JPH0233990Y2 - - Google Patents
Info
- Publication number
- JPH0233990Y2 JPH0233990Y2 JP1982189776U JP18977682U JPH0233990Y2 JP H0233990 Y2 JPH0233990 Y2 JP H0233990Y2 JP 1982189776 U JP1982189776 U JP 1982189776U JP 18977682 U JP18977682 U JP 18977682U JP H0233990 Y2 JPH0233990 Y2 JP H0233990Y2
- Authority
- JP
- Japan
- Prior art keywords
- welding torch
- tip
- robot
- welding
- torch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000003466 welding Methods 0.000 claims description 65
- 210000000707 wrist Anatomy 0.000 claims description 9
- 239000004020 conductor Substances 0.000 claims description 6
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 229920001342 Bakelite® Polymers 0.000 description 1
- 239000004637 bakelite Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Landscapes
- Arc Welding In General (AREA)
Description
【考案の詳細な説明】
［産業上の利用分野］
本考案は、アーク溶接用ロボツトにおけるトー
チの改善に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an improvement of a torch in an arc welding robot.
［従来技術とその課題］
アーク溶接用ロボツトの作業時に、溶接トーチ
と対象ワーク、あるいは、溶接治具などの周辺機
器が接触し、ロボツト本体が損傷をうけたり、溶
接トーチやトーチホルダーが変形し、テイーチン
グプログラムの修正、溶接トーチなどの部品交換
が必要になるが、この場合、復旧作業に多くの時
間を要し、ロボツトの稼働時間に影響を及ぼす不
都合がある。このような課題を解消するために従
来では、次に述べるような保護対策が施されてい
た。即ち、
(a) 溶接トーチの先端キヤツプとワークの接触を
電気的に検知し、ロボツトを停止させる手段。[Prior art and its problems] When working with an arc welding robot, the welding torch and the target workpiece or peripheral equipment such as welding jigs may come into contact, resulting in damage to the robot body or deformation of the welding torch or torch holder. , it is necessary to modify the teaching program and replace parts such as the welding torch, but in this case, a lot of time is required for recovery work, which is an inconvenience that affects the operating time of the robot. In order to solve such problems, the following protection measures have been conventionally taken. (a) A means for electrically detecting contact between the tip cap of the welding torch and the workpiece and stopping the robot.
(b) 溶接トーチとロボツト手首部の間に破損しや
すい介在物を設ける手段。(b) Means of providing a breakable inclusion between the welding torch and the robot wrist.
(c) 自動車のバツクミラー（フエンダーミラー）
手段。(c) Car back mirror (fender mirror)
means.
(a)の手段は、接触対象物が導電体でなくてはな
らず、また、ゴミなどが付着すると電気的に動作
しない欠点がある。 Means (a) has the drawback that the object to be contacted must be a conductor, and if dust or the like adheres to it, it will not operate electrically.
(b)の手段は、介在物を破損する前に、溶接トー
チ先端が変形してしまうので、この変形を復旧さ
せるために多くの時間を要するという課題があ
る。 The method (b) has the problem that the tip of the welding torch is deformed before the inclusion is damaged, and it takes a lot of time to recover from this deformation.
(c)手段は、ロボツトが高速で動くと、バツクミ
ラー同様にブレるので、トーチ先端がズレ、溶接
不良になる。このブレを防止するために、スプリ
ングを強くセツトすると、検出スイツチが作動す
る前にトーチが変形し、弱くセツトするとブレ
る。また、トーチ先端に、ロボツト手首部の中心
軸線方向と一致、または、平行する方向からの外
力に対しては作動しないという課題がある。 (c) When the robot moves at high speed, the back mirror shakes, causing the tip of the torch to shift and resulting in poor welding. To prevent this wobbling, if the spring is set strongly, the torch will deform before the detection switch is activated, and if it is set weakly, it will wobble. Another problem is that the torch tip does not operate in response to an external force applied in a direction that is coincident with or parallel to the central axis direction of the robot wrist.
上述のような課題を解決する手段として、特開
昭57−36073号公報に示されるような溶接ロボツ
トの安全装置が提案されているが、この装置は、
ノズルホルダーとトーチ本体の間にコイルばねを
介装するとともに、両部材の間に間隙を形成した
もので、トーチ自体に衝撃が加わつたときに、コ
イルばねと間隙部に生ずるズレによつて衝撃を吸
収することは可能ではあるが、大きな衝撃が加わ
つたときには、トーチやトーチホルダーが変形
し、テイーチングプログラムの修正、溶接トーチ
など多くの部品交換が要求されるなどの課題が残
されている。 As a means to solve the above-mentioned problems, a safety device for welding robots as shown in Japanese Patent Application Laid-Open No. 57-36073 has been proposed, but this device
A coil spring is interposed between the nozzle holder and the torch body, and a gap is formed between both members.When an impact is applied to the torch itself, the impact is absorbed by the gap between the coil spring and the gap. Although it is possible to absorb the impact, there are still issues such as the torch and torch holder deforming when a large impact is applied, requiring modifications to the teaching program and replacement of many parts such as the welding torch.
本考案の目的は、溶接トーチなどが変形する前
に、破損する弱め部をトーチ先端直線部に設け、
ロボツト本体、溶接トーチなどを完全に保護せし
め、而も、短時間交換可能部にその弱め部を設け
ることにより、ロボツトの稼働時間に影響を及ぼ
さないようにすることにある。 The purpose of this invention is to provide a weakened part in the straight part of the tip of the welding torch, which can break before the welding torch deforms.
The purpose is to completely protect the robot body, welding torch, etc., and to prevent the operation time of the robot from being affected by providing a weakened part in a part that can be replaced for a short time.
［課題を解決するための手段］
従来技術の課題を解決する本考案の構成は、ロ
ボツトｕ軸のロボツト手首部に溶接トーチホルダ
ーを保持させ、該溶接トーチホルダーに溶接トー
チコンダクターチユーブを介して溶接トーチ先端
シヨツカーを交換可能にとりつけたアーク溶接用
ロボツトにおけるトーチにおいて、上記溶接トー
チ先端シヨツカーに、折損可能のの弱め部を形成
したことを特徴とするものである。[Means for Solving the Problems] The configuration of the present invention which solves the problems of the prior art is that a welding torch holder is held at the robot wrist of the robot U-axis, and welding is performed on the welding torch holder via a welding torch conductor tube. This torch for an arc welding robot is provided with a replaceable torch tip shocker, and is characterized in that the welding torch tip shocker is formed with a breakable weakened portion.
［実施例］ 図面について実施例の詳細を説明する。[Example] The details of the embodiments will be explained with reference to the drawings.
第１図は、ロボツトｕ軸の一部を含めた溶接ト
ーチを示したもので、本来ならロボツトｕ軸が上
方に位置し、溶接ワイヤが下向きとなるものであ
るが、本図は紙面の都合で、横向きにあらわして
ある。 Figure 1 shows a welding torch that includes a part of the robot's U-axis. Originally, the robot's U-axis would be positioned upwards and the welding wire would be directed downwards, but this figure is not shown due to space constraints. And it is shown horizontally.
１はアーク溶接用ロボツトのロボツトｕ軸、２
はロボツト手首部、１１は溶接トーチコンダクタ
ーチユーブ、４は溶接トーチホルダー、３は、溶
接トーチ先端シヨツカー３ａやコンタクトチツプ
３ｂなどから構成される溶接トーチ先端部であつ
て、本考案は、上記ロボツトｕ軸１とロボツト手
首部２との間に、ベークライトなどの第２折損弱
め部Ｂを設けるとともに、特に、上記溶接トーチ
先端シヨツカー３ａの直線部に、断面形状がクサ
ビ状溝５よりなる肉薄構造の第１弱め部Ａを形成
したものである。 1 is the robot u-axis of the arc welding robot, 2
1 is a robot wrist, 11 is a welding torch conductor tube, 4 is a welding torch holder, and 3 is a welding torch tip consisting of a welding torch tip shocker 3a and a contact tip 3b. A second breakage-weakening part B made of Bakelite or the like is provided between the shaft 1 and the robot wrist part 2, and in particular, a thin-walled structure with a wedge-shaped groove 5 in cross section is provided in the straight part of the welding torch tip shocker 3a. A first weakened portion A is formed.
そして、上記第１弱め部Ａは、該第１弱め部Ａ
よりロボツトｕ軸１側のトーチ本体、即ち、、溶
接トーチコンダクターチユーブ１１、溶接トーチ
ホルダー部４、および、ロボツト手首部２などを
保護する。また、上記第２折損弱め部Ｂは、上記
ロボツトｕ軸１を保護するようにしたものであ
る。 The first weakened portion A is the first weakened portion A.
The torch body closer to the robot U-axis 1, that is, the welding torch conductor tube 11, the welding torch holder 4, and the robot wrist 2 are protected. Further, the second breakage weakening portion B is designed to protect the robot u-axis 1.
尚、特に図示してないが、上記第１弱め部Ａよ
り先端方向側の溶接トーチ部に、折損時に分離さ
れる溶接トーチ先端部３の重みによつて動作する
スイツチなどのセンサーを設けておき、該センサ
ーによりロボツトの作動を停止する安全保護機構
を設ける。また、溶接トーチ先端部３が折損分離
されても、溶接ワイヤ６の先端が球状に膨大変形
しているため、この球状部がチツプの孔に係合
し、折損された溶接トーチ先端部３は上記溶接ワ
イヤ６に引つ掛かり落下放出されることはない。 Although not particularly shown, a sensor such as a switch that is operated by the weight of the welding torch tip 3 that is separated at the time of breakage is provided in the welding torch portion on the tip side of the first weakened portion A. , a safety protection mechanism is provided to stop the operation of the robot using the sensor. Furthermore, even if the welding torch tip 3 is broken and separated, since the tip of the welding wire 6 is expanded and deformed into a spherical shape, this spherical portion engages with the hole in the tip, and the broken welding torch tip 3 is removed. It will not be caught by the welding wire 6 and dropped.
また、第１図における７は芯出棒で、溶接トー
チ先端シヨツカー３ａが折損し、新たなものと交
換するときに、溶接ワイヤ先端をこの芯出棒７の
先端に合致させることにより、溶接トーチが正し
い位置にセツトされるようになす。８は、台座９
上に設けた上下調節可能の芯出しピンで、これの
先端に上記芯出棒７の先端が対向することによ
り、更に一層溶接ワイヤ先端の位置セツト、詳し
くは、溶接トーチが簡単に正しくセツトしうるよ
うにしたものである。また、折損した溶接トーチ
先端シヨツカー３ａを交換する場合には、第２図
に示す溶接トーチ先端シヨツカー３ａの六角部１
２を回すことにより、簡単に交換することができ
るとともに、溶接ワイヤ６の先端を芯出棒７の先
端に適合させるだけで交換作作業は完了する。 In addition, 7 in FIG. 1 is a centering rod, and when the welding torch tip shocker 3a is broken and replaced with a new one, by aligning the tip of the welding wire with the tip of the centering rod 7, the welding torch can be replaced with a new one. so that it is set in the correct position. 8 is the pedestal 9
By having the tip of the centering rod 7 facing the tip of the vertically adjustable centering pin provided on the top, the position of the tip of the welding wire, more specifically, the welding torch, can be more easily and correctly set. It is made to be moisturized. In addition, when replacing a broken welding torch tip shocker 3a, the hexagonal part 1 of the welding torch tip shocker 3a shown in FIG.
It can be easily replaced by turning 2, and the replacement work can be completed simply by fitting the tip of the welding wire 6 to the tip of the centering rod 7.
尚、適合作業は、シヨツカー部以外が変形して
いなければ、不要であり、確認作業のみで済んで
いるのが実状である。 Note that the conformity work is not necessary unless the part other than the shotgun is deformed, and the reality is that only the confirmation work is required.
［考案の効果］
上述のように本考案の構成によれば、次のよう
な効果が得られる。[Effects of the Invention] As described above, according to the configuration of the present invention, the following effects can be obtained.
(a) アーク溶接用ロボツトの作業時に、溶接トー
チと対象ワーク、あるいは、溶接治具などの周
辺機器とが接触した場合、溶接トーチ先端部が
変形する前に、溶接トーチは溶接トーチ先端シ
ヨツカーの弱め部から折れ、この弱め部よりロ
ボツトｕ軸側の溶接トーチコンダクターチユー
ブ、溶接トーチホルダー、ロボツト手首部など
を保護することができる。(a) When the welding torch comes into contact with the target workpiece or peripheral equipment such as a welding jig when working with an arc welding robot, the welding torch will stop at the welding torch tip shocker before the welding torch tip is deformed. The welding torch conductor tube, welding torch holder, robot wrist, etc. on the U-axis side of the robot can be protected from the weakened portion.
(b) 弱め部は、直線部である溶接トーチ先端シヨ
ツカー設けられるため、加工が容易である。(b) The weakened part is easy to process because it is provided with a shocker at the tip of the welding torch, which is a straight part.
第１図は要部の側面図、第２図は溶接トーチ先
端シヨツカーの一部切欠正面図である。
１……ロボツトｕ軸、２……ロボツト手首部、
１１……溶接トーチ、３……溶接トーチ先端部、
３ａ……溶接トーチ先端シヨツカー、Ａ……第１
弱め部。
FIG. 1 is a side view of the main parts, and FIG. 2 is a partially cutaway front view of the welding torch tip shocker. 1... Robot u-axis, 2... Robot wrist part,
11... Welding torch, 3... Welding torch tip,
3a...Welding torch tip shocker, A...1st
Weak part.
Claims (1)
ルダーを保持させ、該溶接トーチホルダーに溶接
トーチコンダクターチユーブを介して溶接トーチ
先端シヨツカーを交換可能にとりつけたアーク溶
接用ロボツトにおけるトーチにおいて、 上記溶接トーチ先端シヨツカーに、折損可能の
弱め部を形成したことを特徴とするアーク溶接用
ロボツトにおけるトーチ。[Scope of Claim for Utility Model Registration] An arc welding robot in which a welding torch holder is held at the wrist of the robot U-axis, and a welding torch tip shocker is replaceably attached to the welding torch holder via a welding torch conductor tube. A torch for an arc welding robot, characterized in that a breakable weakened portion is formed in the shocker at the tip of the welding torch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18977682U JPS5994781U (en) | 1982-12-15 | 1982-12-15 | Torch in arc welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18977682U JPS5994781U (en) | 1982-12-15 | 1982-12-15 | Torch in arc welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5994781U JPS5994781U (en) | 1984-06-27 |
| JPH0233990Y2 true JPH0233990Y2 (en) | 1990-09-12 |
Family
ID=30409076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18977682U Granted JPS5994781U (en) | 1982-12-15 | 1982-12-15 | Torch in arc welding robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5994781U (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5736073A (en) * | 1980-07-15 | 1982-02-26 | Hitachi Ltd | Safety device of welding robot |
-
1982
- 1982-12-15 JP JP18977682U patent/JPS5994781U/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5736073A (en) * | 1980-07-15 | 1982-02-26 | Hitachi Ltd | Safety device of welding robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5994781U (en) | 1984-06-27 |
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