JPH05228632A - Welding robot device capable of welding different kinds of works - Google Patents
Welding robot device capable of welding different kinds of worksInfo
- Publication number
- JPH05228632A JPH05228632A JP3615092A JP3615092A JPH05228632A JP H05228632 A JPH05228632 A JP H05228632A JP 3615092 A JP3615092 A JP 3615092A JP 3615092 A JP3615092 A JP 3615092A JP H05228632 A JPH05228632 A JP H05228632A
- Authority
- JP
- Japan
- Prior art keywords
- work
- welding
- welding robot
- support portion
- positioner
- 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.)
- Withdrawn
Links
Landscapes
- Manipulator (AREA)
- Resistance Welding (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、異種ワ−クの溶接が可
能な溶接ロボット装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot apparatus capable of welding different kinds of work.
【０００２】[0002]
【従来の技術】従来、異種ワ−ク（例えば建桟部品であ
るア−ムとバケット）を溶接する場合は、各ワ−クに対
して、その形状に応じた溶接ロボット及びポジショナを
設けるのが通例である。2. Description of the Related Art Conventionally, when welding different works (for example, an arm and a bucket, which are parts of a building crosspiece), a welding robot and a positioner are provided for each work according to their shapes. Is customary.
【０００３】[0003]
【発明が解決しようとする課題】ところが、そのよう
に、各ワ−クに対して、そのワ−ク形状に応じた溶接ロ
ボット及びポジショナを設けるようにすると、装置全体
が大掛かりなものとなり、コストアップの原因となって
いる。However, if a welding robot and a positioner corresponding to the work shape are provided for each work in this way, the entire apparatus becomes large-scale and the cost is reduced. It is a cause of up.
【０００４】本発明はかかる点に鑑みてなされたもの
で、単一の溶接ロボット及びポジショナで異種ワ−クを
溶接することができる、異種ワ−クの溶接が可能な溶接
ロボット装置を提供するものである。The present invention has been made in view of the above circumstances, and provides a welding robot apparatus capable of welding different kinds of work with a single welding robot and a positioner. It is a thing.
【０００５】[0005]
【課題を解決するための手段】本発明は、溶接ロボット
と、該溶接ロボットに関連して配設されたポジショナと
を有する、異種ワ−クの溶接が可能な溶接ロボット装置
であって、上記ポジショナが、第１及び第２のワ−クの
一端部を支持する駆動側支持部を有し、該駆動側支持部
に該支持部を回転させ、駆動側支持部が第１のワ−クを
支持する第１位置と、第２のワ−クを支持する第２位置
とを択一的にとらせる回転駆動手段が連結されている構
成とする。SUMMARY OF THE INVENTION The present invention is a welding robot apparatus capable of welding different types of work, which has a welding robot and a positioner arranged in association with the welding robot. The positioner has a drive side support portion for supporting one end portions of the first and second work, and the drive side support portion rotates the support portion, and the drive side support portion has the first work portion. The rotary drive means for selectively taking the first position for supporting the second work and the second position for supporting the second work are connected.
【０００６】[0006]
【作用】第１のワ−クを溶接する場合は、駆動部側支持
部は第１位置をとり、第１のワ−クの一端部を支持す
る。そして、溶接ロボットによって溶接が行われる。When the first work is welded, the drive-side support part takes the first position and supports one end of the first work. Then, welding is performed by the welding robot.
【０００７】第２のワ−クを溶接する場合には、駆動部
側支持部が回転駆動手段にて回転駆動されて第２位置と
なり、第２のワ−クの一端部を支持する。そして、同じ
溶接ロボットによって溶接が行われる。When the second work is welded, the drive side support part is rotationally driven by the rotary drive means to the second position and supports one end of the second work. Then, welding is performed by the same welding robot.
【０００８】[0008]
【実施例】以下、本発明の実施例を図面に沿って詳細に
説明する。Embodiments of the present invention will now be described in detail with reference to the drawings.
【０００９】全体構成を示す図１〜図３において、１は
溶接ロボットで、ロボット本体１ａの上部に１対のア−
ム１ｂ，１ｃを介してト−チ１ｄが設けられている。ま
た、ロボット本体１ａの下部はガイドレ−ル２にスライ
ド可能に係合し、溶接ロボット１はガイドレ−ル２に沿
ってスライド移動できるようになっている。1 to 3 showing the overall structure, reference numeral 1 denotes a welding robot, which is a pair of arms on the upper part of the robot body 1a.
A torch 1d is provided via the frames 1b and 1c. The lower portion of the robot body 1a is slidably engaged with the guide rail 2 so that the welding robot 1 can slide along the guide rail 2.
【００１０】上記溶接ロボット１に関連して、その前側
にポジショナ３が配設されており、このポジショナ３に
よって第１及び第２のワ−クＷ1 ，Ｗ2 を位置決め支持
することで、異種ワ−クＷ1 ，Ｗ2 の溶接ができるよう
に構成されている。In relation to the welding robot 1, a positioner 3 is arranged on the front side of the welding robot 1, and the positioner 3 positions and supports the first and second works W1 and W2. It is constructed so that it can weld the W1 and W2.
【００１１】上記ポジショナ３は、長尺物である第１の
ワ−クＷ1 （例えばア−ム）の両端部を支持する駆動側
及び従動側支持部４，５とを有する。駆動側支持部４は
第１のワ−クＷ1 の一端部を支持すると共に、第１の駆
動手段としての第１サ−ボモ−タ６に連結され、略水平
方向の回転軸（Ｌ1 参照）について第１のワ−クＷ1を
回転するように構成されている。一方、従動側支持部５
は、第１のワ−クＷ1を回転フリ−に支持するもので、
走行レ−ル９に沿って移動可能で駆動側支持部４との間
隔を調整できるようになっている。これによって、ワ−
クＷ1 の長さに応じて駆動側及び従動側支持部４，５間
の間隔を調整し、一定範囲の長さのワ−クＷ1 について
適用することができるようになっている。The positioner 3 has driving side and driven side supporting portions 4 and 5 for supporting both end portions of a first work W1 (for example, an arm) which is an elongated member. The driving side supporting portion 4 supports one end of the first work W1 and is connected to the first servomotor 6 as the first driving means, and has a substantially horizontal rotating shaft (see L1). Is configured to rotate the first work W1. On the other hand, the driven side support portion 5
Is for supporting the first work W1 on a rotary free,
It is movable along the traveling rail 9 and the distance between it and the drive side support portion 4 can be adjusted. This makes the work
The distance between the driving-side and driven-side supporting portions 4 and 5 is adjusted according to the length of the work W1 so that it can be applied to the work W1 having a certain range of length.
【００１２】また、駆動側支持部４には、略Ｌ字形状の
フレ−ム部材７を介して、第２の回転駆動手段としての
第２サ−ボモ−タ８が連結されている。この第２サ−ボ
モ−タ８の回転軸（Ｌ3 参照）は、第１サ−ボモ−タ６
についての回転軸と略直交している。そして、第２サ−
ボモ−タ８の駆動により、第１サ−ボモ−タ６について
の回転軸が略水平方向となり（Ｌ1 参照）駆動側支持部
４が第１のワ−クＷ1を支持する第１位置Ｐ1 （図１参
照）と、第１サ−ボモ−タ６についての回転軸が略鉛直
方向となり（Ｌ2 参照）第２のワ−クＷ2 （例えばバケ
ット）を支持する第２位置Ｐ2 （図２参照）とを択一的
にとることができるようになっている。A second servomotor 8 as a second rotation driving means is connected to the driving side support portion 4 via a frame member 7 having a substantially L shape. The rotation axis (see L3) of the second servo motor 8 is used for the first servo motor 6
Is substantially orthogonal to the rotation axis of. And the second server
The driving shaft 8 of the first servomotor 6 becomes substantially horizontal (see L1) by the driving of the voom motor 8, and the driving side support portion 4 supports the first work W1 at the first position P1 ( (See FIG. 1) and the rotation axis of the first servomotor 6 is substantially vertical (see L2) and the second position P2 (see FIG. 2) for supporting the second work W2 (for example, a bucket). And can be taken alternatively.
【００１３】上記のように構成すれば、第１のワ−クＷ
1 を溶接する場合は、駆動部側支持部４を第１位置Ｐ1
として、第１サ−ボモ−タ６についての回転軸が略水平
方向となるようにする。そして、従動側支持部５の位置
を調整して、両支持部４，５で第１のワ−クＷ1 の両端
部をそれぞれ支持する。そして、溶接ロボット１がガイ
ドレ−ル２に沿って走行しつつ、また、第１サ−ボモ−
タ６によって回転軸（Ｌ1 参照）について第１のワ−ク
Ｗ1 を回転させつつ溶接が行われる。このとき、第２サ
−ボモ−タ８は、図示しない制御手段により回転が禁止
され、第１位置Ｐ1 を保持するようになっている。According to the above construction, the first work W
When welding 1, the drive unit side support portion 4 is set to the first position P1
As a result, the rotation axis of the first servo motor 6 is set to be substantially horizontal. Then, the position of the driven side supporting portion 5 is adjusted so that both supporting portions 4 and 5 respectively support both end portions of the first work W1. Then, while the welding robot 1 travels along the guide rail 2, the welding robot 1 also moves in the first servo mode.
The welding is carried out by rotating the first work W1 about the rotating shaft (see L1) by means of the rotor 6. At this time, rotation of the second servo motor 8 is prohibited by a control means (not shown), and the second servo motor 8 holds the first position P1.
【００１４】また、第２のワ−クＷ2 を溶接する場合に
は、駆動部側支持部４が、第２サ−ボモ−タ８にて、回
転軸（Ｌ3 参照）についてフレ−ム部材７を介して、第
１位置Ｐ1 より略９０度の角度だけ回転駆動されて、第
１サ−ボモ−タ６についての回転軸が略鉛直方向となる
第２位置となる（Ｌ2 参照）。そして、この状態で第２
のワ−クＷ2 の下端部を支持し、第１サ−ボモ−タ６に
よって回転軸（Ｌ2 参照）について第２のワ−クＷ2 を
回転させつつ、溶接ロボット１によって第２のワ−クＷ
2 の溶接が行われる。When the second work W2 is welded, the drive-side supporting portion 4 uses the second servo motor 8 to form the frame member 7 about the rotary shaft (see L3). Is rotated by an angle of about 90 degrees from the first position P1 to reach the second position where the rotation axis of the first servomotor 6 is substantially vertical (see L2). And in this state the second
Supporting the lower end of the second work W2 and rotating the second work W2 about the rotation axis (see L2) by the first servomotor 6 while the welding robot 1 produces the second work. W
2 welding is performed.
【００１５】[0015]
【発明の効果】本発明は、上記のように、ポジショナの
駆動側支持部の位置を変えることによって異種ワ−クを
単一のポジショナによって支持するようにし、また、そ
れに対し単一の溶接ロボットで溶接するようにしたか
ら、異種ワ−クに対する溶接ロボット及びポジショナの
共通化が可能となり、装置のコンパクト化が図れ、簡単
な構造で、大幅なコストダウンが図れる。As described above, according to the present invention, the position of the driving side support portion of the positioner is changed so that different types of work are supported by a single positioner, and a single welding robot is used. Since the welding is carried out by using the welding robot, the welding robot and the positioner can be commonly used for different kinds of work, the apparatus can be made compact, and the simple structure can significantly reduce the cost.
【図１】溶接ロボット装置の平面図である。FIG. 1 is a plan view of a welding robot apparatus.
【図２】同側面図である。FIG. 2 is a side view of the same.
【図３】同正面図である。FIG. 3 is a front view of the same.
1 溶接ロボット 3 ポジショナ 4 駆動側支持部 5 従動側支持部 8 第２サ−ボモ−タ（回転駆動手段） W1 第１のワ−ク W2 第２のワ−ク 1 Welding robot 3 Positioner 4 Drive side support 5 Driven side support 8 2nd servomotor (rotational drive means) W1 1st work W2 2nd work
Claims (1)
して配設されたポジショナとを有する、異種ワ−クの溶
接が可能な溶接ロボット装置であって、 上記ポジショナが、第１及び第２のワ−クの一端部を支
持する駆動側支持部を有し、 該駆動側支持部に該支持部を回転させ、駆動側支持部が
第１のワ−クを支持する第１位置と、第２のワ−クを支
持する第２位置とを択一的にとらせる回転駆動手段が連
結されていることを特徴とする異種ワ−クの溶接が可能
な溶接ロボット装置。1. A welding robot apparatus capable of welding different types of work, comprising a welding robot and a positioner arranged in association with the welding robot, wherein the positioner comprises first and second positions. A first position having a drive side support portion for supporting one end of the work, the drive side support portion rotating the support portion, and the drive side support portion supporting the first work; A welding robot apparatus capable of welding different kinds of work, characterized in that a rotary driving means for selectively taking a second position for supporting a second work is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3615092A JPH05228632A (en) | 1992-02-24 | 1992-02-24 | Welding robot device capable of welding different kinds of works |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3615092A JPH05228632A (en) | 1992-02-24 | 1992-02-24 | Welding robot device capable of welding different kinds of works |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05228632A true JPH05228632A (en) | 1993-09-07 |
Family
ID=12461761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3615092A Withdrawn JPH05228632A (en) | 1992-02-24 | 1992-02-24 | Welding robot device capable of welding different kinds of works |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05228632A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8099184B2 (en) * | 2009-04-13 | 2012-01-17 | Rimrock Automation, Inc. | Load compensation for robotic applications |
| CN104148868A (en) * | 2014-08-01 | 2014-11-19 | 成都艾格科技有限责任公司 | Internal supporting and external hooping non-fixing-and-spot-welding girth welder applicable to one-side welding with back formation |
| CN104959738B (en) * | 2015-06-09 | 2018-06-15 | 石河子大学 | A kind of seeder frame flexible welding work station |
-
1992
- 1992-02-24 JP JP3615092A patent/JPH05228632A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8099184B2 (en) * | 2009-04-13 | 2012-01-17 | Rimrock Automation, Inc. | Load compensation for robotic applications |
| CN104148868A (en) * | 2014-08-01 | 2014-11-19 | 成都艾格科技有限责任公司 | Internal supporting and external hooping non-fixing-and-spot-welding girth welder applicable to one-side welding with back formation |
| CN104959738B (en) * | 2015-06-09 | 2018-06-15 | 石河子大学 | A kind of seeder frame flexible welding work station |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19990518 |