構築できることから、装置の簡素化ができるとともに、電極チップの交換時間を短縮することができる。   In the seventh invention (the invention according to claim 7), the electrode tip detaching device according to any one of the first to sixth aspects, and a plurality of newly installed electrodes disposed in the vicinity of the electrode tip detaching device. A tip mounting device for storing the electrode tip, and removing the electrode tip attached to the tip of the shank and attaching a new electrode tip to the shank after the electrode tip is removed. Since it is possible to construct a consistent electrode tip replacement device, the device can be simplified and the electrode tip replacement time can be shortened.

また、第８の発明（請求項８記載の発明）では、電極チップの溶接回数又は磨耗値が上記記憶手段に記憶された限界値に達したと判断されたことを条件に溶接ロボットの溶接動作を停止させた後、この溶接ロボットのシャンクに装着された電極チップを前記挿入空間内に、若しくは、前記一方の挿入口及び／又は他方の挿入口から該挿入空間内に挿入し、該挿入空間内の電極チップの背面と前記段差部との間に前記圧入部材若しくは前記一方の圧入部材及び／又は他方の圧入部材を圧入させて該電極チップをシャンクの先端側に付勢し、前記一方及び／又は他方の挟持部材を移動させ該一方及び他方の挟持部材により電極チップを挟持させるとともに回転させて、シャンクの先端を上記挿入空間から抜き出した後、上記一方及び他方の挟持部材による電極チップの挟持状態を解除して、該電極チップを上記挿入空間から落下させて排出する電極チップの取外し作業が、上記制御手段により溶接ロボットの溶接動作と関連的に自動的にできる。そして、上記電極チップの取外し装置が有する作用効果を奏するとともに、手動操作のように誤操作を招くことがなく、作業時間を短縮することができる。   In the eighth invention (the invention described in claim 8), the welding operation of the welding robot is performed on the condition that the number of welding times or the wear value of the electrode tip has reached the limit value stored in the storage means. Then, the electrode tip attached to the shank of this welding robot is inserted into the insertion space or from the one insertion port and / or the other insertion port into the insertion space. The press-fitting member or the one press-fitting member and / or the other press-fitting member is press-fitted between the back surface of the inner electrode tip and the stepped portion, and the electrode tip is urged toward the front end side of the shank. After the other clamping member is moved and the electrode chip is clamped and rotated by the one and the other clamping member, the tip of the shank is extracted from the insertion space, and then the one and the other clamping part According to release the holding state of the electrode tip, the electrode tip detaching the electrode chip to be discharged by dropping from the insertion space can be related to automatic welding operation of the welding robot by the control unit. And while having the effect which the said electrode tip removal apparatus has, there is no misoperation like manual operation and working time can be shortened.

また、第９の発明（請求項９記載の発明）では、電極チップの溶接回数又は磨耗値が上記記憶手段に記憶された限界値に達したと判断されたことを条件に溶接ロボットの溶接動作を停止させた後、この溶接ロボットのシャンクに装着された電極チップを前記挿入空間内に、若しくは、前記一方の挿入口及び／又は他方の挿入口から該挿入空間内に挿入し、該挿入空間内の電極チップの背面と前記段差部との間に前記圧入部材若しくは前記一方の圧入部材及び／又は他方の圧入部材を圧入させて該電極チップをシャンクの先端側に付勢し、前記一方及び／又は他方の挟持部材を移動させ該一方及び他方の挟持部材により電極チップを挟持させるとともに回転させて、シャンクの先端を上記挿入空間から抜き出した後、上記一方及び他方の挟持部材による電極チップの挟持状態を解除して、該電極チップを上記挿入空間から落下させて排出させるとともに、上記挿入空間から抜き出されたシャンクの先端を上記チップ装着装置の装着室内に収容された電極チップ内に挿入する電極チップの交換作業が、上記制御手段により溶接ロボットの溶接動作と関連的に自動的にできる。そして、上記電極チップの交換装置が有する作用効果を奏するとともに、手動操作のように誤操作を招くことがなく、作業時間を短縮することができる。   In the ninth invention (the invention described in claim 9), the welding operation of the welding robot is performed on the condition that the number of welding times or the wear value of the electrode tip has reached the limit value stored in the storage means. Then, the electrode tip attached to the shank of this welding robot is inserted into the insertion space or from the one insertion port and / or the other insertion port into the insertion space. The press-fitting member or the one press-fitting member and / or the other press-fitting member is press-fitted between the back surface of the inner electrode tip and the stepped portion, and the electrode tip is urged toward the front end side of the shank. After the other clamping member is moved and the electrode chip is clamped and rotated by the one and the other clamping member, the tip of the shank is extracted from the insertion space, and then the one and the other clamping part The electrode chip is released from the insertion space by being released from the insertion space, and the tip of the shank extracted from the insertion space is housed in the mounting chamber of the chip mounting device. The replacement operation of the electrode tip inserted into the tip can be automatically performed in association with the welding operation of the welding robot by the control means. And while having the effect which the said electrode chip replacement | exchange apparatus has, there is no misoperation like manual operation and working time can be shortened.

以下、本発明を実施するための最良の形態として、電極チップの交換装置と、この交換装置を構成要素とした電極チップの交換システムをそれぞれ説明する。なお、上記電極チップの交換装置は、電極チップの取外し装置とチップ装着装置とから構成されている。また、上記電極チップの交換システムは、上記電極チップの取外し装置を構成要素とした電極チップ取外しシステムを含むものである。先ず、電極チップの取外し装置の実施の形態について説明する。   Hereinafter, as an embodiment for carrying out the present invention, an electrode tip exchanging device and an electrode tip exchanging system using the exchanging device as a component will be described. The electrode tip replacement device includes an electrode tip removal device and a tip mounting device. The electrode tip replacement system includes an electrode tip removal system including the electrode tip removal device as a constituent element. First, an embodiment of an electrode tip removal apparatus will be described.

この発明の実施の形態に係る電極チップの取外し装置１は、図１に示すスポット溶接用のシャンク１０３，１０４に装着された電極チップＷ，Ｗを取外す装置であって、図２又は図３に示すように、シャンク１０３，１０４に装着された電極チップＷ，Ｗが対向して挿入される挿入空間２０と、該挿入空間２０に対向して挿入された電極チップＷ，Ｗを前記シャンク１０３，１０４のそれぞれの先端側に付勢する圧入部３０と、この圧入部３０により付勢された電極チップＷ，Ｗをそれぞれ挟持するとともに該電極チップＷ，Ｗの軸心を回転軸として回転させる挟持部４０と、この挟持部４０による電極チップＷ，Ｗの挟持が解除される際に電極チップＷ，Ｗのそれぞれが前記挟持部４０の挟持面から離間するよう付勢するチップ離間部６０と、を備えて、図示しない電極チップの取外し位置に配置された取付け構造体２に取り付けられている。   The electrode tip removal apparatus 1 according to the embodiment of the present invention is an apparatus for removing the electrode tips W, W mounted on the spot welding shanks 103, 104 shown in FIG. As shown, the insertion space 20 into which the electrode chips W, W mounted on the shanks 103, 104 are inserted facing each other, and the electrode chip W, W inserted against the insertion space 20, are inserted into the shank 103, A press-fit portion 30 that is urged toward the tip side of each of 104 and the electrode tips W and W that are urged by the press-fit portion 30 are sandwiched and the shaft centers of the electrode tips W and W are rotated about the axis of rotation. Part 40 and a tip separation part 60 that urges each of the electrode chips W, W to separate from the clamping surface of the clamping part 40 when the clamping of the electrode chips W, W by the clamping part 40 is released. , Provided with, attached to mounting structure 2 arranged on the removal position of the electrode tip (not shown).

なお、この実施の形態に係る電極チップの取外し装置１により取外される電極チップＷ，Ｗは、図１に示すように、多関節腕を有する溶接ロボット１０１に装着されてなり、この溶接ロボット１０１のガン１０２に銅又は銅合金でなる一対のシャンク１０３，１０４が対向して設置され、これらのシャンク１０３，１０４の先端部に図５に示すテーパ軸部１０３ｃ、１０４ｃがそれぞれ形成され、これらのテーパ軸部１０３ｃ、１０４ｃのそれぞれに電極チップＷ，Ｗがテーパ嵌合により装着されている。また、電極チップＷ，Ｗの素材は、後述する挟持部４０の各挟持面よりも軟質な銅又は銅合金により背面Ｗａ，Ｗａ側が開口された中空状に成形され、該中空穴は上記シャンク１０３，１０４のテーパ軸部１０３ｃ、１０４ｃと密着するテーパ穴Ｗｂ，Ｗｂに形成されている。   The electrode tips W, W to be removed by the electrode tip removal device 1 according to this embodiment are mounted on a welding robot 101 having a multi-joint arm as shown in FIG. A pair of shanks 103, 104 made of copper or a copper alloy are placed opposite to a gun 102 of 101, and tapered shaft portions 103c, 104c shown in FIG. The electrode tips W, W are attached to the respective taper shaft portions 103c, 104c by taper fitting. Further, the material of the electrode tips W, W is formed into a hollow shape with the back surface Wa, Wa side opened by copper or copper alloy that is softer than each clamping surface of the clamping part 40 described later, and the hollow hole is formed in the shank 103. , 104 are formed in tapered holes Wb, Wb that are in close contact with the tapered shaft portions 103c, 104c.

そして、上記電極チップの取外し装置１が取付けられる取付け構造体２は、図１に示すように、電極チップの取外し位置に固定された脚板３と、この脚板３の中央部に立設された支柱４と、この支柱４の上端部に固定された一対の固定板５，６とから構成されている。これら一対の固定板５，６には、図２又は図３に示すように、後述するスライダ３３を摺動案内する一対の摺動案内板１３，１４が、図１に示す左側を上に約４５度傾斜するとともに対向して各２本のボルト（符号は省略する）により固定されている。これら摺動案内板１３，１４には、先端側の内側に後述する一方及び他方の圧入部材３１，３２を案内する案内板１２の両側面（符号は省略する）が、各２本のボルト（符号は省略する）により固定され、後端側の内側に後述する第１のエアシリンダ３６を固定する取付け板１５の両側面（符号は省略する）が、各２本のボルト（符号は省略する）により固定されているとともに、一方の摺動案内板１３の後端側の内側にスライダ３３を進退移動可能に支持する支持案内キー１６が、図示しないボルトにより固定されている。また、案内板１２の前面には、後述する一対の回転板２１，２２を回転可能に保持する保持体１１が、図示しないボルトにより固定されている。   As shown in FIG. 1, the mounting structure 2 to which the electrode tip detaching device 1 is attached includes a leg plate 3 fixed at the electrode tip detaching position, and a support column erected at the center of the leg plate 3. 4 and a pair of fixing plates 5 and 6 fixed to the upper end portion of the support column 4. As shown in FIG. 2 or FIG. 3, a pair of sliding guide plates 13 and 14 that slide and guide a slider 33, which will be described later, are provided on the pair of fixed plates 5 and 6 with the left side shown in FIG. It is inclined by 45 degrees and fixed by two bolts (reference numerals are omitted) facing each other. These sliding guide plates 13 and 14 have both side surfaces (reference numerals omitted) of the guide plate 12 for guiding one and the other press-fitting members 31 and 32, which will be described later, on the inner side of the tip side. Both side surfaces (reference numerals are omitted) of the mounting plate 15 that fixes a first air cylinder 36 (described later) inside the rear end side are fixed to each other by two bolts (reference numerals are omitted). ) And a support guide key 16 that supports the slider 33 so as to be movable back and forth inside the rear end side of one sliding guide plate 13 is fixed by a bolt (not shown). Further, on the front surface of the guide plate 12, a holding body 11 that rotatably holds a pair of rotating plates 21 and 22 described later is fixed by a bolt (not shown).

上記保持体１１は、図４又は図５に示すように、切欠面１１ｄ，１１ｅの間が開口の略馬蹄形状に形成された内周には一対の回転板２１，２２を回転可能に挿入して保持する保持穴１１ａが形成され、この保持穴１１ａには、略Ｃ形状のスペーサ２３を挟んで対向し該スペーサ２３と一体的に３本の固定ピン２４により固定された一対の回転板２１，２２が、スペーサ２３の端面２３ａ，２３ｂを切欠面１１ｄ，１１ｅ側にして正逆回転可能に挿入されている。なお、この保持体１１の保持穴１１ａに挿入される一対の回転板２１，２２は、該保持体１１の上面１１ｂ及び下面１１ｃの片側について３個ずつの抜け止め板２５により保持穴１１ａの外側へ脱出することが抑止されている。これら一対の回転板２１，２２は略同一形状に形成され、各中央部には、スポット溶接用のシャンク１０３に装着された一方の電極チップＷが挿入可能な挿入穴２１ａと、シャンク１０４に装着された他方の電極チップＷが挿入可能な挿入穴２２ａとがそれぞれ形成されている。   As shown in FIG. 4 or FIG. 5, the holding body 11 has a pair of rotary plates 21 and 22 rotatably inserted into the inner periphery formed between the cut-out surfaces 11d and 11e in a substantially horseshoe shape. A holding hole 11a is formed. The pair of rotating plates 21 are fixed to the holding hole 11a by three fixing pins 24 which are opposed to each other with a substantially C-shaped spacer 23 interposed therebetween. , 22 are inserted so that the end surfaces 23a, 23b of the spacer 23 are on the notch surfaces 11d, 11e side so as to be able to rotate forward and backward. The pair of rotary plates 21 and 22 inserted into the holding hole 11a of the holding body 11 is arranged outside the holding hole 11a by three retaining plates 25 on one side of the upper surface 11b and the lower surface 11c of the holding body 11. Escape to is suppressed. The pair of rotating plates 21 and 22 are formed in substantially the same shape, and are attached to the shank 104 at the center portion, and an insertion hole 21a into which one electrode tip W attached to the spot welding shank 103 can be inserted. An insertion hole 22a into which the other electrode tip W thus formed can be inserted is formed.

また、前記一対の回転板２１，２２の外周面２１ｂ，２２ｂには、回動側挟持部材４２の側面４２ｃの近傍に位置決めピン２６がそれぞれ溶着されている。この位置決めピン２６は、回動側挟持部材４２が、最も反時計方向に回動される回動位置を規制するものであって、該回動側挟持部材４２が最も反時計方向に回動されると、図４に示すように、位置決めピン２６が保持体１１の切欠面１１ｄに当接して一対の回転板２１，２２の反時計方向への回動を停止させるとともに、回動側挟持部材４２の側面４２ｃが位置決めピン２６に当接して、該回動側挟持部材４２の反時計方向への回動を停止させる。この状態から、回動側挟持部材４２を時計方向へ継続的に回動させると、回動側挟持部材４２の側面４２ｃは位置決めピン２６から離隔され（図７（ｄ）参照）、電極チップＷ，Ｗが挟持された後は一対の回転板２１，２２が回動側挟持部材４２とともに反時計方向へ回動するため、位置決めピン２６は、保持体１１の切欠面１１ｄから離隔される（図７（ｆ）参照）。   In addition, positioning pins 26 are welded to the outer peripheral surfaces 21b and 22b of the pair of rotating plates 21 and 22 in the vicinity of the side surface 42c of the rotation-side clamping member 42, respectively. The positioning pin 26 regulates the rotation position where the rotation side clamping member 42 is rotated most counterclockwise, and the rotation side clamping member 42 is rotated most counterclockwise. Then, as shown in FIG. 4, the positioning pin 26 comes into contact with the notch surface 11d of the holding body 11 to stop the rotation of the pair of rotating plates 21 and 22 in the counterclockwise direction, and the rotating side clamping member. The side surface 42c of 42 contacts the positioning pin 26 and stops the rotation of the rotation side clamping member 42 in the counterclockwise direction. When the rotation-side clamping member 42 is continuously rotated clockwise from this state, the side surface 42c of the rotation-side clamping member 42 is separated from the positioning pin 26 (see FIG. 7D), and the electrode tip W Since the pair of rotary plates 21 and 22 rotate counterclockwise together with the rotation-side clamping member 42 after the sandwiched W is sandwiched, the positioning pin 26 is separated from the notch surface 11d of the holding body 11 (FIG. 7 (f)).

次に、電極チップＷ，Ｗをシャンクの先端側に付勢する圧入部３０は、図４又は図５に示すように、一方及び他方の圧入部材３１，３２が保持体１１を挟んで配置され、一方の圧入部材３１には、保持体１１の上面１１ｂ及び一方の回転板２１と摺動する摺動面３１ａが形成され、他方の圧入部材３２には、保持体１１の下面１１ｃ及び他方の回転板２２２と摺動する摺動面３２ａが形成され、こられ一方及び他方の圧入部材３１，３２は、案内板１２の上下（図５紙面の右側が上）両側に形成された案内溝１２ｃ，１２ｄにそれぞれ案内されて後述する第１のエアシリンダ３６の駆動により進退移動可能に配置されている。そして、一方及び他方の圧入部材３１，３２の各先端部には、電極チップＷ，Ｗが装着されたシャンク１０３，１０４の装着軸部１０３ａ，１０４ａをそれぞれ挿入可能な内幅で略Ｕ字状の凹部３１ｂ，３２ｂがそれぞれ形成されるとともに、一方の凹部３１ｂを挟む両側には突出するフォーク３１ｃが、また、他方の凹部３２ｂを挟む両側には突出するフォーク３２ｃがそれぞれ形成されている。これらのフォーク３１ｃ，３２ｃには、電極チップＷ，Ｗの背面Ｗａ，Ｗａにそれぞれ圧接される傾斜面３１ｄ，３２ｄがそれぞれ形成され（図７（ｃ）参照）、これら傾斜面３１ｄ，３２ｄの肉厚が先端側から基端側にかけて厚くなる傾斜面に形成されている。すなわち、フォーク３１ｃ，３２ｃの先端の肉厚は、シャンク１０３，１０４の段差部１０３ｂ，１０４ｂと、該シャンク１０３，１０４に装着された電極チップＷ，Ｗの背面Ｗａ，Ｗａとの間にそれぞれ挿入可能であるとともに、最も厚い基端側の傾斜部の肉厚は、シャンク１０３，１０４の段差部１０３ｂ，１０４ｂと電極チップＷ，Ｗの背面Ｗａ，Ｗａとの間にそれぞれ挿入不可能な肉厚に形成されている。   Next, as shown in FIG. 4 or FIG. 5, the press-fit portion 30 that biases the electrode tips W, W toward the tip end side of the shank is arranged with one and the other press-fit members 31, 32 sandwiching the holding body 11. The one press-fitting member 31 is formed with a top surface 11b of the holding body 11 and a sliding surface 31a that slides with the one rotary plate 21, and the other press-fitting member 32 has a lower surface 11c of the holding body 11 and the other side. A sliding surface 32a that slides on the rotating plate 222 is formed, and the one and the other press-fitting members 31, 32 are guide grooves 12c formed on both upper and lower sides of the guide plate 12 (the right side of FIG. 5 is the upper side). , 12d and is arranged so as to be able to move forward and backward by driving a first air cylinder 36 described later. Then, at the front end portions of the one and the other press-fitting members 31 and 32, the mounting shaft portions 103a and 104a of the shanks 103 and 104 to which the electrode tips W and W are mounted are inserted into a substantially U shape with an inner width that can be respectively inserted. The recesses 31b and 32b are respectively formed, and forks 31c projecting on both sides sandwiching one recess 31b and forks 32c projecting on both sides sandwiching the other recess 32b are formed. The forks 31c and 32c are respectively formed with inclined surfaces 31d and 32d that are pressed against the back surfaces Wa and Wa of the electrode tips W and W, respectively (see FIG. 7C). It is formed in the inclined surface where thickness becomes thick from the front end side to the base end side. That is, the thicknesses of the tips of the forks 31c and 32c are respectively inserted between the stepped portions 103b and 104b of the shanks 103 and 104 and the back surfaces Wa and Wa of the electrode chips W and W attached to the shanks 103 and 104, respectively. The thickness of the thickest inclined portion on the base end side is such that it cannot be inserted between the stepped portions 103b and 104b of the shanks 103 and 104 and the back surfaces Wa and Wa of the electrode tips W and W, respectively. Is formed.

また、一対の摺動案内板１３，１４の間には、図３に示すように、スライダ３３が、該摺動案内板１３，１４の内側面（符号は省略する）により摺動可能に配置されてなり、このスライダ３３には、一方の摺動案内板１３に固定された支持案内キー１６が摺動可能に嵌入されるキー溝（符号は省略する）が板厚方向の中央部に刻設され、該スライダ３３は、前記支持案内キー１６に上下方向（図３紙面の表裏方向）が支持されるとともに案内されて進退移動する。また、前記スライダ３３の上下面には、一方及び他方の圧入部材３１，３２のそれぞれの基端部が、上下面の片側について２個ずつのボルト３４により一体的に固定されている。また、取付け板１５には、第１のエアシリンダ（本発明の第１の駆動装置）３６が固定され、この第１のエアシリンダ３６の空気圧により進退移動するロッド３６ａの先端に継手１７が固定され、この継手１７が前記スライダ３３の後端面に固定されている。   Further, as shown in FIG. 3, a slider 33 is disposed between the pair of sliding guide plates 13 and 14 so as to be slidable by the inner side surfaces (reference numerals are omitted) of the sliding guide plates 13 and 14. The slider 33 has a key groove (reference numeral omitted) in which a support guide key 16 fixed to one sliding guide plate 13 is slidably inserted. The slider 33 is supported by the support guide key 16 in the vertical direction (front and back direction in FIG. 3) and is moved forward and backward. Further, the base end portions of the one and the other press-fitting members 31 and 32 are integrally fixed to the upper and lower surfaces of the slider 33 by two bolts 34 on one side of the upper and lower surfaces. A first air cylinder (first drive unit of the present invention) 36 is fixed to the mounting plate 15, and a joint 17 is fixed to the tip of a rod 36 a that moves forward and backward by the air pressure of the first air cylinder 36. The joint 17 is fixed to the rear end surface of the slider 33.

したがって、一方及び他方の圧入部材３１，３２は、案内板１２に案内されるとともに、スライダ３３を介して前記摺動案内板１３，１４及び支持案内キー１６に案内されて、第１のエアシリンダ３６の駆動により進退移動される。そして、電極チップＷ，Ｗの取外しの際には、第１のエアシリンダ３６の前進側への駆動により、前記一方及び他方の圧入部材３１，３２のフォーク３１ｃ，３２ｃが前進して、一対の回転板２１，２２の挿入穴２１ａ，２２ａの両側から対向して挿入された図５に示すシャンク１０３，１０４の段差部１０３ｂ，１０４ｂと、該シャンク１０３，１０４に装着された電極チップＷ，Ｗの背面Ｗａ，Ｗａとの間にそれぞれ圧入される（図７（ｃ），（ｄ）参照）。これらフォーク３１ｃ，３２ｃの圧入により、電極チップＷ，Ｗの背面Ｗａ，Ｗａに圧接される傾斜面３１ｄ，３２ｄによる楔作用が生じ、電極チップＷ，Ｗは、シャンク１０３，１０４の先端側に付勢された状態で後述する挟持部４０により挟持ながら回転されてテーパ嵌合が緩められるとともに、前記フォーク３１ｃ，３２ｃにより継続して付勢されていることから、テーパ嵌合が緩められたそれぞれの電極チップＷ，Ｗは、シャンク１０３，１０４から確実に離間される（図７（ｅ），（ｆ）参照）。なお、上記一方及び他方の圧入部材３１，３２の傾斜面３１ｄ，３２ｄについて、本実施の形態のおいては、該傾斜面３１ｄ，３２ｄを電極チップＷ，Ｗの背面Ｗａ，Ｗａに圧接する構成としたが、該傾斜面３１ｄ，３２ｄをシャンク１０３，１０４の段差部１０３ｂ，１０４ｂに圧接させる構成にしてもよい。ただし、傾斜面３１ｄ，３２ｄがシャンク１０３，１０４の段差部１０３ｂ，１０４ｂに圧接されることにより、該段差部１０３ｂ，１０４ｂに圧痕（疵）が付くことから、該傾斜面３１ｄ，３２ｄは電極チップＷ，Ｗの背面Ｗａ，Ｗａに圧接させることが好ましい。   Therefore, the one and the other press-fitting members 31 and 32 are guided by the guide plate 12 and are also guided by the slide guide plates 13 and 14 and the support guide key 16 via the slider 33, so that the first air cylinder It is moved forward and backward by driving 36. When the electrode tips W, W are removed, the forks 31c, 32c of the one and the other press-fitting members 31, 32 are moved forward by driving the first air cylinder 36 forward. The step portions 103b and 104b of the shanks 103 and 104 shown in FIG. 5 inserted facing the both sides of the insertion holes 21a and 22a of the rotary plates 21 and 22, and the electrode tips W and W mounted on the shanks 103 and 104. Are press-fitted between the rear surfaces Wa and Wa (see FIGS. 7C and 7D). Due to the press-fitting of these forks 31c and 32c, a wedge action is caused by the inclined surfaces 31d and 32d pressed against the back surfaces Wa and Wa of the electrode tips W and W, and the electrode tips W and W are attached to the front ends of the shanks 103 and 104. Since the taper fitting is loosened and rotated while being held by a clamping portion 40 described later in a biased state, and continuously biased by the forks 31c and 32c, the taper fitting is loosened. The electrode tips W and W are reliably separated from the shanks 103 and 104 (see FIGS. 7E and 7F). In the present embodiment, the inclined surfaces 31d and 32d of the one and the other press-fitting members 31 and 32 are configured to press the inclined surfaces 31d and 32d against the back surfaces Wa and Wa of the electrode chips W and W, respectively. However, the inclined surfaces 31d and 32d may be pressed against the step portions 103b and 104b of the shanks 103 and 104, respectively. However, since the inclined surfaces 31d and 32d are pressed against the stepped portions 103b and 104b of the shanks 103 and 104, the stepped portions 103b and 104b are indented (wrinkles). It is preferable to press-contact the back surfaces Wa and Wa of W and W.

次に、電極チップＷ，Ｗを挟持して回転させる挟持部４０は、図４，図５又は図６に示すように、一対の回転板２１，２２に形成された挿入穴２１ａ，２２ａの近傍であって、前記スペーサ２３の端面２３ａ，２３ｂの反対側には、挿入穴２１ａ，２２ａの両側から対向して挿入された電極チップＷ，Ｗを挟持する一方の固定側挟持部材４１が、一対の回転板２１，２２に挟まれるようにして固定ピン４３，４３により固定されている。この固定側挟持部材４１は、前記一対の回転板２１，２２の挿入穴２１ａ，２２ａの両側から挿入され後述する回動側挟持部材４２により中心側へ押圧された電極チップＷ，Ｗのそれぞれの外周に当接可能な幅の略Ｖ字状の挟持面４１ａ，４１ｂが形成され（図４（ｂ）参照）、これらの挟持面４１ａ，４１ｂには、電極チップＷとの滑り止めのための先端鋭角な凹凸が形成されている。これらの挟持面４１ａ，４１ｂの谷部には、凹部４１ｃが形成され、この凹部４１ｃ内に後述する弾性材６２が挿入され、後述するリング部材６１を付勢している。   Next, as shown in FIG. 4, FIG. 5, or FIG. 6, the clamping part 40 that clamps and rotates the electrode tips W, W is near the insertion holes 21 a, 22 a formed in the pair of rotating plates 21, 22. On the opposite side of the end faces 23a, 23b of the spacer 23, there is a pair of fixed-side clamping members 41 for clamping the electrode chips W, W inserted facing from both sides of the insertion holes 21a, 22a. Are fixed by fixing pins 43 and 43 so as to be sandwiched between the rotating plates 21 and 22. The fixed-side clamping member 41 is inserted from both sides of the insertion holes 21a and 22a of the pair of rotating plates 21 and 22, and each of the electrode chips W and W pressed to the center side by a rotation-side clamping member 42 described later. V-shaped holding surfaces 41a and 41b having a width capable of contacting the outer periphery are formed (see FIG. 4B), and these holding surfaces 41a and 41b are provided for preventing slippage with the electrode tip W. A sharp irregularity at the tip is formed. A concave portion 41c is formed in the valley portions of the sandwiching surfaces 41a and 41b, and an elastic material 62 described later is inserted into the concave portion 41c to urge a ring member 61 described later.

また、固定側挟持部材４１の反対側であって、一対の回転板２１，２２の間には、挿入穴２１ａ，２２ａの両側から対向して挿入された電極チップＷ，Ｗを挟持する他方の回動側挟持部材４２が、支持ピン４５により回動可能に支持されている。この回動側挟持部材４２には、前記固定側挟持部材４１の挟持面４１ａ，４１ｂと対向する位置に電極チップＷ，Ｗのそれぞれの外周に当接可能な幅の挟持面４２ａが形成され（図４（ｂ）参照）、この挟持面４２ａには、前記電極チップＷ，Ｗとの滑り止めのための先端鋭角な凹凸が形成されている。そして、この回動側挟持部材４２が、後述する第２のエアシリンダ５４の後退側への駆動により支持ピン４５を中心にして時計方向に回動されることにより、挟持面４２ａが前記電極チップＷ，Ｗに接近し、やがて該挟持面４２ａが前記電極チップＷ，Ｗに当接して押圧し（図７（ｃ），（ｄ）参照）、さらに該回動側挟持部材４２が時計方向に回動されると、前記電極チップＷ，Ｗは、該回動側挟持部材４２の挟持面４２ａと、前記固定側挟持部材４１の挟持面４１ａ，４１ｂとの協働により挟持されながらシャンク１０３，１０４に対して時計方向に回動される（図７（ｅ），（ｆ）参照）。したがって、前記電極チップＷ，Ｗは、シャンク１０３，１０４に対して回動されるとともに、前記一方及び他方の圧入部材３１，３２のフォーク３１ｃ，３２ｃによりシャンク１０３，１０４の先端側に付勢されていることにより、前記電極チップＷ，Ｗのテーパ穴Ｗｂ，Ｗｂとシャンク１０３，１０４のテーパ軸部１０３ｃ、１０４ｃとのテーパ嵌合が緩められ、該シャンク１０３，１０４から確実に離間される。   The other side of the pair of rotating plates 21 and 22 is the opposite side of the fixed side clamping member 41 and sandwiches the electrode chips W and W inserted oppositely from both sides of the insertion holes 21a and 22a. The rotating side clamping member 42 is rotatably supported by the support pin 45. The rotation-side clamping member 42 is formed with a clamping surface 42a having a width capable of contacting the outer periphery of each of the electrode tips W, W at a position facing the clamping surfaces 41a, 41b of the fixed-side clamping member 41 ( As shown in FIG. 4 (b), the clamping surface 42a is formed with sharp irregularities at the tip for preventing slipping with the electrode chips W, W. Then, the rotation-side clamping member 42 is rotated clockwise around the support pin 45 by driving the second air cylinder 54, which will be described later, to the retreat side, whereby the clamping surface 42a becomes the electrode chip. The gripping surface 42a eventually comes into contact with and presses the electrode tips W and W (see FIGS. 7 (c) and 7 (d)), and the rotation-side clamping member 42 is rotated clockwise. When rotated, the electrode chips W, W are held by the cooperation of the holding surface 42a of the rotating side holding member 42 and the holding surfaces 41a, 41b of the fixed side holding member 41, while the shank 103, It is rotated in the clockwise direction with respect to 104 (see FIGS. 7E and 7F). Accordingly, the electrode tips W, W are rotated with respect to the shanks 103, 104 and are urged toward the front ends of the shanks 103, 104 by the forks 31c, 32c of the one and the other press-fitting members 31, 32. As a result, the taper fitting between the taper holes Wb, Wb of the electrode tips W, W and the taper shaft portions 103 c, 104 c of the shanks 103, 104 is loosened, and they are reliably separated from the shanks 103, 104.

また、他方の回転板２２には、図２及び図３に示すように、ばね掛けボルト４７が立設されるとともに、一方の摺動案内板１３には、ばね掛けボルト４８が立設され、これらのばね掛けボルト４７とばね掛けボルト４８とには、他方の回転板２２及び該他方の回転板２２に直接又は間接的に取付けられたスペーサ２３、一方の回転板２１、回動側挟持部材４２等を反時計方向に付勢する弾性体である引張りばね４９が張架されている。したがって、他方の回転板２２及び該他方の回転板２２に直接又は間接的に取付けられたスペーサ２３、一方の回転板２１、回動側挟持部材４２等を時計方向へ回転させる場合には、引張りばね４９の張力に抗して回転させこととなる。また、他方の摺動案内板１４にはブラケット５３が立設され、このブラケット５３には、第２のエアシリンダ（本発明の第２の駆動装置）５４の後部が揺動ピン５５により揺動自在に支持されるとともに、該第２のエアシリンダ５４の空気圧により進退移動するロッド５４ａの先端に固定された継手５７が、揺動ピン５８により揺動自在に支持されている。したがって、前記回動側挟持部材４２は、支持ピン４５を回動中心として、前記第２のエアシリンダ５４の後退側への駆動により時計方向に回動され、該回動側挟持部材４２の図４に示す挟持面４２ａが前記電極チップＷ，Ｗに接近し、前記第２のエアシリンダ５４の前進側への駆動により反時計方向に回動され、該回動側挟持部材４２の挟持面４２ａが前記電極チップＷ，Ｗから離間する。   Further, as shown in FIGS. 2 and 3, a spring hanging bolt 47 is erected on the other rotating plate 22, and a spring hanging bolt 48 is erected on the one sliding guide plate 13. The spring hanging bolt 47 and the spring hanging bolt 48 include the other rotating plate 22, the spacer 23 attached directly or indirectly to the other rotating plate 22, the one rotating plate 21, and the rotating side clamping member. A tension spring 49, which is an elastic body that biases 42 and the like counterclockwise, is stretched. Accordingly, when the other rotating plate 22 and the spacer 23 attached directly or indirectly to the other rotating plate 22, the one rotating plate 21, the rotating side holding member 42, etc. are rotated in the clockwise direction, pulling is required. The spring 49 is rotated against the tension of the spring 49. A bracket 53 is erected on the other sliding guide plate 14, and the rear portion of the second air cylinder (second driving device of the present invention) 54 is swung by a swing pin 55. A joint 57 that is supported freely and fixed to the tip of a rod 54 a that moves forward and backward by the air pressure of the second air cylinder 54 is swingably supported by a swing pin 58. Therefore, the rotation-side clamping member 42 is rotated clockwise by driving the second air cylinder 54 backward with the support pin 45 as the rotation center. 4 is approached to the electrode tips W, W, and is rotated counterclockwise by driving the second air cylinder 54 forward, whereby the clamping surface 42a of the rotating side clamping member 42 is rotated. Is separated from the electrode tips W, W.

そして、図３又は図４において、前記第２のエアシリンダ５４の後退側への駆動により回動側挟持部材４２が時計方向に回動されると、該回動側挟持部材４２の挟持面４２ａが前記電極チップＷ，Ｗに接近し、やがて挟持面４２ａは前記電極チップＷ，Ｗのそれぞれに当接する。この回動側挟持部材４２の挟持面４２ａが前記電極チップＷ，Ｗのそれぞれに当接した状態から、該回動側挟持部材４２をさらに時計方向に回動させると、該回動側挟持部材４２は引張りばね４９の張力に抗して回動することから、前記電極チップＷ，Ｗは、固定側挟持部材４１の挟持面４１ａ，４１ｂと回動側挟持部材４２の挟持面４２ａとによる押圧力により挟持される。これら電極チップＷ，Ｗが挟持された状態を維持しながら、さらに回動側挟持部材４２を時計方向に回動させると、シャンク１０３，１０４に装着された電極チップＷ，Ｗは、シャンク１０３，１０４に対して時計方向にそれぞれ回転されるとともに、一対の回転板２１，２２も、保持体１１の保持穴１１ａに案内されて時計方向に回転される。   In FIG. 3 or FIG. 4, when the rotation-side clamping member 42 is rotated in the clockwise direction by driving the second air cylinder 54 backward, the clamping surface 42 a of the rotation-side clamping member 42. Approaches the electrode tips W and W, and the sandwiching surface 42a eventually comes into contact with the electrode tips W and W, respectively. When the rotation-side clamping member 42 is further rotated clockwise from the state in which the clamping surface 42a of the rotation-side clamping member 42 is in contact with each of the electrode chips W, W, the rotation-side clamping member Since 42 rotates against the tension of the tension spring 49, the electrode tips W, W are pushed by the clamping surfaces 41a, 41b of the fixed-side clamping member 41 and the clamping surface 42a of the rotation-side clamping member 42. Clamped by pressure. When the rotation side holding member 42 is further rotated in the clockwise direction while maintaining the state in which the electrode chips W and W are held, the electrode chips W and W attached to the shanks 103 and 104 are The pair of rotating plates 21 and 22 are also rotated in the clockwise direction by being guided by the holding holes 11 a of the holding body 11.

したがって、上記構成でなる圧入部３０と挟持部４０とによれば、電極チップＷ，Ｗは、図７（ｃ），（ｄ）に示すように、該電極チップＷ，Ｗのそれぞれの背面Ｗａ，Ｗａと、シャンク１０３，１０４のそれぞれの段差部１０３ｂ，１０４ｂとの間に圧入された一方及び他方の圧入部材３１，３２のそれぞれのフォーク３１ｃ，３２ｃにより、シャンク１０３，１０４の先端側へそれぞれ付勢された状態を維持しながら、固定側挟持部材４１の挟持面４１ａ及び４１ｂと回動側挟持部材４２の挟持面４２ａとによる常に３点で電極チップＷ，Ｗのそれぞれの外周が挟持されることから、該電極チップＷ，Ｗは、それぞれ確実に挟持されながらシャンク１０３，１０４に対して回転し、該シャンク１０３，１０４とのそれぞれのテーパ嵌合が確実に緩められるとともに、一方及び他方の圧入部材３１，３２により継続的に付勢されてなることからシャンク１０３，１０４のそれぞれの先端側から確実に離間される。   Therefore, according to the press-fitting part 30 and the clamping part 40 having the above-described configuration, the electrode chips W, W are provided on the back surfaces Wa of the electrode chips W, W as shown in FIGS. 7 (c) and 7 (d). Wa and the respective forks 31c and 32c of the one and the other press-fitting members 31 and 32 press-fitted between the step portions 103b and 104b of the shanks 103 and 104, respectively, toward the tip side of the shanks 103 and 104. While maintaining the biased state, the outer circumferences of the electrode tips W and W are always held at three points by the holding surfaces 41a and 41b of the fixed-side holding member 41 and the holding surface 42a of the rotating-side holding member 42. Therefore, the electrode tips W and W rotate with respect to the shanks 103 and 104 while being securely clamped, and the respective taper fitting with the shanks 103 and 104 is performed. Indeed with loosened, is reliably separated from each of the distal end side of the shank 103, 104 from becoming continually being urged by one and the other of the press members 31, 32.

なお、上記一方及び他方の圧入部材３１，３２のそれぞれのフォーク３１ｃ，３２ｃの圧入により電極チップＷ，Ｗがシャンク１０３，１０４の先端から離間されるためには、該電極チップＷ，Ｗがシャンク１０３，１０４の先端側へ移動しなければならないが、該電極チップＷ，Ｗは、固定側挟持部材４１の挟持面４１ａ，４１ｂと回動側挟持部材４２の挟持面４２ａとにそれぞれ挟持されて移動できないため、図７（ｅ）に示すように、シャンク１０３，１０４が該電極チップＷ，Ｗから離間する方向へそれぞれ移動する。これらのシャンク１０３，１０４は、図１に示す溶接ロボット１０１のガン１０２に設置されてなり、軸方向へ荷重が負荷されると、シャンク１０３，１０４の取付け部材（符号は省略する）の弾性変形により移動される。そして、電極チップＷ，Ｗをシャンク１０３，１０４から離間させるためには、該シャンク１０３，１０４が、例えば、０．０１ｍｍ程度の微量でも軸方向へ移動すれば、前記電極チップＷ，Ｗは固定側挟持部材４１の挟持面４１ａ，４１ｂと回動側挟持部材４２の挟持面４２ａとに挟持されながら回動するため、該シャンク１０３，１０４のテーパ軸部１０３ｃ、１０４ｃは、前記電極チップＷ，Ｗのテーパ穴Ｗｂ，Ｗｂとの圧着が解除され、確実に離間される。ただし、図７（ｅ）の表示は、移動の形態を明確にするため過大な移動量により図示されている。   In order to separate the electrode tips W, W from the tips of the shanks 103, 104 by the press-fitting of the respective forks 31c, 32c of the one and the other press-fitting members 31, 32, the electrode tips W, W are connected to the shank. The electrode tips W and W are clamped between the clamping surfaces 41a and 41b of the fixed-side clamping member 41 and the clamping surface 42a of the rotating-side clamping member 42, respectively. Since it cannot move, as shown in FIG. 7E, the shanks 103 and 104 move in directions away from the electrode tips W and W, respectively. These shanks 103 and 104 are installed on the gun 102 of the welding robot 101 shown in FIG. 1, and when a load is applied in the axial direction, the elastic deformation of the mounting members (reference numerals are omitted) of the shanks 103 and 104. It is moved by. In order to separate the electrode tips W, W from the shanks 103, 104, the electrode tips W, W are fixed if the shanks 103, 104 move in the axial direction even with a minute amount of about 0.01 mm, for example. Since the taper shafts 103c and 104c of the shanks 103 and 104 rotate while being sandwiched between the clamping surfaces 41a and 41b of the side clamping member 41 and the clamping surface 42a of the rotating side clamping member 42, The crimping of the W taper holes Wb and Wb is released, and the taper is reliably separated. However, the display in FIG. 7E is illustrated with an excessive amount of movement in order to clarify the form of movement.

次に、電極チップＷ，Ｗを固定側挟持部材４１から離間させるチップ離間部６０は、挿入空間２０（図２参照）内に配置され、図４及び図６に示す固定側挟持部材４１及び回動側挟持部材４２に係合して支持されるリング部材６１と、このリング部材６１を付勢する弾性材６２とから構成されている。これらのうち、リング部材６１は、図４に示すように、内径は、電極チップＷ，Ｗを挿入可能に形成されるとともに、外径は、回動側挟持部材４２が最も反時計方向に回動された状態における固定側挟持部材４１の挟持面４１ａ，４１ｂと回動側挟持部材４２の挟持面４２ａとに内接する内接円（図示は省略する）を超える大きさに形成された円筒状に成形されている。このリング部材６１の側壁部には、図４（ｂ）又は図６に示すように、固定側挟持部材４１の挟持面４１ａを含む端部４１ｄが挿入される貫通穴６１ａと、固定側挟持部材４１の挟持面４１ｂを含む端部４１ｅが挿入される貫通穴６１ｂと、回動側挟持部材４２の挟持面４２ａを含む端部４２ｂが挿入される貫通穴６１ｃとがそれぞれ形成されている。したがって、このリング部材６１の各貫通穴６１ａ，６１ｂ，６１ｃに、固定側挟持部材４１の端部４１ｄ，４１ｅと回動側挟持部材４２の端部４２ｂとがそれぞれ挿入されることにより、リング部材６１は挿入空間２０から脱落しないものである。   Next, the tip separation portion 60 that separates the electrode tips W, W from the fixed-side holding member 41 is disposed in the insertion space 20 (see FIG. 2), and the fixed-side holding member 41 and the rotation shown in FIGS. The ring member 61 is supported by being engaged with the moving-side clamping member 42, and an elastic member 62 that biases the ring member 61. Among these, as shown in FIG. 4, the ring member 61 is formed so that the inner diameter of the ring member 61 can be inserted into the electrode tips W and W, and the outer diameter of the ring member 61 is rotated most counterclockwise by the rotating side clamping member 42. A cylindrical shape formed in a size exceeding an inscribed circle (not shown) inscribed in the clamping surfaces 41a and 41b of the fixed-side clamping member 41 and the clamping surface 42a of the rotation-side clamping member 42 in the moved state. It is molded into. As shown in FIG. 4B or 6, the ring member 61 has a through hole 61 a into which an end 41 d including the clamping surface 41 a of the fixed-side clamping member 41 is inserted, and a fixed-side clamping member, as shown in FIG. A through hole 61b into which the end portion 41e including the clamping surface 41b of 41 is inserted and a through hole 61c into which the end portion 42b including the clamping surface 42a of the rotating side clamping member 42 is inserted are formed. Accordingly, the end portions 41d and 41e of the fixed-side clamping member 41 and the end portion 42b of the rotating-side clamping member 42 are respectively inserted into the through holes 61a, 61b and 61c of the ring member 61, whereby the ring member 61 does not fall out from the insertion space 20.

また、弾性材６２は、図４（ａ），（ｂ）に示すように、ポリウレタンを素材として上記固定側挟持部材４１の凹部４１ｃ内に挿入され、ポリウレタンが有する弾性反発力によりリング部材６１の側壁６１ｄを電極チップＷ，Ｗの中心側へ付勢している。そして、回動側挟持部材４２を反時計方向に回動させてそれぞれの電極チップＷ，Ｗを挟持状態から解除する際に、回動側挟持部材４２の挟持面４２ａがそれぞれの電極チップＷ，Ｗから離間された後、それぞれの電極チップＷ，Ｗが固定側挟持部材４１の挟持面４１ａ，４１ｂに食込んでいても、それぞれの電極チップＷ，Ｗは、リング部材６１の側壁６１ｄを介して弾性材６２により付勢され、固定側挟持部材４１の挟持面４１ａ，４１ｂから離間されるとともに食込み状態が解除されて、それぞれの電極チップＷ，Ｗは自重により下方へ確実に落下し排出される。   As shown in FIGS. 4A and 4B, the elastic member 62 is inserted into the concave portion 41c of the fixed-side holding member 41 using polyurethane as a raw material, and the elastic member 62 has an elastic repulsive force. The side wall 61d is urged toward the center side of the electrode tips W, W. When the rotation-side clamping member 42 is rotated counterclockwise to release the respective electrode tips W, W from the clamping state, the clamping surface 42a of the rotation-side clamping member 42 has the respective electrode tips W, Even if the electrode tips W and W are biting into the clamping surfaces 41 a and 41 b of the fixed-side clamping member 41 after being separated from the W, the electrode tips W and W are interposed through the side wall 61 d of the ring member 61. The elastic member 62 is biased to move away from the clamping surfaces 41a and 41b of the fixed clamping member 41 and the biting state is released, so that the respective electrode tips W and W are surely dropped and discharged by their own weight. The

なお、このチップ離間部６０では、電極チップＷ，Ｗが固定側挟持部材４１の挟持面４１ａ，４１ｂに食込んだ状態から離間すべく付勢するものであるが、回動側挟持部材４２の挟持面４２ａに食込んだ状態からは付勢する必要がない。すなわち、電極チップＷ，Ｗが挟持された状態では、該電極チップＷ，Ｗは、固定側挟持部材４１の挟持面４１ａ，４１ｂ及び／又は回動側挟持部材４２の挟持面４２ａに食込んでいるが、回動側挟持部材４２の挟持面４２ａに食込んでいる場合には、挟持を解錠するために回動側挟持部材４２を反時計方向に回動させると、回動側挟持部材４２の挟持面４２ａに食込んで追従してきた電極チップＷ，Ｗはリング部材６１の内周にそれぞれ当接して離間される。   In this tip separation portion 60, the electrode tips W, W are urged so as to separate from the state where the electrode tips W, W are caught in the holding surfaces 41a, 41b of the fixed side holding member 41. It is not necessary to energize from the state where it has bitten into the clamping surface 42a. In other words, in a state where the electrode tips W, W are sandwiched, the electrode tips W, W bite into the sandwiching surfaces 41a, 41b of the fixed-side sandwiching member 41 and / or the sandwiching surface 42a of the rotating-side sandwiching member 42. However, when the biting surface 42a of the rotating side holding member 42 is bitten, if the rotating side holding member 42 is rotated counterclockwise in order to unlock the holding side, the rotating side holding member The electrode tips W and W that have bitten and followed the clamping surface 42a of the 42 are in contact with and separated from the inner periphery of the ring member 61.

次に、電極チップの交換装置（符号は省略する）を構成するチップ装着装置７１について、図９及び図１０をそれぞれ参照しながら詳細に説明する。この電極チップの交換装置は、上記電極チップの取外し装置１と、この電極チップの取外し装置１の近傍の図示しない電極チップの装着位置に配置され、新たに装着する複数の電極チップＷが収納される図９に示すチップ装着装置７１と、を備えてなるものであって、チップ装着装置７１は、電極チップの取外し装置１の近傍に脚板７２が固定され、この脚板７２の中央部に立設された支柱７３の上端部に固定されてなり、シャンク１０３，１０４に装着される新たな電極チップＷ，Ｗを収容する装着収容部７４と、複数の電極チップＷ，Ｗを収納する一対の収納部７５，７６とから構成されている。これらのうち、装着収容部７４は、図９又は図１０に示すように、この装着収容部７４の両側にシャンク１０３，１０４が挿入されるとともに新たな電極チップＷ，Ｗの背面Ｗａ，Ｗａがそれぞれ露出するように開口された開口部７４ａ，７４ｂと、新たな電極チップＷ，Ｗがそれぞれ収容される収容室７４ｃ、７４ｄと、新たな電極チップＷ，Ｗの先端Ｗｃ，Ｗｃが当接する当接壁部７４ｅ，７４ｆと、前記収容室７４ｃ、７４ｄの側部であって電極チップＷ，Ｗをそれぞれ横向きの状態で挿通可能に後述する一対の収納部７５，７６の収納空間７５ｃ，７６ｃと連通して形成された連通路７４ｇ，７４ｈとから構成されてなる電極チップ装着室（符号は省略する）を備えている。   Next, a tip mounting device 71 constituting an electrode tip exchange device (reference numerals are omitted) will be described in detail with reference to FIGS. 9 and 10 respectively. This electrode tip exchange device is disposed at the electrode tip removal device 1 and the electrode tip attachment position (not shown) in the vicinity of the electrode tip removal device 1 and accommodates a plurality of electrode tips W to be newly attached. The chip mounting device 71 shown in FIG. 9 is provided with a leg plate 72 fixed in the vicinity of the electrode chip removal device 1 and standing at the center of the leg plate 72. A mounting housing portion 74 for housing new electrode chips W and W to be mounted on the shanks 103 and 104 and a pair of housings for storing a plurality of electrode chips W and W. It is comprised from the part 75,76. Among these, as shown in FIG. 9 or FIG. 10, the mounting housing portion 74 includes shanks 103 and 104 inserted on both sides of the mounting housing portion 74 and rear surfaces Wa and Wa of new electrode chips W and W. The openings 74a and 74b opened so as to be exposed, the accommodating chambers 74c and 74d in which the new electrode chips W and W are respectively accommodated, and the tips Wc and Wc of the new electrode chips W and W are in contact with each other. Contact walls 74e and 74f, and storage spaces 75c and 76c of a pair of storage portions 75 and 76, which will be described later, which are side portions of the storage chambers 74c and 74d and can be inserted into the electrode chips W and W in a lateral state, respectively. An electrode chip mounting chamber (reference numeral is omitted) composed of communication passages 74g and 74h formed in communication is provided.

また、一対の収納部７５，７６は、複数の電極チップＷ，Ｗをそれぞれ並列に載置する底部（符号は省略する）と、該電極チップＷ，Ｗの背面Ｗａ，Ｗａを規正する起立部（符号は省略する）とからなる略Ｌ字状に成形され、その基端部が前記装着収容部７４に固定された受け部材７５ａ，７６ａと、電極チップＷ，Ｗの先端Ｗｃ，Ｗｃを規正するとともに、前記受け部材７５ａ，７６ａの起立部と対向して該電極チップＷ，Ｗを案内可能な略Ｖ字状に成形され、前記受け部材７５ａ，７６ａの低部に固定された案内部材７５ｂ，７６ｂとから構成されている。これらのうちの、前記受け部材７５ａ，７６ａの起立部と前記案内部材７５ｂ，７６ｂとが対向して形成される収納空間７５ｃ，７６ｃ内に複数の電極チップＷ，Ｗが並列に収納される。そして、前記一対の収納部７５，７６の先端側から収納空間７５ｃ，７６ｃ内に複数の電極チップＷ，Ｗをそれぞれ並列する姿勢で挿入すると、該複数の電極チップＷ，Ｗはそれぞれの自重により下方へ移動し、先頭の電極チップＷ，Ｗは、前記収納空間７５ｃ，７６ｃと連通する前記装着収容部７４の収容室７４ｃ、７４ｄ内にそれぞれ収容される。なお、複数の電極チップＷ，Ｗを前記収納空間７５ｃ，７６ｃ内に収納する姿勢は、該電極チップＷ，Ｗの背面Ｗａ，Ｗａが背反する姿勢（先端Ｗｃ，Ｗｃが対向する姿勢）により並列に収納される。   The pair of storage portions 75 and 76 includes a bottom portion (a reference numeral is omitted) on which the plurality of electrode chips W and W are respectively placed in parallel, and an upright portion that regulates the back surfaces Wa and Wa of the electrode chips W and W. The reference members 75a and 76a whose base ends are fixed to the mounting housing 74 and the tips Wc and Wc of the electrode tips W and W are regulated. In addition, the guide member 75b is formed in a substantially V-shape that can guide the electrode tips W and W so as to face the standing portions of the receiving members 75a and 76a, and is fixed to the lower part of the receiving members 75a and 76a. , 76b. Among these, a plurality of electrode chips W, W are housed in parallel in housing spaces 75c, 76c formed by the rising portions of the receiving members 75a, 76a and the guide members 75b, 76b facing each other. Then, when the plurality of electrode chips W, W are inserted into the storage spaces 75c, 76c from the front ends of the pair of storage portions 75, 76 in a posture in which they are arranged in parallel, the plurality of electrode chips W, W are caused by their own weight. The leading electrode tips W and W move downward and are accommodated in the accommodating chambers 74c and 74d of the mounting accommodating portion 74 that communicate with the accommodating spaces 75c and 76c, respectively. The posture in which the plurality of electrode chips W, W are housed in the housing spaces 75c, 76c is parallel depending on the posture in which the back surfaces Wa, Wa of the electrode tips W, W are opposite to each other (the posture in which the tips Wc, Wc face each other). It is stored in.

したがって、上記電極チップの取外し装置１により使用限界の電極チップＷ，Ｗがシャンク１０３，１０４からそれぞれ取外された後、該シャンク１０３，１０４を溶接ロボット１０１の操作により、図１１（ａ）に示すように、上記チップ装着装置７１を構成する装着収容部７４の開口部７４ａ，７４ｂのそれぞれの近傍であって、収容室７４ｃ、７４ｄ内に収容された電極チップＷ，Ｗとそれぞれ同軸心の図示しない装着待機位置に対向して位置決めするとともに、図１１（ｂ）に示すように、シャンク１０３，１０４のテーパ軸部１０３ｃ、１０４ｃをそれぞれ対向して前進させることにより、前記収容室７４ｃ、７４ｄ内に収容されている電極チップＷ，Ｗのそれぞれの背面Ｗａ，Ｗａ側からテーパ穴Ｗｂ，Ｗｂ内に前記テーパ軸部１０３ｃ、１０４ｃが挿入され、電極チップＷ，Ｗの先端Ｗｃ，Ｗｃは前記当接壁部７４ｅ，７４ｆにそれぞれ当接されることから、電極チップＷ，Ｗのテーパ穴Ｗｂ，Ｗｂにシャンク１０３，１０４のテーパ軸部１０３ｃ、１０４ｃがそれぞれ圧着されテーパ嵌合される。すなわち、この電極チップの交換装置によれば、チップ装着装置７１を備えてなることから、電極チップの取外し装置１により使用限界に達した使用済の電極チップＷ，Ｗを一対のシャンク１０３，１０４からそれぞれ取外すとともに、該シャンク１０３，１０４に新たな電極チップＷ，Ｗをそれぞれ装着して交換することができる。   Therefore, after the electrode tips W and W of the limit of use are removed from the shanks 103 and 104 by the electrode tip detaching device 1, the shanks 103 and 104 are operated as shown in FIG. As shown in the figure, in the vicinity of the openings 74a and 74b of the mounting housing part 74 constituting the chip mounting device 71, the electrode chips W and W housed in the housing chambers 74c and 74d are coaxial with each other. The housing chambers 74c and 74d are positioned by facing a mounting standby position (not shown) and advancing the tapered shaft portions 103c and 104c of the shanks 103 and 104 to face each other as shown in FIG. 11B. The taper shaft portion into the taper holes Wb and Wb from the back surfaces Wa and Wa sides of the electrode tips W and W accommodated therein. 03c and 104c are inserted, and the tips Wc and Wc of the electrode tips W and W are brought into contact with the contact wall portions 74e and 74f, respectively. Therefore, the shank 103 and the tapered holes Wb and Wb of the electrode tips W and W are inserted. The taper shaft portions 103c and 104c of 104 are respectively crimped and taper-fitted. That is, according to this electrode tip exchange device, since the tip mounting device 71 is provided, the used electrode tips W, W that have reached the use limit by the electrode tip removal device 1 are replaced with a pair of shanks 103, 104. In addition, each of the shanks 103 and 104 can be replaced with new electrode tips W and W, respectively.

次に、上述した電極チップの交換装置を構成要素とした電極チップの交換システムについて詳細に説明する。この電極チップの交換システムは、上記電極チップの取外し装置１及びチップ装着装置７１（すなわち、電極チップの交換装置）と、上記溶接ロボット１０１と、これら電極チップの取外し装置１と溶接ロボット１０１とを関連的に制御する図１２に示す制御手段と、電極チップの先端部の磨耗値を検出する磨耗検出部８４と、磨耗値の限界値を記憶する記憶部８５と、上記チップ装着装置７１と、を備えて構成されている。これらのうち、制御手段は、図１２に示すように、全体の電気的制御を行うＣＰＵ（制御部）８１が設けられ、このＣＰＵ８１には、各種のデータを入力する入力部８２と、各種のデータを表示する表示部８３と、上記磨耗検出部８４と、上記記憶部８５と、溶接ロボット１０１を作動させるロボット制御回路８６と、上記第１のエアシリンダ３６を作動させる第１のエアシリンダの制御回路８７と、上記第２のエアシリンダ５４を作動させる第２のエアシリンダの制御回路８８と、シャンク１０３，１０４に電極チップＷ，Ｗが装着されているか否かを検出する一対の光電センサ９１，９２が接続されている。   Next, an electrode chip replacement system including the above-described electrode chip replacement apparatus as a constituent element will be described in detail. This electrode tip replacement system includes the electrode tip detachment device 1 and the tip mounting device 71 (that is, the electrode tip replacement device), the welding robot 101, and the electrode tip detachment device 1 and the welding robot 101. The control means shown in FIG. 12 to be related to control, the wear detecting unit 84 for detecting the wear value of the tip of the electrode tip, the storage unit 85 for storing the limit value of the wear value, the tip mounting device 71, It is configured with. Among these, as shown in FIG. 12, the control means is provided with a CPU (control unit) 81 that performs overall electrical control. The CPU 81 includes an input unit 82 for inputting various data, and various types of data. A display unit 83 for displaying data, the wear detection unit 84, the storage unit 85, a robot control circuit 86 for operating the welding robot 101, and a first air cylinder for operating the first air cylinder 36. A control circuit 87, a second air cylinder control circuit 88 for operating the second air cylinder 54, and a pair of photoelectric sensors for detecting whether or not the electrode tips W, W are mounted on the shanks 103, 104 91 and 92 are connected.

これらのうち、磨耗検出部８４は、図１に示す溶接ロボット１０１のガン１０２内に設けられたシャンク１０３の移動量を電気的信号により出力する図示しない移動量検出器である。この移動量検出器（磨耗検出部８４）は、シャンク１０３に装着された電極チップＷの先端Ｗｃが、図示しない溶接対象物に接触する度に該シャンク１０３の移動量を検出することができるものであって、新たに装着された直後の前記電極チップＷの先端Ｗｃが溶接対象物に接触した際の検出位置を原位置として前記記憶手段８５に記憶させておき、この原位置から、その後の溶接動作により前記電極チップＷの先端Ｗｃが溶接対象物に接触する度に検出される現在位置までの移動量により、前記電極チップＷの先端Ｗｃ側が磨耗した磨耗値を算出することができる。したがって、上記記憶部８５に電極チップＷの磨耗値の限界値を記憶させておくとともに該限界値と上記移動量検出器（磨耗検出部８４）による計測値との比較により、電極チップＷの使用限界を検知することができる。なお、電極チップＷの使用限界を検知する手段としては、シャンク１０３の移動量を電気的信号により出力する前記移動量検出器（磨耗検出部８４）に限定されるものではなく、例えば、電極チップＷによる溶接回数をカウントする図示しない計数器（カウンタ）に置き換え、前記記憶手段８５に電極チップＷの使用限界に相当する溶接回数の限界値を記憶させておくとともに該限界値と上記計数器による計測値との比較により、電極チップＷの使用限界を検知することができる。   Among these, the wear detector 84 is a movement amount detector (not shown) that outputs the movement amount of the shank 103 provided in the gun 102 of the welding robot 101 shown in FIG. 1 by an electrical signal. This movement amount detector (abrasion detection unit 84) can detect the movement amount of the shank 103 each time the tip Wc of the electrode tip W attached to the shank 103 contacts a welding object not shown. Then, the detection position when the tip Wc of the electrode tip W immediately after being newly attached comes into contact with the object to be welded is stored in the storage means 85 as the original position, and from this original position, The wear value at which the tip Wc side of the electrode tip W is worn can be calculated from the amount of movement to the current position detected each time the tip Wc of the electrode tip W comes into contact with the object to be welded by the welding operation. Therefore, the limit value of the wear value of the electrode tip W is stored in the storage unit 85, and the use of the electrode tip W is determined by comparing the limit value with the measured value by the movement amount detector (wear detection unit 84). Limits can be detected. The means for detecting the usage limit of the electrode tip W is not limited to the movement amount detector (abrasion detection unit 84) that outputs the movement amount of the shank 103 by an electrical signal. It replaces with the counter (counter) which counts the frequency | count of welding by W, and memorize | stores the limit value of the frequency | count of welding corresponding to the use limit of the electrode tip W in the said memory | storage means 85, and also by this limit value and the said counter The use limit of the electrode tip W can be detected by comparison with the measured value.

また、一対の光電センサ９１，９２は、電極チップＷ，Ｗが取外された後のシャンク１０３，１０４に該電極チップＷ，Ｗが残されていないか否かを検出するものであって、電極チップＷ，Ｗが取外された後のシャンク１０３，１０４が上記挿入空間２０から抜き出された後と、電極チップＷ，Ｗが装着された後のシャンク１０３，１０４が上記チップ装着装置７１の収容室７４ｃ、７４ｄから抜き出された後とにおいて図示しない電極チップの有無確認位置に配置され、図８（ｅ）に示すように、それぞれ発光側９１ａ，９２ａと受光側９１ｂ、９２ｂとを備え、発光側９１ａ，９２ａからの光信号を受光側９１ｂ、９２ｂが受光したか否かの電気的信号により電極チップＷ，Ｗの有無を検知することができる。   The pair of photoelectric sensors 91 and 92 detects whether or not the electrode chips W and W are left in the shanks 103 and 104 after the electrode chips W and W are removed. After the shanks 103, 104 after the electrode tips W, W are removed are extracted from the insertion space 20, and the shanks 103, 104 after the electrode tips W, W are mounted are the tip mounting device 71. After being extracted from the storage chambers 74c and 74d, they are arranged at the electrode chip presence / absence confirmation position (not shown), and as shown in FIG. 8 (e), the light emitting sides 91a and 92a and the light receiving sides 91b and 92b are respectively connected. In addition, it is possible to detect the presence or absence of the electrode chips W and W based on an electrical signal indicating whether or not the light receiving sides 91b and 92b have received optical signals from the light emitting sides 91a and 92a.

次に、上述のように構成された電極チップの交換システムの動作について、図１３及び図１４に示すフローチャートに従って説明する。まず、Ｓｔ１において、上記磨耗検出部８４により検出された電極チップＷ，Ｗの先端Ｗｃ，Ｗｃ側の磨耗値が、記憶部８５に記憶された限界値に達したか否かが判別され、磨耗値が限界値に達したと判別された場合（Ｙ）は、次のＳｔ２において、現在使用中の電極チップＷ，Ｗを取外すために溶接ロボット１０１による溶接動作を停止させ、限界値に達していないと判別された場合（Ｎ）は、Ｓｔ１に戻り溶接動作が継続される。そして、Ｓｔ２において溶接ロボット１０１の溶接動作が停止された後、次のＳｔ３において、溶接ロボット１０１の動作によりシャンク１０３，１０４を上記電極チップの取外し装置１の挿入空間２０の近傍に移動させるとともに（図７（ａ），（ｂ）参照）、該シャンク１０３，１０４に装着された磨耗限界の電極チップＷ，Ｗを一方の回転板２１の挿入穴２１ａ側と、他方の回転板２２の挿入穴２２ａ側とから対向して挿入空間２０内に挿入させる（図７（ｃ），（ｄ）参照）。この挿入空間２０内に電極チップＷ，Ｗが挿入された後、次のＳｔ４において、第１のエアシリンダ３６の前進側への駆動により一方及び他方の圧入部材３１，３２のフォーク３１ｃ，３２ｃを前進させ、シャンク１０３，１０４の段差部１０３ｂ，１０４ｂと、該シャンク１０３，１０４に装着された電極チップＷ，Ｗのそれぞれの背面Ｗａ，Ｗａとの間に圧入させる（図７（ｃ），（ｄ）参照）。この圧入により電極チップＷ，Ｗは、シャンク１０３，１０４のそれぞれの先端側に付勢される。   Next, the operation of the electrode tip replacement system configured as described above will be described with reference to the flowcharts shown in FIGS. First, in St1, it is determined whether or not the wear value on the tip Wc, Wc side of the electrode tips W, W detected by the wear detection unit 84 has reached the limit value stored in the storage unit 85, and wear. If it is determined that the value has reached the limit value (Y), the welding operation by the welding robot 101 is stopped to remove the electrode tips W and W currently in use at the next St2, and the limit value has been reached. When it is determined that there is no (N), the process returns to St1 and the welding operation is continued. Then, after the welding operation of the welding robot 101 is stopped at St2, the shanks 103 and 104 are moved to the vicinity of the insertion space 20 of the electrode tip removal apparatus 1 by the operation of the welding robot 101 at the next St3 ( 7 (a) and 7 (b)), the wear limit electrode tips W and W mounted on the shanks 103 and 104 are inserted into the insertion hole 21a side of one rotary plate 21 and the insertion holes of the other rotary plate 22, respectively. It is made to insert in the insertion space 20 facing 22a side (refer FIG.7 (c), (d)). After the electrode tips W, W are inserted into the insertion space 20, the forks 31c, 32c of the one and the other press-fitting members 31, 32 are driven by driving the first air cylinder 36 forward in the next St4. It is made to advance, and it press-fits between the level | step-difference part 103b, 104b of the shank 103,104, and each back surface Wa, Wa of the electrode chip W, W mounted | worn to this shank 103,104 (FIG.7 (c), ( d)). By this press-fitting, the electrode tips W, W are urged toward the front ends of the shanks 103, 104.

このＳｔ４により電極チップＷ，Ｗがシャンク１０３，１０４のそれぞれの先端側に付勢された後、次のＳｔ５において、第２のエアシリンダ５４の後退側への駆動より回動側挟持部材４２を時計方向に回動させて、該回動側挟持部材４２の挟持面４２ａを電極チップＷ，Ｗにそれぞれ当接させて押圧し、電極チップＷ，Ｗを固定側挟持部材４１の挟持面４１ａ，４１ｂと回動側挟持部材４２の挟持面４２ａとによりそれぞれ挟持させる（図７（ｃ），（ｄ）参照）。この挟持された状態を維持しながら、さらに回動側挟持部材４２を時計方向に回動させると、シャンク１０３，１０４に装着された電極チップＷ，Ｗは、シャンク１０３，１０４に対してそれぞれ回転されるとともに、前記一方及び他方の圧入部材３１，３２によりシャンク１０３，１０４に先端側に付勢されていることから、該電極チップＷ，Ｗは、シャンク１０３，１０４とのテーパ嵌合がそれぞれ緩められ、かつ、該シャンク１０３，１０４から離間される（図７（ｅ），（ｆ）参照）。これらの電極チップＷ，Ｗが離間された後、次のＳｔ６において、溶接ロボット１０１の動作により、挿入空間２０からシャンク１０３，１０４をそれぞれ抜き出し（図８（ａ），（ｂ）参照）、図示しない電極チップの有無確認位置に待機させる。   After the electrode tips W, W are urged toward the front ends of the shanks 103, 104 by this St4, in the next St5, the rotation side clamping member 42 is moved by driving the second air cylinder 54 backward. By rotating clockwise, the holding surface 42a of the rotating side holding member 42 is pressed against the electrode chips W, W, respectively, and the electrode chips W, W are pressed by the holding surfaces 41a, 41a of the fixed side holding member 41. 41b and the clamping surface 42a of the rotation side clamping member 42 are respectively clamped (refer FIG.7 (c), (d)). If the rotation-side clamping member 42 is further rotated clockwise while maintaining this clamped state, the electrode tips W, W attached to the shanks 103, 104 rotate with respect to the shanks 103, 104, respectively. In addition, since the one and the other press-fitting members 31 and 32 are urged toward the front end side of the shanks 103 and 104, the electrode tips W and W are taper fitted with the shanks 103 and 104, respectively. It is loosened and separated from the shanks 103 and 104 (see FIGS. 7E and 7F). After these electrode tips W, W are separated, in the next St6, the shanks 103, 104 are respectively extracted from the insertion space 20 by the operation of the welding robot 101 (see FIGS. 8A and 8B). Wait for the electrode tip presence / absence confirmation position.

これらのシャンク１０３，１０４が抜き出された後、次のＳｔ７において、第１のエアシリンダ３６の後退側への駆動により、一方及び他方の圧入部材３１，３２のフォーク３１ｃ，３２ｃを初期位置に後退させる。この後退の後、次のＳｔ８において、第２のエアシリンダ５４の前進側への駆動により回動側挟持部材４２を反時計方向に回動して初期位置に復帰させると、電極チップＷ，Ｗは、固定側挟持部材４１と回動側挟持部材４２とによる挟持状態からそれぞれ解除されるとともに、電極チップＷ，Ｗのそれぞれの自重により下方へ確実に落下し排出される（図８（ｃ），（ｄ）参照）。なお、固定側挟持部材４１と回動側挟持部材４２とによる挟持状態が解除された電極チップＷ，Ｗが、固定側挟持部材４１の挟持面４１ａ，４１ｂにそれぞれ食込んでいる場合でも、該電極チップＷ，Ｗは、図４に示すリング部材６１を介して弾性材６２により付勢され、固定側挟持部材４１の挟持面４１ａ，４１ｂから離間されて、それぞれの自重により下方へ確実に落下し排出される。なお、本発明に係る電極チップの取外しシステムを動作させる場合には、上記電極チップの交換システムを構成する上記チップ装着装置７１が不必要であるとともに、上記Ｓｔ１ないしＳｔ８でプログラムの１サイクルを終了させることにより電極チップＷ，Ｗを取外すことができる。   After these shanks 103, 104 are extracted, in the next St7, the forks 31c, 32c of the one and the other press-fitting members 31, 32 are moved to the initial positions by driving the first air cylinder 36 backward. Retreat. After this backward movement, in the next St8, when the second holding member 42 is rotated counterclockwise by driving the second air cylinder 54 forward, the electrode tips W, W Are released from the holding state by the fixed-side holding member 41 and the rotating-side holding member 42, and are reliably dropped downward and discharged by their own weights of the electrode tips W and W (FIG. 8C). (See (d)). Even when the electrode chips W, W released from the clamping state by the fixed-side clamping member 41 and the rotating-side clamping member 42 are biting into the clamping surfaces 41a, 41b of the fixed-side clamping member 41, respectively, The electrode tips W, W are urged by the elastic material 62 via the ring member 61 shown in FIG. 4, are separated from the clamping surfaces 41a, 41b of the fixed-side clamping member 41, and reliably fall downward due to their own weights. Then discharged. When the electrode tip removal system according to the present invention is operated, the tip mounting device 71 constituting the electrode tip replacement system is not necessary, and one cycle of the program is completed at St1 to St8. By doing so, the electrode tips W, W can be removed.

そして、Ｓｔ８により電極チップＷ，Ｗの挟持が解除されて排出された後、次のＳｔ９において、光電センサ９１，９２からの信号により、上記電極チップの有無確認位置で待機するシャンク１０３，１０４に電極チップＷ，Ｗが残されていないか否かが判別され（図８（ｅ）参照）、残されていないと判別された場合（Ｙ）は、次のＳｔ１０において、溶接ロボット１０１の動作によりシャンク１０３，１０４を、電極チップの装着位置に配置されたチップ装着装置７１を構成する装着収容部７４の近傍に移動させるとともに（図１１（ａ）参照）、それぞれの収容室７４ｃ、７４ｄ内に収容された電極チップＷ，Ｗ内に対向して挿入し（図１１（ｂ）参照）、電極チップＷ，Ｗのそれぞれのテーパ穴Ｗｂ，Ｗｂに、該シャンク１０３，１０４のテーパ軸部１０３ｃ、１０４ｃをそれぞれ圧着させて装着する。他方、このＳｔ９において、シャンク１０３，１０４に電極チップＷ，Ｗが残されていないと判別された場合（Ｎ）は、Ｓｔ１１に移行して溶接ロボット１０１を停止させるとともに、次のＳｔ１２において、ブザー、警告灯等により異常警告を発した後、電極チップの交換システムのプログラムを終了させる。   After the electrode chips W, W are released by St8 and discharged, in the next St9, the signals from the photoelectric sensors 91, 92 are sent to the shanks 103, 104 waiting at the electrode chip presence / absence confirmation position. It is determined whether or not the electrode tips W, W are left (see FIG. 8E). If it is determined that they are not left (Y), the operation of the welding robot 101 is performed in the next St10. The shanks 103 and 104 are moved to the vicinity of the mounting housing portion 74 constituting the chip mounting device 71 disposed at the mounting position of the electrode chip (see FIG. 11A), and in the respective storage chambers 74c and 74d. The electrode chips W, W are inserted so as to face each other (see FIG. 11B), and the shanks 103, 1 are inserted into the tapered holes Wb, Wb of the electrode chips W, W, respectively. 4 of the tapered shaft portion 103c, 104c and by crimping respectively mounted. On the other hand, if it is determined in St9 that the electrode tips W, W are not left in the shanks 103, 104 (N), the process proceeds to St11 to stop the welding robot 101, and in the next St12, the buzzer After issuing an abnormality warning by a warning light or the like, the electrode tip replacement system program is terminated.

そして、前記Ｓｔ１０によりシャンク１０３，１０４に電極チップＷ，Ｗがそれぞれ装着された後、次の１３において、溶接ロボット１０１の動作により電極チップＷ，Ｗが装着されたシャンク１０３，１０４を前記収容室７４ｃ、７４ｄ内から抜き出し（図１１（ｃ））、図示しない電極チップの有無確認位置で待機させる。次のＳｔ１４において、光電センサ９１，９２からの信号により、上記電極チップの有無確認位置で待機するシャンク１０３，１０４に電極チップＷ，Ｗが装着されているか否かが判別され（図８（ｅ）参照）、装着されていると判別された場合は、次のＳｔ１５において、溶接ロボット１０１の動作によりシャンク１０３，１０４を溶接再開位置に復帰させる。これらシャンク１０３，１０４の溶接再開位置への復帰により、プログラムの１サイクルが終了する。他方、このＳｔ１４において、光電センサ９１，９２からの信号によりシャンク１０３，１０４に電極チップＷ，Ｗが装着されていないと判別された場合は、Ｓｔ１６に移行して溶接ロボット１０１を停止させるとともに、次のＳｔ１７において、ブザー、警告灯等により異常警告を発した後、電極チップの交換システムのプログラムを終了させる。   Then, after the electrode tips W and W are mounted on the shanks 103 and 104 by St10, the shanks 103 and 104 to which the electrode tips W and W are mounted by the operation of the welding robot 101 are placed in the storage chamber in the next step 13. 74c and 74d are extracted (FIG. 11 (c)), and are put on standby at an electrode tip presence / absence confirmation position (not shown). At the next St14, it is determined whether or not the electrode tips W and W are attached to the shanks 103 and 104 waiting at the electrode tip presence / absence confirmation position based on signals from the photoelectric sensors 91 and 92 (FIG. 8 (e)). If it is determined that it is mounted, the shanks 103 and 104 are returned to the welding restart position by the operation of the welding robot 101 in the next St15. By returning the shanks 103 and 104 to the welding resuming position, one cycle of the program is completed. On the other hand, if it is determined at St14 that the electrode tips W, W are not attached to the shanks 103, 104 based on signals from the photoelectric sensors 91, 92, the process proceeds to St16 to stop the welding robot 101, In the next St17, after issuing an abnormality warning by a buzzer, a warning lamp, etc., the program of the electrode tip replacement system is terminated.

なお、上記電極チップの取外し装置１は、スポット溶接用の一対のシャンク１０３，１０４にそれぞれ装着された一対の電極チップＷ，Ｗを同時に取外すことができるものであるが（図７，図８参照）、上記構成でなる電極チップの取外し装置１により、一方のシャンク１０３に装着された一方の電極チップＷと、他方のシャンク１０４に装着された他方の電極チップＷとを別々の時期に順次１個ずつ取外すこともできるものである。また、一対の電極チップＷ，Ｗの１個のみが挿入できる挿入空間２０内で別々の時期に順次１個ずつ取外す場合においては、上記固定側挟持部材４１の挟持面４１ａ，４１ｂ及び回動側挟持部材４２の挟持面４２ａのそれぞれの幅は、１個のみの電極チップＷを挟持可能な幅に形成されていてもよい。また、一対のシャンク１０３，１０４の溶接ロボットによる上記挿入空間２０への挿入を一対の回転板２１，２２の挿入穴２１ａ又は２２ａの片方側のみから挿入する場合においては、一方及び他方の圧入部材３１，３２のうち何れか１個のみを前記挿入側に設置すればよい。   The electrode tip detaching device 1 can detach a pair of electrode tips W and W attached to a pair of spot shanks 103 and 104 at the same time (see FIGS. 7 and 8). 1) The electrode tip removal device 1 having the above-described configuration is used to sequentially change one electrode tip W attached to one shank 103 and the other electrode tip W attached to the other shank 104 to 1 at different times. It can also be removed one by one. In the case of removing one by one at different times in the insertion space 20 in which only one of the pair of electrode chips W, W can be inserted, the clamping surfaces 41a, 41b of the fixed-side clamping member 41 and the rotation side Each of the clamping surfaces 42a of the clamping member 42 may be formed to have a width capable of clamping only one electrode chip W. Further, when inserting the pair of shanks 103, 104 into the insertion space 20 by the welding robot from only one side of the insertion holes 21a or 22a of the pair of rotating plates 21, 22, one and the other press-fitting members Only one of 31 and 32 may be installed on the insertion side.

本発明の実施の形態に係る電極チップの取外し装置の側面図である。It is a side view of the removal device of an electrode tip concerning an embodiment of the invention. 図１に示す装置の拡大図である。It is an enlarged view of the apparatus shown in FIG. 図１に示す装置のＡ矢視平面図である。It is an A arrow top view of the apparatus shown in FIG. 図３に示す装置の主要部を示し、（ａ）は一方の回転板を取除いた状態を示す平面図、（ｂ）は（ａ）の部分拡大図である。3 shows a main part of the apparatus shown in FIG. 3, wherein (a) is a plan view showing a state where one rotating plate is removed, and (b) is a partially enlarged view of (a). FIG. 図４に示す装置のＢ−Ｂ矢視断面図である。It is a BB arrow sectional view of the device shown in FIG. 図４に示す装置の主要部を示し、各構成要素を分解した状態の斜視図である。FIG. 5 is a perspective view showing a main part of the apparatus shown in FIG. 4 and disassembling each component. 電極チップを取外す動作順序を示す簡略図であって、（ａ）及び（ｂ）は使用限界の電極チップを挿入空間近傍に移動させた図、（ｃ）及び（ｄ）は使用限界の電極チップを挿入空間内に挿入しシャンクの先端側に付勢させた図、（ｅ）及び（ｆ）は電極チップを挟持するとともに回転させた図である。FIG. 3 is a simplified diagram showing an operation sequence for removing an electrode tip, in which (a) and (b) are diagrams in which a use limit electrode tip is moved near the insertion space, and (c) and (d) are use limit electrode tips. FIG. 8E is a diagram in which the electrode tip is inserted into the insertion space and biased toward the tip end side of the shank, and FIGS. 図７の続葉であって、（ａ）及び（ｂ）はシャンクを挿入空間から抜き出した図、（ｃ）及び（ｄ）は一方及び他方の圧入部材を初期位置に後退させ、電極チップを挟持状態から開放して排出させた図、（ｅ）は電極チップの有無を検知する光電センサを示す図である。7A and 7B are views of the shank extracted from the insertion space, and FIGS. 7C and 7D are diagrams in which one and the other press-fitting members are retracted to the initial position, and the electrode tip is moved. FIG. 8E is a diagram illustrating a photoelectric sensor that detects the presence or absence of an electrode chip, and illustrates a photoelectric sensor that detects the presence or absence of an electrode chip. チップ装着装置を示す斜視図である。It is a perspective view which shows a chip | tip mounting apparatus. チップ装着装置を示し、（ａ）は上側面図、（ｂ）は正面図、（ｃ）は右側面図である。The chip | tip mounting apparatus is shown, (a) is an upper side view, (b) is a front view, (c) is a right view. 電極チップを装着する動作順序を示す簡略図であって、（ａ）はシャンクを装着収容部近傍に移動させた図、（ｂ）はシャンクに電極チップを装着した図、（ｃ）はシャンクを装着収容部から抜き出した図である。It is the schematic which shows the operation | movement order which mounts an electrode tip, Comprising: (a) is the figure which moved the shank to the attachment accommodating part vicinity, (b) is the figure which attached the electrode tip to the shank, (c) is a shank. It is the figure extracted from the mounting | wearing accommodating part. 電極チップの取外し装置と溶接ロボットとを関連的に制御する制御手段を示すブロックである。It is a block which shows the control means which controls an electrode tip removal apparatus and a welding robot in relation. 電極チップの取外し及び装着のフローを示すフローチャートである。It is a flowchart which shows the flow of removal and mounting | wearing of an electrode tip. 図１３の続葉である。It is a continuation leaf of FIG.

符号の説明Explanation of symbols

１ 電極チップの取外し装置
２０ 挿入空間
２１，２２ 一対の回転板
３１，３２ 一方及び他方の圧入部材
３１ｄ，３２ｄ 傾斜面
３６ 第１のエアシリンダ
４１ 固定側挟持部材
４１ａ，４１ｂ 挟持面
４２ 回動側挟持部材
４２ａ 挟持面
５４ 第２のエアシリンダ
６１ リング部材
７１ チップ装着装置
７４ 装着収容部
７４ｃ、７４ｄ 収容室
７５，７６ 一対の収納部
１０３，１０４ シャンク
１０３ｂ，１０４ｂ 段差部
１０３ｃ、１０４ｃ テーパ軸部
Ｗ 電極チップ
Ｗａ 背面
Ｗｂ テーパ穴
DESCRIPTION OF SYMBOLS 1 Electrode chip removal apparatus 20 Insertion space 21, 22 A pair of rotary plates 31, 32 One and the other press-fitting members 31d, 32d Inclined surface 36 First air cylinder 41 Fixed side clamping member 41a, 41b Holding surface 42 Rotating side Clamping member 42a Clamping surface 54 Second air cylinder 61 Ring member 71 Chip mounting device 74 Mounting housing portion 74c, 74d Storage chamber 75, 76 A pair of storage portions 103, 104 Shank 103b, 104b Stepped portion 103c, 104c Taper shaft portion W Electrode tip Wa Back Wb Taper hole

Claims (9)

先端側中途部に形成された段差部を介して細径とされたスポット溶接用のシャンクの先端に装着された電極チップが挿入される挿入空間と、
上記挿入空間に挿入された電極チップの背面と上記段差部との間に圧入され、該電極チップを上記シャンクの先端側に付勢する圧入部材と、
この圧入部材を上記挿入空間方向及びその逆方向に進退移動させる第１の駆動装置と、
上記挿入空間内に挿入された電極チップを挟持するとともに該電極チップの軸心を回転軸として回転可能となされた一方及び他方の挟持部材と、
上記一方及び他方の挟持部材の少なくとも何れかの挟持面を上記挿入空間に挿入された電極チップに当接する方向及び離間する方向に駆動するとともに、該一方及び他方の挟持部材を回転させる第２の駆動装置と、
上記一方及び他方の挟持部材が上記第２の駆動装置の駆動により上記挿入空間に挿入された電極チップから離間する際に、該電極チップの外周面と一方又は他方の挟持部材の挟持面とが離間するよう該電極チップを付勢するチップ離間手段と、
を備えてなることを特徴とする電極チップの取外し装置。 An insertion space into which an electrode tip attached to the tip of a spot welding shank having a small diameter through a step formed in the leading end side middle portion is inserted;
A press-fitting member that is press-fitted between the back surface of the electrode tip inserted into the insertion space and the stepped portion, and biases the electrode tip toward the tip side of the shank;
A first driving device for moving the press-fitting member forward and backward in the insertion space direction and the opposite direction;
One and the other clamping member that sandwiches the electrode chip inserted into the insertion space and is rotatable about the axis of the electrode chip as a rotation axis;
A second rotating member that drives at least one of the clamping surfaces of the one and the other clamping members in a direction contacting and separating from the electrode chip inserted into the insertion space, and rotating the one and the other clamping members; A driving device;
When the one and other clamping members are separated from the electrode chip inserted into the insertion space by driving the second driving device, the outer peripheral surface of the electrode chip and the clamping surface of the one or other clamping member are Chip separating means for urging the electrode chip to separate; and
A device for removing an electrode tip, comprising: 前記挿入空間は、先端側中途部に形成された段差部を介して細径とされたスポット溶接用の一方のシャンクの先端に装着された一方の電極チップが挿入される一方側挿入口と、この一方側挿入口と連通し該一方側挿入口とは反対側に形成されてなるとともに、先端側中途部に形成された段差部を介して細径とされたスポット溶接用の他方のシャンクの先端に装着された他方の電極チップが挿入される他方側挿入口と、を備え、
前記圧入部材は、前記挿入空間の一方側挿入口から挿入された前記一方の電極チップの背面と前記一方のシャンクの段差部との間に圧入され該一方の電極チップを該一方のシャンクの先端側に付勢する一方の圧入部材と、前記挿入空間の他方側挿入口から挿入された前記他方の電極チップの背面と前記他方のシャンクの段差部との間に圧入され該他方の電極チップを該他方のシャンクの先端側に付勢する他方の圧入部材と、を備えてなることを特徴とする請求項１記載の電極チップの取外し装置。 The insertion space has a one-side insertion opening into which one electrode tip mounted at the tip of one shank for spot welding having a small diameter through a step formed in the middle of the tip side is inserted; The other shank for spot welding is formed on the opposite side of the one-side insertion port in communication with the one-side insertion port, and has a small diameter through a stepped portion formed in the middle portion on the tip side. And the other side insertion port into which the other electrode tip attached to the tip is inserted,
The press-fitting member is press-fitted between the back surface of the one electrode tip inserted from the one-side insertion opening of the insertion space and the step portion of the one shank, and the one electrode tip is inserted into the tip of the one shank. One press-fitting member that is biased to the side, and the other electrode tip that is press-fitted between the back surface of the other electrode chip inserted from the other-side insertion port of the insertion space and the step portion of the other shank. 2. The electrode tip detaching device according to claim 1, further comprising: the other press-fitting member that urges the tip end of the other shank. 前記挿入空間は、前記一方側挿入口から挿入された前記一方の電極チップと、前記他方側挿入口から挿入された前記他方の電極チップとの両方を同時に受容可能な空間とされてなり、
前記一方及び他方の挟持部材は、前記挿入空間内に挿入された前記一方及び他方の電極チップを同時に挟持可能であるとともに前記一方及び他方の電極チップの軸心を回転軸として回転可能に形成されてなることを特徴とする請求項２記載の電極チップの取外し装置。 The insertion space is a space that can simultaneously receive both the one electrode chip inserted from the one side insertion port and the other electrode chip inserted from the other side insertion port,
The one and the other clamping members are formed so as to be capable of simultaneously clamping the one and the other electrode tips inserted into the insertion space and to be rotatable about the axis of the one and the other electrode tips. The electrode tip detaching device according to claim 2, wherein 前記チップ離間手段は、
前記挿入空間内に配置され内側に前記電極チップが挿入されるリング部材と、
このリング部材を介して前記電極チップを前記一方又は他方の挟持部材から離間する方向に該リング部材を付勢する弾性材と、を備えてなることを特徴とする請求項１，２又は３記載の何れかの電極チップの取外し装置。 The chip separating means is
A ring member that is disposed in the insertion space and into which the electrode tip is inserted;
The elastic member which urges | biases this ring member in the direction spaced apart from the said one or other clamping member through this ring member is provided, The claim 1, 2, or 3 characterized by the above-mentioned. The electrode tip removing device according to any of the above. 前記リング部材は、円筒状に成形されてなるとともに、前記一方及び他方の挟持部材が挿入される１又は複数の貫通穴が形成されてなり、該リング部材は、上記一方及び他方の挟持部材に支持されていることを特徴とする請求項４記載の電極チップの取外し装置。   The ring member is formed in a cylindrical shape, and is formed with one or a plurality of through holes into which the one and other clamping members are inserted, and the ring member is formed on the one and other clamping members. 5. The electrode tip removing device according to claim 4, wherein the electrode tip removing device is supported. 前記一方又は他方の挟持部材の挟持面は、略Ｖ字状に形成されてなることを特徴とする請求項１，２，３，４又は５記載の何れかの電極チップの取外し装置。   6. The electrode tip detaching device according to claim 1, wherein a clamping surface of the one or the other clamping member is formed in a substantially V shape. 前記請求項１ないし６記載の何れかの電極チップの取外し装置と、この電極チップの取外し装置の近傍に配置され、新たに装着する複数の電極チップが収納されるチップ装着装置と、を備えた電極チップの交換装置であって、
上記チップ装着装置は、
上記電極チップが収容される収容部と、この収容部の一側に形成されるとともに該電極チップに形成されシャンクの先端が嵌合する凹部が露出する開口部と、この開口部とは反対側に形成され該電極チップの先端が当接する当接壁部と、を有するチップ装着室と、
このチップ装着室よりも上方に形成されてなるとともに、上記チップ装着室に形成された収容部内の空間と連通し、複数の電極チップが該電極チップの長さ方向と直交する方向に並んで収納される収納部と、この収納部内に電極チップを供給する供給用開口部とを有るチップ収納室と、
を備えてなることを特徴とする電極チップの交換装置。 7. A device for removing an electrode tip according to any one of claims 1 to 6, and a tip mounting device that is disposed in the vicinity of the electrode tip removing device and stores a plurality of newly mounted electrode tips. An electrode tip exchange device,
The chip mounting device is
A housing part for housing the electrode tip, an opening formed on one side of the housing part and exposing a recess formed on the electrode chip and fitted with the tip of the shank, and the side opposite to the opening A tip mounting chamber having a contact wall portion that is formed at
It is formed above the chip mounting chamber, communicates with the space in the housing portion formed in the chip mounting chamber, and stores a plurality of electrode chips side by side in a direction perpendicular to the length direction of the electrode chip. A chip storage chamber having a storage portion to be supplied and an opening for supplying the electrode chip in the storage portion;
An electrode tip exchange device comprising: 前記請求項１ないし６記載の何れかの電極チップの取外し装置と、電極チップがスポット溶接用のシャンクに装着された溶接ロボットと、上記電極チップの取外し装置を構成する第１の駆動装置及び第２の駆動装置並びに上記溶接ロボットとにそれぞれ接続された制御手段と、この制御手段に接続されてなるとともに上記溶接ロボットによる溶接回数をカウントするカウント手段又は電極チップの先端の磨耗値を検出する磨耗検出手段の何れかと、上記制御手段に接続されてなるとともに溶接回数又は磨耗値の限界値の何れかを記憶してなる記憶手段と、を備え、
上記制御手段により、
上記カウント手段による溶接回数又は上記磨耗検出手段による磨耗値の何れかが、上記記憶手段に記憶された限界値に達したと判断したことを条件に、それまで行われていた溶接ロボットによる溶接動作を停止するステップと、
停止した溶接ロボットのシャンクの先端に装着された電極チップを、電極チップの取外し装置に形成された前記挿入空間内に、若しくは、前記一方の挿入口及び／又は他方の挿入口から該挿入空間内に挿入するステップと、
上記第１の駆動装置を駆動させ、電極チップの背面と前記段差部との間に前記圧入部材若しくは前記一方の圧入部材及び／又は他方の圧入部材を圧入させるステップと、
上記第２の駆動装置を駆動させ、前記一方及び／又は他方の挟持部材を移動させ該一方及び他方の挟持部材により電極チップを挟持させるとともに、該一方及び他方の挟持部材を回転させるステップと、
上記溶接ロボットを駆動させ、シャンクの先端を上記挿入空間から抜き出すステップと、
上記第１の駆動手段を初期位置に復帰させるステップと、
上記第２の駆動装置を初期位置に復帰させ、上記一方及び他方の挟持部材による電極チップの挟持状態を解除するステップと、
を備えてなることを特徴とする電極チップの取外しシステム。 7. The electrode tip detaching device according to claim 1, a welding robot having the electrode tip mounted on a spot welding shank, a first drive device constituting the electrode tip detaching device, and a first driving device. Control means connected to each of the driving device 2 and the welding robot, and wear means for detecting the wear value of the tip of the electrode tip or counting means connected to the control means and counting the number of times of welding by the welding robot One of the detection means, and a storage means connected to the control means and storing either the number of weldings or the limit value of the wear value,
By the above control means,
Welding operation by the welding robot performed so far, on the condition that either the number of welding by the counting means or the wear value by the wear detecting means has reached the limit value stored in the storage means Step to stop and
An electrode tip attached to the tip of the shank of the stopped welding robot is inserted into the insertion space formed in the electrode tip removal device or from the one insertion port and / or the other insertion port into the insertion space. Step to insert into,
Driving the first driving device to press-fit the press-fitting member or the one press-fitting member and / or the other press-fitting member between the back surface of the electrode chip and the stepped portion;
Driving the second driving device, moving the one and / or the other clamping member to clamp the electrode chip by the one and the other clamping member, and rotating the one and the other clamping member;
Driving the welding robot and extracting the tip of the shank from the insertion space;
Returning the first driving means to the initial position;
Returning the second driving device to the initial position and releasing the clamping state of the electrode tip by the one and the other clamping members;
An electrode tip removal system comprising: 前記請求項１ないし４記載の何れかの電極チップの取外し装置と、電極チップがスポット溶接用のシャンクに装着された溶接ロボットと、上記電極チップの取外し装置を構成する第１の駆動装置及び第２の駆動装置並びに上記溶接ロボットとにそれぞれ接続された制御手段と、この制御手段に接続されてなるとともに上記溶接ロボットによる溶接回数をカウントするカウント手段又は電極チップの先端の磨耗値を検出する磨耗検出手段の何れかと、上記制御手段に接続されてなるとともに溶接回数又は磨耗値の限界値の何れかを記憶してなる記憶手段と、前記請求項７記載の電極チップの交換装置を構成するチップ装着装置と、を備え、
上記制御手段により、
上記カウント手段による溶接回数又は上記磨耗検出手段による磨耗値の何れかが、上記記憶手段に記憶された限界値に達したと判断したことを条件に、それまで行われていた溶接ロボットによる溶接動作を停止するステップと、
停止した溶接ロボットのシャンクの先端に装着された電極チップを、電極チップの取外し装置に形成された前記挿入空間内に、若しくは、前記一方の挿入口及び／又は他方の挿入口から該挿入空間内に挿入するステップと、
上記第１の駆動装置を駆動させ、電極チップの背面と前記段差部との間に前記圧入部材若しくは前記一方の圧入部材及び／又は他方の圧入部材を圧入させるステップと、
上記第２の駆動装置を駆動させ、前記一方及び／又は他方の挟持部材を移動させ該一方及び他方の挟持部材により電極チップを挟持させるとともに、該一方及び他方の挟持部材を回転させるステップと、
上記溶接ロボットを駆動させ、シャンクの先端を上記挿入空間から抜き出すステップと、
上記第１の駆動手段を初期位置に復帰させるステップと、
上記第２の駆動装置を初期位置に復帰させ、上記一方及び他方の挟持部材による電極チップの挟持状態を解除するステップと、
上記シャンクの先端が上記挿入空間から抜き出された溶接ロボットを駆動させ、該シャンクの先端を、上記チップ装着装置を構成する装着室内に収容された電極チップ内に挿入するステップと、
を備えてなることを特徴とする電極チップの交換システム。 5. The electrode tip detaching device according to claim 1, a welding robot having the electrode tip mounted on a spot welding shank, a first driving device constituting the electrode tip detaching device, and a first driving device. Control means connected to each of the driving device 2 and the welding robot, and wear means for detecting the wear value of the tip of the electrode tip or counting means connected to the control means and counting the number of times of welding by the welding robot 8. A tip constituting the electrode tip changer according to claim 7 , wherein the tip is connected to the control means and stores either the number of times of welding or the limit value of the wear value. A mounting device,
By the above control means,
Welding operation by the welding robot performed so far, on the condition that either the number of welding by the counting means or the wear value by the wear detecting means has reached the limit value stored in the storage means Step to stop and
An electrode tip attached to the tip of the shank of the stopped welding robot is inserted into the insertion space formed in the electrode tip removal device or from the one insertion port and / or the other insertion port into the insertion space. Step to insert into,
Driving the first driving device to press-fit the press-fitting member or the one press-fitting member and / or the other press-fitting member between the back surface of the electrode chip and the stepped portion;
Driving the second driving device, moving the one and / or the other clamping member to clamp the electrode chip by the one and the other clamping member, and rotating the one and the other clamping member;
Driving the welding robot and extracting the tip of the shank from the insertion space;
Returning the first driving means to the initial position;
Returning the second driving device to the initial position and releasing the clamping state of the electrode tip by the one and the other clamping members;
Driving the welding robot with the tip of the shank extracted from the insertion space, and inserting the tip of the shank into an electrode tip housed in a mounting chamber constituting the tip mounting device;
An electrode tip replacement system comprising:
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