JPH0335507Y2 - - Google Patents
Info
- Publication number
- JPH0335507Y2 JPH0335507Y2 JP2250185U JP2250185U JPH0335507Y2 JP H0335507 Y2 JPH0335507 Y2 JP H0335507Y2 JP 2250185 U JP2250185 U JP 2250185U JP 2250185 U JP2250185 U JP 2250185U JP H0335507 Y2 JPH0335507 Y2 JP H0335507Y2
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- holder
- cylinder
- pressure
- spot welding
- 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 27
- 238000000034 method Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
Description
【考案の詳細な説明】
（産業上の利用分野）
本考案はスポツト溶接におけるワークの保持装
置に関する。[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a workpiece holding device in spot welding.
（従来の技術）
スポツト溶接に用いられる装置として定置式の
ものがあり、ワークをロボツトのアーム先端部の
保持具に保持して溶接ガンの上電極と下電極の間
に位置決めして溶接することが行われている。と
ころで、上記下電極は、溶接回数が増えるにつれ
て摩耗し、その高さが変わるが、ワークを当初の
下電極の高さに位置決めすると、ワークと下電極
との間に隙間を生じ、そのまま加圧による溶接を
行なうと、ワークが変形する。(Prior art) There is a stationary type of device used for spot welding, in which the workpiece is held in a holder at the tip of the arm of a robot, positioned between the upper and lower electrodes of a welding gun, and welded. is being carried out. By the way, as the number of welding increases, the lower electrode mentioned above wears and its height changes, but when the workpiece is positioned at the original lower electrode height, a gap is created between the workpiece and the lower electrode, and pressure is applied as it is. When welding is carried out, the workpiece becomes deformed.
これに対し、従来は溶接ガンをイコライジング
機構により支持し、ワークを下電極に当ててこの
下電極とともに定位置まで押し下げ、しかる後、
加圧信号により上電極を下降させて溶接を行なつ
ている。つまり、これはワークを定位置に移動さ
せるときに、下電極をワークに追従させて下降せ
しめる方式である。しかし、この方式の場合、溶
接ガン自体が大型になつてくるとイコライジング
機構でのスプリング力を大きくする必要があり、
ワークにて下電極を押し下げるとき、比較的大き
な押し下げ力を必要とし、ワークが変形するおそ
れがあるとともに、ワークを電極間に挿入した後
の溶接にあたつて、下電極の押し下げ、上電極の
下降による加圧、ワークの持ち上げ、ワークの打
点移動という４動作を必要とする（例えば実開昭
56−122582号公報参照）。 In contrast, in the past, the welding gun was supported by an equalizing mechanism, the workpiece was placed against the lower electrode and pushed down together with the lower electrode to a fixed position, and then,
Welding is performed by lowering the upper electrode in response to a pressure signal. In other words, this is a method in which the lower electrode is lowered to follow the work when the work is moved to a fixed position. However, with this method, as the welding gun itself becomes larger, it is necessary to increase the spring force in the equalizing mechanism.
When pushing down the lower electrode with the workpiece, a relatively large pushing force is required, which may cause the workpiece to deform. It requires four operations: applying pressure by lowering, lifting the workpiece, and moving the workpiece to the point of impact (for example,
56-122582).
（考案の目的）
本考案は、上記従来の電極をワークに追従させ
て動かす方式に代え、摩耗して高さが変わつてい
く電極に対してワークを追従させていく方式とし
従来の電極押し下げに伴うワークの変形という問
題を解消するとともに、溶接に要する時間の短縮
を図ることができるようにしようとするものであ
る。(Purpose of the invention) In place of the above-mentioned conventional method of moving the electrode to follow the workpiece, the present invention uses a method of making the workpiece follow the electrode, which changes height due to wear. This aims to solve the problem of deformation of the workpiece and to shorten the time required for welding.
（考案の構成）
本考案においては、ロボツトのアーム先端部で
シリンダにて上下動可能に支持したワーク保持
具、と、上記シリンダへの供給圧力を制御し、圧
力供給でワーク保持具を上昇位置に保持し、定置
式スポツト溶接機のガン加圧信号に同期して供給
圧力を解放してワーク保持具を下降せしめる保持
具制御装置とを備えている。(Structure of the invention) In the present invention, a workpiece holder is supported by a cylinder at the tip of the arm of the robot so as to be able to move up and down, and the pressure supplied to the cylinder is controlled, and the workpiece holder is moved to a raised position by supplying pressure. and a holder control device that lowers the workpiece holder by releasing the supply pressure in synchronization with the gun pressure signal of the stationary spot welding machine.
従つて、ワーク保持具は、上昇位置から電極に
当接する位置まで自重で下降すると同時に溶接さ
れることになり、この下降量は摩耗により変化す
る電極の高さに応じて変化する。 Therefore, the workpiece holder is welded at the same time as it is lowered by its own weight from the raised position to the position where it contacts the electrode, and the amount of this lowering changes in accordance with the height of the electrode which changes due to wear.
（実施例）
以下、本考案の実施例を図面に基いて説明す
る。(Example) Hereinafter, an example of the present invention will be described based on the drawings.
第１図において、１は定置式スポツト溶接機、
２はワーク３を移動させて上記スポツト溶接機１
に対し位置決めを行なうロボツトである。スポツ
ト溶接機１はガンシリンダ４にて上下動可能に支
持された上電極５と、ブラケツト６にて上電極５
に対向させて固定状態で支持した下電極７とを備
え、両電極５，７はトランスを介して通電制御装
置に連係している。本例のワーク３は自動車のタ
イヤハウス３ａを接合したリヤフエンダのインナ
パネル３ｂとアウタパネル３ｃであり、。本例は、
両パネル３ｂ，３ｃのフランジ部をスポツト溶接
するものである。 In Fig. 1, 1 is a stationary spot welding machine;
2 moves the workpiece 3 to the spot welding machine 1
This is a robot that performs positioning. The spot welding machine 1 has an upper electrode 5 supported vertically movably by a gun cylinder 4, and an upper electrode 5 supported by a bracket 6.
A lower electrode 7 is supported in a fixed state opposite to the lower electrode 7, and both electrodes 5 and 7 are connected to an energization control device via a transformer. The workpiece 3 in this example is an inner panel 3b and an outer panel 3c of a rear fender to which a tire house 3a of an automobile is joined. In this example,
The flanges of both panels 3b and 3c are spot welded.
さて、上記ロボツト２において、８は回転台、
９は回転台８に揺動シリンダ１０にて前後揺動可
能に支持したリンク、１１はこのリンク９に同方
向へ揺動可能に支持した送り手段の案内筒であ
る。この案内筒１１にアーム１２が送りモータ１
３にて進退可能に嵌挿され、このアーム１２の先
端に支持板１４が常に水平を保つように、かつ水
平回転可能に支持されている。 Now, in the above robot 2, 8 is a rotary table,
Reference numeral 9 denotes a link supported by a swing cylinder 10 on the rotary table 8 so as to be swingable back and forth, and reference numeral 11 is a guide cylinder of a feeding means supported on the link 9 so as to be swingable in the same direction. An arm 12 is attached to this guide tube 11 to drive the feed motor 1.
3, and a support plate 14 is supported at the tip of this arm 12 so as to always remain horizontal and to be horizontally rotatable.
そして、上記支持板１４にワーク保持具１５が
リフトシリンダ１６にて上下動可能に、かつ、複
数のガイドロツド１７，１７にて上下方向に案内
して支持されている。すなわち、支持板１４に固
定したリフトシリンダ１６のピストンロツド１８
およびこの支持板１４を上下に貫通したガイドロ
ツド１７，１７の下端がワーク保持具１５に結合
され、さらに、各ガイドロツド１７の上端のフラ
ンジ１９と支持板１４との間にバランススプリン
グ２０が介装されている。ワーク保持具１５はそ
の周囲の複数箇所にクランプシリンダ２１にて回
動してワーク３を把持するフインガ２２を備えて
いる。 A work holder 15 is supported on the support plate 14 so as to be movable up and down by a lift cylinder 16 and guided in the up and down direction by a plurality of guide rods 17, 17. That is, the piston rod 18 of the lift cylinder 16 fixed to the support plate 14
The lower ends of the guide rods 17, 17 passing vertically through the support plate 14 are connected to the workpiece holder 15, and a balance spring 20 is interposed between the flange 19 at the upper end of each guide rod 17 and the support plate 14. ing. The workpiece holder 15 is provided with fingers 22 at a plurality of locations around the workpiece holder, which are rotated by a clamp cylinder 21 to grip the workpiece 3.
そうして、第２図に示す如く、スポツト溶接機
１のガンシリンダ４の上昇側と下降側のポート２
３，２４に対するエア圧回路には、エア源２５か
らのエア圧をこの両ポート２３，２４に切換えて
供給する電磁式のガン用切換弁２６が介装されて
いる。また、ワーク保持具１５のリフトシリンダ
１６は、一端にはエア圧の供給によりワーク保持
具１５を上昇せしめる圧力ポート２７が、他端に
は大気開放ポート２８がそれぞれ設けられ、圧力
ポート２７に対するエア圧回路には、エア圧供給
側と大気開放側の２位置に切換わる電磁式の保持
具用切換弁２９が介装されている。そして、上記
両切換弁２６，２９には電磁弁制御手段３０が接
続され、この電磁制御手段３０はガン用切換弁２
６に上電極５を下降せしめる加圧信号s1を出力す
るのと同期して保持具用切換弁２９に開放側への
切換信号s2を出力するようになされている。従つ
て、この場合、保持具用切換弁２９と電磁弁制御
手段３０とがリフトシリンダ１６を作動させてワ
ーク保持具１５の上下動を制御する保持具制御装
置３１を構成している。 Then, as shown in FIG. 2, the ports 2 on the upward and downward sides of the gun cylinder 4 of the spot welding machine 1 are connected.
An electromagnetic gun switching valve 26 that switches and supplies air pressure from an air source 25 to both ports 23 and 24 is interposed in the air pressure circuit for the guns 3 and 24. Further, the lift cylinder 16 of the workpiece holder 15 is provided with a pressure port 27 at one end for raising the workpiece holder 15 by supplying air pressure, and an atmosphere release port 28 at the other end. An electromagnetic holder switching valve 29 that can be switched between two positions, an air pressure supply side and an atmosphere release side, is installed in the pressure circuit. An electromagnetic valve control means 30 is connected to both the switching valves 26 and 29, and this electromagnetic control means 30 controls the switching valve 2 for the gun.
In synchronization with the output of the pressurizing signal s1 for lowering the upper electrode 5 at step 6, a switching signal s2 for switching to the open side is output to the holder switching valve 29. Therefore, in this case, the holder switching valve 29 and the electromagnetic valve control means 30 constitute a holder control device 31 that operates the lift cylinder 16 to control the vertical movement of the workpiece holder 15.
上記実施例において、溶接にあたつては、ま
ず、ロボツト２の作動によりワーク３の打点を上
電極５と下電極７との対向点に位置決めし、この
ときは保持具用切換弁２９をエア圧供給側にして
リフトシリンダ１６へのエア圧供給により、ワー
ク保持具１５を上昇位置に保持しておく、そし
て、ガン用切換弁２６に加圧信号s1を送るのと同
期して保持具用切換弁２９に開放側への切換信号
s2を出力すると、両切換弁２６，２９の切換わり
により、ガンシリンダ４が作動して上電極５が下
降を開始すると同時に、リフトシリンダ１６の両
端のポート２７，２８が大気に開放された状態と
なり、ワーク保持具１５は自重で下降し、ワーク
３の打点が下電極７に当接した時点で下降が止ま
り、上下の電極５，７間での加圧によりワーク３
の両パネル３ｂ，３ｃのフランジ部が溶接され
る。この場合、ガイドロツド１７のバランススプ
リング２０は、ワーク３が下電極７に当接する際
の衝撃を吸収するとともに、両ガイドロツド１
７，１７のストローク誤差を吸収してワーク保持
具１５が下降時点で確実に水平状態となるように
する。溶接後は、上記両切換弁２６，２９を切換
え、ガンシリンダ４にて上電極５を上昇せしめる
とともに、リフトシリンダ１６にてワーク保持具
１５を上昇位置に保持し、ロボツト２の作動によ
り、ワーク３の次の打点を上下の電極５，７の間
に位置せしめ、先の場合と同様にして順次溶接を
行なう。 In the above embodiment, when welding, first, the robot 2 is operated to position the welding point of the workpiece 3 at a point facing the upper electrode 5 and the lower electrode 7, and at this time the holder switching valve 29 is The workpiece holder 15 is held in the raised position by supplying air pressure to the lift cylinder 16 on the pressure supply side, and the holder is moved in synchronization with sending the pressurization signal s1 to the gun switching valve 26. A switching signal to the open side is sent to the switching valve 29.
When s 2 is output, the gun cylinder 4 is activated and the upper electrode 5 starts to descend by switching both the switching valves 26 and 29, and at the same time, the ports 27 and 28 at both ends of the lift cylinder 16 are opened to the atmosphere. The workpiece holder 15 descends under its own weight, and stops descending when the dot of the workpiece 3 comes into contact with the lower electrode 7, and the workpiece 3 is lowered by pressurization between the upper and lower electrodes 5 and 7.
The flanges of both panels 3b and 3c are welded. In this case, the balance spring 20 of the guide rod 17 absorbs the impact when the workpiece 3 comes into contact with the lower electrode 7, and also
To ensure that the work holder 15 is in a horizontal state at the time of descent by absorbing the stroke errors of 7 and 17. After welding, both the switching valves 26 and 29 are switched, the gun cylinder 4 raises the upper electrode 5, the lift cylinder 16 holds the workpiece holder 15 in the raised position, and the robot 2 operates to lift the workpiece. The next welding point after No. 3 is positioned between the upper and lower electrodes 5 and 7, and welding is performed sequentially in the same manner as in the previous case.
なお、上記実施例ではガンシリンダ４およびリ
フトシリンダ１６の作動にエア圧を用いているが
油圧を用いてもよい。 In the above embodiment, air pressure is used to operate the gun cylinder 4 and lift cylinder 16, but hydraulic pressure may also be used.
（考案の効果）
本考案によれば、定置式スポツト溶接機の加圧
信号と同期してワーク保持具が自重で下降するこ
とから、溶接ガンの下電極の高さの変化にワーク
が追従し、比較的簡単な構造でもつてワークの変
形を招くことなくワークの下電極に対する位置決
めと加圧溶接を行なうことができ、また、ワーク
はこの位置決めと同時に加圧溶接されるため溶接
作業の時間短縮が図れる。(Effects of the invention) According to the invention, since the workpiece holder descends under its own weight in synchronization with the pressure signal of the stationary spot welding machine, the workpiece follows changes in the height of the lower electrode of the welding gun. Even with a relatively simple structure, the workpiece can be positioned to the lower electrode and pressure welded without causing deformation of the workpiece, and the workpiece is pressure welded at the same time as this positioning, reducing welding time. can be achieved.
図面は本考案の実施例を示し、第１図は溶接装
置の全体構成を示す正面図、第２図はシリンダの
圧力回路図である。
１……定置式スポツト溶接機、２……ロボツ
ト、３……ワーク、４……ガンシリンダ、５……
上電極、７……下電極、１２……アーム。
The drawings show an embodiment of the present invention; FIG. 1 is a front view showing the overall configuration of a welding device, and FIG. 2 is a cylinder pressure circuit diagram. 1... Stationary spot welding machine, 2... Robot, 3... Workpiece, 4... Gun cylinder, 5...
Upper electrode, 7... lower electrode, 12... arm.
Claims (1)
定置式スポツト溶接機により溶接するものにおい
て、上記ロボツトのアーム先端部に設けられシリ
ンダにて上下動可能に支持されたワーク保持具
と、上記シリンダへの圧力供給でワーク保持具を
上昇位置に保持し、定置式スポツト溶接機の加圧
信号と同期して上記シリンダへの供給圧力を解放
してワーク保持具を下降せしめる保持具制御装置
とを備えていることを特徴とするスポツト溶接に
おけるワークの保持装置。 A workpiece is held at the tip of a robot arm and welded by a stationary spot welding machine, in which a workpiece holder is provided at the tip of the robot arm and supported so as to be movable up and down by a cylinder, and a workpiece is attached to the cylinder. and a holder control device that holds the work holder in the raised position by supplying pressure to the cylinder and lowers the work holder by releasing the pressure supplied to the cylinder in synchronization with the pressure signal of the stationary spot welding machine. A workpiece holding device for spot welding, characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2250185U JPH0335507Y2 (en) | 1985-02-18 | 1985-02-18 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2250185U JPH0335507Y2 (en) | 1985-02-18 | 1985-02-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61138476U JPS61138476U (en) | 1986-08-28 |
| JPH0335507Y2 true JPH0335507Y2 (en) | 1991-07-26 |
Family
ID=30514851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2250185U Expired JPH0335507Y2 (en) | 1985-02-18 | 1985-02-18 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0335507Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012196703A (en) * | 2011-03-23 | 2012-10-18 | Fuji Heavy Ind Ltd | Spot welding method and spot welding equipment |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0644526Y2 (en) * | 1987-01-30 | 1994-11-16 | 松下電器産業株式会社 | Resistance welder |
| JPH043737Y2 (en) * | 1987-02-26 | 1992-02-05 | ||
| JPH01170585A (en) * | 1987-12-25 | 1989-07-05 | S M K:Kk | Welding equipment |
-
1985
- 1985-02-18 JP JP2250185U patent/JPH0335507Y2/ja not_active Expired
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012196703A (en) * | 2011-03-23 | 2012-10-18 | Fuji Heavy Ind Ltd | Spot welding method and spot welding equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61138476U (en) | 1986-08-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101230991B1 (en) | Pitch variable type twin spot welding apparatus | |
| CN102114572A (en) | Spot welding machine | |
| JPH0335507Y2 (en) | ||
| CN210498884U (en) | Be applied to end cover welding production line of water courage | |
| CN102601535A (en) | Welding method for car bottom of elevator based on welding robot | |
| JPS597486A (en) | Indirect welding device | |
| CN215880516U (en) | Carriage welding and splicing mechanism | |
| CN215846739U (en) | Bowl-shaped pad mounting device with movable needle guide | |
| CN212705121U (en) | Automatic end welding machine for fire extinguisher | |
| CN212891220U (en) | Bag opening mechanism | |
| CN115383427B (en) | Ball valve package assembly | |
| JP2526952B2 (en) | Automatic welding equipment | |
| CN217142873U (en) | Subway vehicle window wallboard welding frock | |
| CN219834385U (en) | Bluetooth headset welding line cuts off bonding tool positioner | |
| CN209792911U (en) | Laser welding fixture with rotary table conveying device | |
| CN115625454B (en) | Automatic welding line welding method for automobile front wall plate | |
| CN207873341U (en) | It is a kind of to fix the automatic tin welding machine for putting function with object | |
| JPS582554Y2 (en) | spot welding equipment | |
| JP3482636B2 (en) | Handling jig for automatic seam welding line copying machine | |
| JPS5847577A (en) | Positioning and fixing device for platen of welding press | |
| JPH043737Y2 (en) | ||
| JP2515673Y2 (en) | Work transfer welding equipment | |
| JPS6327905Y2 (en) | ||
| JP2642341B2 (en) | Parts supply and assembly equipment for assembly lines | |
| KR200142358Y1 (en) | Front panel welding apparatus for microwave oven |