JPH05245654A - Device for confirming and exchanging electrode tip in welding gun - Google Patents
Device for confirming and exchanging electrode tip in welding gunInfo
- Publication number
- JPH05245654A JPH05245654A JP4879792A JP4879792A JPH05245654A JP H05245654 A JPH05245654 A JP H05245654A JP 4879792 A JP4879792 A JP 4879792A JP 4879792 A JP4879792 A JP 4879792A JP H05245654 A JPH05245654 A JP H05245654A
- Authority
- JP
- Japan
- Prior art keywords
- electrode tip
- electrode
- welding gun
- body frame
- attached
- 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.)
- Granted
Links
Landscapes
- Resistance Welding (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、溶接ロボット等に装
着された溶接ガンに取り付けられた電極チップの切削確
認、交換装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cutting confirmation and exchange device for an electrode tip attached to a welding gun attached to a welding robot or the like.
【０００２】[0002]
【従来の技術】自動車の車体組立ライン等では、溶接ロ
ボットによる自動スポット溶接が行われている。この自
動スポット溶接は、溶接ガンに取り付けられた上下一対
の電極チップの間に溶接個所を挟み込んで行われてい
る。前記電極チップは、溶接回数が多くなると、先端が
酸化膜に覆われると共に、その先端面積が大きくなった
り、ピックアップ（汚れ）が付着して、溶接不良の原因
になっていた。そこで、一定回数の溶接を行うと、電極
チップ切削装置によって、電極チップの先端を切削して
酸化膜やピックアップを除去すると共に、電極チップの
先端形状を元の形状になるように整形する必要がある。
そして、繰り返しこの整形を行うと電極チップが短くな
るので、この電極チップを交換する必要がある。2. Description of the Related Art Automatic spot welding is carried out by a welding robot in a car body assembly line or the like. This automatic spot welding is performed by sandwiching a welding point between a pair of upper and lower electrode tips attached to a welding gun. When the number of times of welding was increased, the tip of the electrode tip was covered with an oxide film, and the tip area increased, and pickup (dirt) adhered, which caused welding failure. Therefore, when welding is performed a certain number of times, it is necessary to cut the tip of the electrode tip by an electrode tip cutting device to remove the oxide film and the pickup and shape the tip shape of the electrode tip to its original shape. is there.
If this shaping is repeated, the electrode tip becomes shorter, so it is necessary to replace this electrode tip.
【０００３】このため、従来は、電極チップの先端が完
全に切削されたかを確認するには、溶接ロボットに装着
された溶接ガンが自動的に電極チップ切削装置のブレー
ドの位置にきて、電極チップの先端が自動的に切削され
た後、電極チップ切削装置の近くで、溶接ロボットに装
着された溶接ガンが動く範囲内に設置された電極チップ
切削確認装置において、電極チップの切削面に当てた光
りの反射量を光センサーにより測定し、電極チップの形
状を確認することにより行っていた。Therefore, conventionally, in order to confirm that the tip of the electrode tip has been completely cut, the welding gun attached to the welding robot automatically comes to the position of the blade of the electrode tip cutting device, After the tip of the tip is automatically cut, contact the electrode tip cutting surface with the electrode tip cutting confirmation device installed near the electrode tip cutting device and within the range where the welding gun attached to the welding robot moves. This was done by measuring the amount of reflected light with an optical sensor and confirming the shape of the electrode tip.
【０００４】また、前記電極チップの交換は、作業者に
より行われており、電極チップを取り外すには、溶接ガ
ンの取付部に嵌め込まれた電極チップの取付端にたがね
を当て、このたがねをハンマー等でたたいて、電極チッ
プを溶接ガンの取付部からたたき落としている。また、
電極チップを取り付けるには、溶接ガンの取付部に電極
チップの取付端を当て、電極チップをハンマー等でたた
いて、この電極チップを溶接ガンの取付部にたたき込ん
でいる。Further, the replacement of the electrode tip is carried out by an operator, and in order to remove the electrode tip, a chisel is applied to the mounting end of the electrode tip fitted in the mounting portion of the welding gun. The tip of the electrode is knocked down from the attachment part of the welding gun by hitting the glass with a hammer. Also,
To attach the electrode tip, the attachment end of the electrode tip is applied to the attachment portion of the welding gun, the electrode tip is hit with a hammer or the like, and the electrode tip is tapped into the attachment portion of the welding gun.
【０００５】[0005]
【発明が解決しようとする課題】しかしながら、前記光
センサーの発光素子から発せられた光りが、発光口から
受光口に到る間に、発光素子に切削片やゴミ等が付着す
ることにより光りの反射量が変化して、切削の有無の確
認、及び合否の判断等を難しくするという課題を有して
いた。また、従来の作業者による溶接ガンの電極チップ
の交換は、溶接ガンが誤作動した場合、作業者が非常に
危険であるという課題を有していた。However, while the light emitted from the light emitting element of the optical sensor reaches the light receiving port from the light emitting port, the light emitting device emits There is a problem in that the amount of reflection changes, making it difficult to confirm the presence or absence of cutting and to make a pass / fail judgment. Further, the conventional replacement of the electrode tip of the welding gun by the worker has a problem that the worker is extremely dangerous when the welding gun malfunctions.
【０００６】そこで、この発明の溶接ガンの電極チップ
の切削確認、交換装置は、上記従来の課題を解決するこ
とを目的としてなされたものである。Therefore, the cutting confirmation and replacement device for the electrode tip of the welding gun of the present invention is made for the purpose of solving the above-mentioned conventional problems.
【０００７】[0007]
【課題を解決するための手段】そのため、この発明の溶
接ガンの電極チップ切削確認、交換装置は、以下のよう
な構成とした電極チップ切削確認装置１と、電極チップ
取外し装置２と、電極チップ取付け装置３とからなるも
のとしている。前記電極チップ切削確認装置１は、正確
に切削された状態の電極チップＣの先端と略同形状の凹
部９を本体ケース１０の一端部に形成したチップガイド
１２、本体ケース１０からチップガイド１２の凹部９の
小孔１１内に突設した光センサーの発光素子１３、チッ
プガイド１２の凹部９の上下を開閉自在とした保護カバ
ー１４、前記発光素子１３に向かってエアブロー可能と
したノズル１５を備えている。前記電極チップ取外し装
置２は、本体フレーム２０の一端部にエアシリンダ２１
を取り付けると共に、このエアシリンダ２１のピストン
ロッド２２の先端に、先端を凹曲面２３ａとした一方の
楔２３を取り付け、この楔２３に対向させて先端を凹曲
面２４ａとしたもう一方の楔２４を前記本体フレーム２
０の他端部に取り付け、しかも前記楔２３、２４の凹曲
面２３ａ、２４ａにそれぞれエアブローのノズル２５、
２５を設けている。前記電極チップ取付け装置３は、本
体フレーム３０の前部に上下面と一側面が開放した取出
部３１を有し、本体フレーム３０の内部に上下一対の電
極チップＣ、Ｃを複数個並列して装填すると共に、複数
個並列した最後部の電極チップＣ、Ｃにスプリング３２
により付勢された押板３３を押し当て、さらに前記押板
３３を引き戻すためのハンドル３４をこの押板３３に設
けている。Therefore, an electrode tip cutting confirmation and replacement device for a welding gun according to the present invention is provided with an electrode tip cutting confirmation device 1, an electrode tip removing device 2 and an electrode tip which are constructed as follows. The attachment device 3 is used. The electrode tip cutting confirmation device 1 includes a tip guide 12 in which a recess 9 having substantially the same shape as the tip of the electrode tip C in a correctly cut state is formed at one end of the body case 10, and from the body case 10 to the tip guide 12. A light emitting element 13 of an optical sensor protruding in a small hole 11 of the concave portion 9, a protective cover 14 capable of opening and closing the concave portion 9 of the chip guide 12, and a nozzle 15 capable of air blowing toward the light emitting element 13 are provided. ing. The electrode tip removing device 2 includes an air cylinder 21 at one end of the body frame 20.
And one wedge 23 having a concave curved surface 23a at the distal end is attached to the distal end of the piston rod 22 of the air cylinder 21, and the other wedge 24 having a concave curved surface 24a at the distal end is opposed to the wedge 23. The body frame 2
Attached to the other end portion of 0, and the air blow nozzle 25 and the concave curved surfaces 23a and 24a of the wedges 23 and 24, respectively.
25 are provided. The electrode chip attaching device 3 has a take-out portion 31 having an open upper and lower surface and one side surface at a front portion of the main body frame 30, and a plurality of upper and lower electrode chips C, C arranged in parallel inside the main body frame 30. Along with loading, a spring 32 is attached to the rearmost electrode chips C, C which are arranged in parallel.
A handle 34 is provided on the push plate 33 for pushing the push plate 33 urged by and pressing the push plate 33 back.
【０００８】さらに、この発明の溶接ガンの電極チップ
切削確認、交換装置は、電極チップ取外し装置２の本体
フレーム２０の両側部に透過式光電スイッチ２６を取り
付けたものとしたり、電極チップ取付け装置３の本体フ
レーム３０の両側部に透過式光電スイッチ３５を取り付
けたものとしたり、電極チップ取外し装置２の本体フレ
ーム２０及び電極チップ取付け装置３の本体フレーム３
０を左右上下揺動機構５に取り付けたものとすることが
できる。前記透過式光電スイッチ２６は、溶接ガン７の
取付部８に嵌め込まれた上下一対の電極チップＣ、Ｃ
が、前記楔２３、２４の間の定位置付近に移動したとき
働くようにしたものとしている。前記透過式光電スイッ
チ３５は、本体フレーム３０の内部に充填された上下一
対の電極チップＣ、Ｃの残量を確認するようにしたもの
としている。Further, in the welding tip electrode tip cutting confirmation and replacement device of the present invention, the transmission type photoelectric switch 26 is attached to both sides of the body frame 20 of the electrode tip removing device 2, or the electrode tip attaching device 3 is used. The transmissive photoelectric switches 35 are attached to both sides of the main body frame 30, or the main body frame 20 of the electrode tip removing device 2 and the main body frame 3 of the electrode tip attaching device 3 are mounted.
0 can be attached to the left-right up-down swing mechanism 5. The transmission type photoelectric switch 26 includes a pair of upper and lower electrode chips C, C fitted in the mounting portion 8 of the welding gun 7.
However, when it moves to a position near the fixed position between the wedges 23 and 24, it works. The transmissive photoelectric switch 35 is configured to check the remaining amount of the pair of upper and lower electrode chips C, C filled inside the main body frame 30.
【０００９】[0009]
【作用】この発明の溶接ガンの電極チップの切削確認、
交換装置は、電極チップＣの切削確認装置１の光センサ
ーの発光素子１３に切削片やゴミ等が付着することがな
いので、この発光素子１３から発せられた光りの反射量
が影響を受けることがなくなった。Operation: Cutting confirmation of the electrode tip of the welding gun of the present invention,
Since the exchanging device does not attach cutting pieces, dust, or the like to the light emitting element 13 of the optical sensor of the cutting confirmation device 1 for the electrode chip C, the reflection amount of the light emitted from the light emitting element 13 is affected. Is gone.
【００１０】また、電極チップ取外し装置２と電極チッ
プ取付け装置３とにより、上下一対の電極チップＣ、Ｃ
を溶接ガン７の取付部８から取り外すことができると共
に、新たな電極チップＣ、Ｃを溶接ガン７の取付部８に
取り付けることができる。すなわち、前記電極チップ取
外し装置２のエアシリンダ２１のピストンロッド２２の
作動により、一方の楔２３を他方の楔２４に接近させ、
溶接ガン７の取付部８に嵌め込まれた上下一対のうち一
方の電極チップＣの取付端に、楔２３、２４の凹曲面２
３ａ、２４ｂを押し当てて、この電極チップＣの溶接ガ
ン７の取付部８への嵌め込みを緩め、楔２３、２４の凹
曲面２３ａ、２４ｂに設けたノズル２５、２５からのエ
アブローによって、電極チップＣを吹き飛ばし落下させ
ることにより、この電極チップＣを溶接ガン７の取付部
８から取り外し回収することができる。なお、溶接ガン
７の取付部８に嵌め込まれた上下一対のうちもう一方の
電極チップＣも同様に、溶接ガン７の取付部８から取り
外し回収することができる。Further, the electrode tip removing device 2 and the electrode tip attaching device 3 make a pair of upper and lower electrode tips C, C.
Can be removed from the attachment portion 8 of the welding gun 7, and new electrode tips C, C can be attached to the attachment portion 8 of the welding gun 7. That is, the operation of the piston rod 22 of the air cylinder 21 of the electrode tip removing device 2 causes one wedge 23 to approach the other wedge 24,
The concave curved surface 2 of the wedges 23, 24 is attached to the attachment end of one of the upper and lower electrode tips C fitted in the attachment portion 8 of the welding gun 7.
3a, 24b are pressed to loosen the fitting of the electrode tip C into the mounting portion 8 of the welding gun 7, and air blows from the nozzles 25, 25 provided on the concave curved surfaces 23a, 24b of the wedges 23, 24 to cause the electrode tip to blow. The electrode tip C can be detached from the mounting portion 8 of the welding gun 7 and collected by blowing and dropping C. The other electrode tip C of the pair of upper and lower fitted in the mounting portion 8 of the welding gun 7 can be similarly removed and collected from the mounting portion 8 of the welding gun 7.
【００１１】また、前記電極チップ取外し装置２により
上下一対の電極チップＣ、Ｃを取り外した溶接ガン７の
取付部８を、前記電極チップ取付け装置３の本体フレー
ム３０の取出部３１に充填された上下一対の電極チップ
Ｃ、Ｃに取出部３１の上下から加圧して、溶接ガン７の
取付部８にこれら電極チップＣ、Ｃを嵌め込み、取出部
３１の開放側へ引き出すことにより、電極チップＣ、Ｃ
を溶接ガン７の取付部８に取り付けることができる。Further, the attaching portion 8 of the welding gun 7 from which the pair of upper and lower electrode tips C, C has been removed by the electrode tip removing device 2 is filled in the take-out portion 31 of the main body frame 30 of the electrode tip attaching device 3. By pressing the pair of upper and lower electrode tips C and C from above and below the take-out portion 31, fitting the electrode tips C and C into the attachment portion 8 of the welding gun 7 and pulling them out to the open side of the take-out portion 31, , C
Can be attached to the attachment portion 8 of the welding gun 7.
【００１２】[0012]
【実施例】以下、この発明の溶接ガンの電極チップの切
削確認、交換装置を、実施例として示した図面に基づい
て詳細に説明する。図１は、この発明の溶接ガンの電極
チップの切削確認、交換装置の一実施例を示す側面図で
ある。この発明の溶接ガンの電極チップの切削確認、交
換装置は、電極チップ切削確認装置１と、電極チップ取
外し装置２と、電極チップ取付け装置３とからなる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following is a detailed explanation of the cutting confirmation and replacement device for the electrode tip of the welding gun according to the present invention, given in reference to the drawings shown as an embodiment. FIG. 1 is a side view showing an embodiment of a cutting confirmation and replacement device for an electrode tip of a welding gun according to the present invention. The cutting confirmation and replacement device for the electrode tip of the welding gun of the present invention comprises an electrode tip cutting confirmation device 1, an electrode tip removing device 2 and an electrode tip attaching device 3.
【００１３】前記電極チップ切削確認装置１は、図２、
図３に示したように、電極チップ切削装置４のすぐ横に
設置されており、正確に切削された状態の電極チップＣ
の先端と略同形状の凹部９を上下ケース１０ａ、１０ｂ
よりなる本体ケース１０の一端部に形成したチップガイ
ド１２、上下ケース１０ａ、１０ｂの間からチップガイ
ド１２の凹部９の小孔１１内に突設した光センサーの発
光素子１３、チップガイド１２の凹部９の上下を開閉自
在とした保護カバー１４、前記発光素子１３に向かって
エアブロー可能としたノズル１５を備えている。保護カ
バー１４は、本体ケース１０の一部に帯状に巻付けられ
て、本体ケース１０の他端部に取り付けられたシリンダ
１６内を往復動するピストンロッド１７により、本体ケ
ース１０に沿って往復動させられ、前記チップガイド１
２の凹部９の上下を開閉自在としている。ノズル１５
は、保護カバー１４の一端部に取り付けられており、保
護カバー１４に伴って往復動し、保護カバー１４がチッ
プガイド１２の凹部９の上下を開放したときには発光素
子１３に近づき、保護カバー１４がチップガイド１２の
凹部９の上下を閉鎖したときには発光素子１３から遠ざ
かるようにしている。The electrode tip cutting confirmation device 1 is shown in FIG.
As shown in FIG. 3, the electrode tip C is installed right next to the electrode tip cutting device 4 and is in an accurately cut state.
The upper and lower cases 10a, 10b with the recess 9 having substantially the same shape as that of
A chip guide 12 formed at one end of a main body case 10 made of a material, a light emitting element 13 of a photosensor projecting from a space between the upper and lower cases 10a and 10b into a small hole 11 of a recess 9 of the chip guide 12, and a recess of the chip guide 12. A protective cover 14 that can open and close the upper and lower sides of 9 and a nozzle 15 that can blow air toward the light emitting element 13 are provided. The protective cover 14 is wound around a part of the body case 10 in a strip shape, and reciprocates along the body case 10 by a piston rod 17 that reciprocates in a cylinder 16 attached to the other end of the body case 10. The tip guide 1
The upper and lower sides of the second recess 9 can be opened and closed. Nozzle 15
Is attached to one end of the protective cover 14, reciprocates along with the protective cover 14, and when the protective cover 14 opens the upper and lower portions of the recess 9 of the chip guide 12, the protective cover 14 approaches the light emitting element 13, and the protective cover 14 When the top and bottom of the recess 9 of the chip guide 12 are closed, the tip guide 12 is moved away from the light emitting element 13.
【００１４】前記電極チップ切削装置４は、本体ケース
４０の一端部に設けられたカッター４１、歯車減速・伝
達機構（図示せず）を介してこのカッター４１を正逆回
転可能としたエアモータ４２、カッター４１に向かって
エアブロー可能としたノズル４３を備えている。前記電
極チップ取外し装置２は、左右上下揺動機構５を具備し
た設置台６に設置されており、四角枠とした本体フレー
ム２０の一端部にエアシリンダ２１を取り付けている。
そして、このエアシリンダ２１のピストンロッド２２の
先端に、先端を凹曲面２３ａとした一方の楔２３を取り
付け、この楔２３に対向させて先端を凹曲面２４ａとし
たもう一方の楔２４を前記本体フレーム２０の他端部に
取り付けている。さらに、前記楔２３、２４の凹曲面２
３ａ、２４ａには、それぞれエアブローのノズル２５、
２５を設けている（図１３〜図１５参照）。なお、本体
フレーム２０の両側部には、必要に応じ、透過式光電ス
イッチ２６を取り付けている。この透過式光電スイッチ
２６は、溶接ロボットが操縦され、溶接ガン７の取付部
８に嵌め込まれた上下一対の電極チップＣ、Ｃが、前記
楔２３、２４の間の定位置付近に移動したとき、働くよ
うにしている。The electrode tip cutting device 4 includes a cutter 41 provided at one end of the main body case 40, and an air motor 42 capable of rotating the cutter 41 forward and backward through a gear reduction / transmission mechanism (not shown). The nozzle 43 is provided so as to blow air toward the cutter 41. The electrode tip removing device 2 is installed on an installation table 6 equipped with a vertical swinging mechanism 5, and an air cylinder 21 is attached to one end of a body frame 20 which is a square frame.
Then, one wedge 23 having a concave curved surface 23a at the distal end is attached to the distal end of the piston rod 22 of the air cylinder 21, and the other wedge 24 having a concave curved surface 24a at the distal end is provided so as to face the wedge 23. It is attached to the other end of the frame 20. Further, the concave curved surface 2 of the wedges 23, 24
Air blow nozzles 25 and 3a and 24a,
25 is provided (see FIGS. 13 to 15). A transmission type photoelectric switch 26 is attached to both sides of the main body frame 20 as needed. The transmission type photoelectric switch 26 is operated when the welding robot is operated and the pair of upper and lower electrode chips C and C fitted in the mounting portion 8 of the welding gun 7 move to near the fixed position between the wedges 23 and 24. I am trying to work.
【００１５】前記電極チップ取付け装置３は、電極チッ
プ取外し装置２と同様に左右上下揺動機構５を具備した
設置台６に設置されており、本体フレーム３０の前部に
上下面と一側面が開放した取出部３１を有している。そ
して、本体フレーム３０の内部には、上下一対の電極チ
ップＣ、Ｃを複数個並列して装填している。さらに、前
記複数個並列した最後部の電極チップＣ、Ｃにスプリン
グ３２により付勢された押板３３を押し当てている。ま
た、前記押板３３には、この押板３３を引き戻すための
ハンドル３４を設けている。なお、本体フレーム３０の
両側部には、必要に応じ、透過式光電スイッチ３５を取
り付けている。この透過式光電スイッチ３５は、本体フ
レーム３０の内部に充填された上下一対の電極チップ
Ｃ、Ｃの残量を確認するようにしている。The electrode tip attaching device 3 is installed on an installation base 6 having a horizontal up / down swing mechanism 5 like the electrode tip removing device 2, and has a top and bottom surface and one side surface at the front of the main body frame 30. It has an open extraction part 31. Inside the main body frame 30, a pair of upper and lower electrode chips C, C are mounted in parallel. Further, a pressing plate 33 urged by a spring 32 is pressed against the rearmost electrode chips C, C arranged in parallel. Further, the push plate 33 is provided with a handle 34 for pulling back the push plate 33. In addition, transmission type photoelectric switches 35 are attached to both sides of the main body frame 30 as needed. The transmissive photoelectric switch 35 is configured to check the remaining amount of the pair of upper and lower electrode chips C, C filled inside the main body frame 30.
【００１６】次に、以上のように構成されたこの発明の
溶接ガンの電極チップの切削確認、交換装置の作動状態
を説明する。先ず、溶接ロボットの溶接ガンの電極チッ
プの切削確認は、図５〜図７に示したように、前記電極
チップの切削確認装置１により行われる。すなわち、溶
接ロボットを操縦して、切削した上下一対の電極チップ
Ｃ、Ｃを電極チップ切削確認装置１のチップガイド１２
に形成した凹部９の位置に移動させる（図５参照）。こ
の移動と同時に、ピストンロッド１７をシリンダ１６内
に引き込み、保護カバー１４を移動させて凹部９を開放
し、前記凹部９の小孔１１内に突設した発光素子１３に
向かってノズル１５からエアブローを行う（図６参
照）。次に、溶接ガン７の加圧操作により、上下一対の
電極チップＣ、Ｃを前記凹部９の上下からこの凹部９内
に嵌まり込むように加圧させ、それぞれの発光素子１３
から発する光りを前記電極チップＣ、Ｃに直接当ててそ
の反射量を測定し、電極チップＣ、Ｃの切削の良否等の
確認を行う（図７参照）。Next, the operation state of the cutting confirmation and exchange device of the electrode tip of the welding gun of the present invention constructed as above will be described. First, the cutting confirmation of the electrode tip of the welding gun of the welding robot is performed by the cutting confirmation device 1 for the electrode tip as shown in FIGS. That is, by operating the welding robot, the pair of upper and lower electrode tips C, C, which have been cut, are fed to the tip guide 12 of the electrode tip cutting confirmation apparatus 1.
It is moved to the position of the concave portion 9 formed in (see FIG. 5). Simultaneously with this movement, the piston rod 17 is pulled into the cylinder 16, the protective cover 14 is moved to open the recess 9, and the nozzle 15 blows air toward the light emitting element 13 protruding in the small hole 11 of the recess 9. (See FIG. 6). Next, by pressing the welding gun 7, a pair of upper and lower electrode chips C, C are pressed from above and below the recess 9 so as to fit into the recess 9, and the respective light emitting elements 13 are pressed.
Light emitted from the electrode chips C, C is directly applied to the electrode chips C, C to measure the amount of reflection, and the quality of cutting of the electrode chips C, C is confirmed (see FIG. 7).
【００１７】さらに、前記電極チップＣ、Ｃの切削の良
否等の確認を行ってから、溶接ガン７の開放操作によ
り、これら電極チップＣ、Ｃを凹部９内から離反させ
る。この離反と同時に、前記ノズル１５からのエアブロ
ーを停止し、ピストン１７をシリンダ１６内から押し出
し、保護カバー１４を移動させて凹部９を閉鎖する（図
５参照）。Further, after confirming whether the cutting of the electrode tips C, C is good or not, the electrode tips C, C are separated from the inside of the recess 9 by opening the welding gun 7. Simultaneously with this separation, the air blow from the nozzle 15 is stopped, the piston 17 is pushed out of the cylinder 16, the protective cover 14 is moved, and the recess 9 is closed (see FIG. 5).
【００１８】なお、前記上下一対の電極チップＣ、Ｃ
は、図２に示したように、溶接ロボットに装着された溶
接ガン７を、電極チップ切削装置４のカッター４１の位
置に移動させ、溶接ガン７に取り付けられた上下一対の
電極チップＣ、Ｃを回転している前記カッター４１に加
圧操作し、前記電極チップＣ、Ｃを切削したものの確認
を行う。The pair of upper and lower electrode chips C, C
As shown in FIG. 2, the welding gun 7 attached to the welding robot is moved to the position of the cutter 41 of the electrode tip cutting device 4, and a pair of upper and lower electrode tips C, C attached to the welding gun 7 are attached. The cutter 41 which is rotating is pressed to confirm that the electrode chips C, C have been cut.
【００１９】次に、溶接ロボットの溶接ガン７からの電
極チップＣの取り外しは、図８〜図１５に示したよう
に、前記電極チップ取外し装置２により行われる。すな
わち、図８に示した状態から溶接ロボットを操縦し、溶
接ガン７の取付部８に嵌め込まれた上下一対のうち上の
電極チップＣを、図９に示したように、電極チップ取外
し装置２の楔２３、２４の間の定位置付近に移動させ
る。すると、本体フレーム２０の両側部に取りつけた透
過式光電スイッチ２６がダークオン(dark on) となり、
エアシリンダ２１のピストンロッド２２が自動的に作動
して、一方の楔２３を他方の楔２４に接近させ、この電
極チップＣの取付端Ｃ1 に楔２３、２４の凹曲面２３
ａ、２４ａを押し当てて、溶接ガン７の取付部８に嵌め
込んだ電極チップＣの嵌め込みを緩める。この場合、前
記電極チップＣが、電極チップ取外し装置２の楔２３、
２４の間の定位置から多少ずれていても、左右上下揺動
機構５により、電極チップＣの取付端Ｃ1 に楔２３、２
４の凹曲面２３ａ、２４ａが片当たりすることなく均等
に押し当てられるので、前記電極チップＣの嵌め込みは
スムーズに緩めることができる。さらに、楔２３、２４
の凹曲面２３ａ、２４ｂに設けたノズル２５、２５から
のエアブローによって、電極チップＣを吹き飛ばし落下
させることにより、この電極チップＣを溶接ガン７の取
付部８から取り外し回収する（図１０参照）。Next, the removal of the electrode tip C from the welding gun 7 of the welding robot is carried out by the electrode tip removing device 2 as shown in FIGS. That is, the welding robot is operated from the state shown in FIG. 8, and the upper electrode tip C of the upper and lower pair fitted in the attachment portion 8 of the welding gun 7 is removed as shown in FIG. It is moved to near the fixed position between the wedges 23 and 24 of. Then, the transmissive photoelectric switches 26 attached to both sides of the body frame 20 are turned on dark,
The piston rod 22 of the air cylinder 21 is automatically operated to bring one wedge 23 closer to the other wedge 24, and the concave curved surface 23 of the wedges 23, 24 is attached to the mounting end C 1 of the electrode tip C.
The a and 24a are pressed to loosen the fitting of the electrode tip C fitted into the mounting portion 8 of the welding gun 7. In this case, the electrode tip C is the wedge 23 of the electrode tip removing device 2,
Even if it is slightly displaced from the fixed position between 24, the left and right vertical swinging mechanism 5 causes the wedges 23, 2 to be attached to the mounting end C 1 of the electrode tip C.
Since the four concave curved surfaces 23a and 24a are evenly pressed against each other, the fitting of the electrode tip C can be loosened smoothly. Furthermore, the wedges 23, 24
The electrode tip C is blown off and dropped by the air blow from the nozzles 25, 25 provided on the concave curved surfaces 23a, 24b, so that the electrode tip C is detached from the mounting portion 8 of the welding gun 7 and collected (see FIG. 10).
【００２０】なお、前記透過式光電スイッチ２６を取り
付けていない場合には、溶接ロボットからの信号により
エアシリンダ２１のピストンロッド２２を作動させる。
また、電極チップＣの溶接ガン７の取付部８への嵌め込
みを緩めると、前記ノズル２５、２５からのエアブロー
をしなくても、電極チップＣの自重により溶接ガン７の
取付部８から落下することもある。When the transmission type photoelectric switch 26 is not attached, the piston rod 22 of the air cylinder 21 is operated by a signal from the welding robot.
When the fitting of the electrode tip C into the mounting portion 8 of the welding gun 7 is loosened, the electrode tip C falls from the mounting portion 8 of the welding gun 7 due to its own weight without blowing air from the nozzles 25, 25. Sometimes.
【００２１】また、溶接ガン７の取付部８に嵌め込まれ
た上下一対のうち下の電極チップＣを取り外すには、こ
の電極チップＣを、図１１に示した状態から溶接ロボッ
トを操縦し、図１２に示したように、電極チップ取外し
装置２の楔２３、２４の間の定位置付近に移動させる。
そして、前記と同様にエアシリンダ２１のピストンロッ
ド２２の作動により、一方の楔２３を他方の楔２４に接
近させ、この電極チップＣの取付端Ｃ1 に、楔２３、２
４の凹曲面２３ａ、２４ａを押し当てて、溶接ガン７の
取付部８に嵌め込んだ電極チップＣの嵌め込みを緩め
る。（図１３〜図１５参照）。その後、楔２３、２４の
凹曲面２３ａ、２４ｂに設けたノズル２５、２５からの
エアブローによって、電極チップＣを吹き飛ばし落下さ
せることにより、この電極チップＣを溶接ガン７の取付
部８から取り外し回収する。電極チップＣが落下すると
本体フレーム２０の透過式光電スイッチ２６がライトオ
フ(light off) となり、エアブローが停止してエアシリ
ンダ２１のピストンロッド２２も元の位置へ復帰する。
なお、この下の電極チップＣを取り外す場合、前記上の
電極チップＣを取り外す場合も同様であるが、電極チッ
プＣ、Ｃの内部への冷却水の供給が、停止されているの
は言うまでもない。Further, in order to remove the lower electrode tip C of the pair of upper and lower fitted in the mounting portion 8 of the welding gun 7, the welding robot is operated from the state shown in FIG. As shown in FIG. 12, the electrode tip removing device 2 is moved to a position near the fixed position between the wedges 23 and 24.
Then, similarly to the above, by operating the piston rod 22 of the air cylinder 21, one wedge 23 is brought close to the other wedge 24, and the wedges 23, 2 are attached to the mounting end C 1 of this electrode tip C.
The concave curved surfaces 23a and 24a of No. 4 are pressed to loosen the fitting of the electrode tip C fitted into the mounting portion 8 of the welding gun 7. (See FIGS. 13 to 15). After that, the electrode tip C is blown off and dropped by the air blow from the nozzles 25, 25 provided on the concave curved surfaces 23a, 24b of the wedges 23, 24, and the electrode tip C is detached from the mounting portion 8 of the welding gun 7 and collected. .. When the electrode tip C falls, the transmission type photoelectric switch 26 of the main body frame 20 is turned off, the air blow is stopped and the piston rod 22 of the air cylinder 21 is also returned to its original position.
The same applies to the case where the lower electrode tip C is removed and the case where the upper electrode tip C is removed, but it goes without saying that the supply of cooling water to the inside of the electrode tips C, C is stopped. ..
【００２２】さらに、溶接ロボットの溶接ガンへの電極
チップの取り付けは、図１６、図１７に示したように、
前記電極チップ取付け装置３により行われる。すなわ
ち、溶接ロボットを操縦し、前記電極チップ取外し装置
２により上下一対の電極チップＣ、Ｃを取り外した溶接
ガン７の取付部８を、図１６に示したように、電極チッ
プ取付け装置３の本体フレーム３０の取出部３１の位置
に移動させる。そして、前記溶接ガン７の取付部８を、
図１７に示したように、この取出部３１に充填された上
下一対の電極チップＣ、Ｃに取出部３１の上下から加圧
して、溶接ガン７の取付部８にこれら電極チップＣ、Ｃ
を嵌め込み、取出部３１の開放側（図１７においては手
前方向）へ引き出すことにより、前記電極チップＣ、Ｃ
を溶接ガン７の取付部８に取り付ける。なお、本体フレ
ーム３０の内部に充填された上下一対の電極チップＣ、
Ｃがなくなれば、透過式光電スイッチ３５がライトオフ
となり、作業者にブザーやランプ等で知らせると同時に
ロボットを停止させることができる。Further, as shown in FIGS. 16 and 17, the electrode tip is attached to the welding gun of the welding robot as shown in FIGS.
This is performed by the electrode tip attaching device 3. That is, as shown in FIG. 16, the main body of the electrode tip attaching device 3 is operated by operating the welding robot and removing the pair of upper and lower electrode tips C, C by the electrode tip removing device 2 from the attaching portion 8 of the welding gun 7. It is moved to the position of the take-out portion 31 of the frame 30. Then, the mounting portion 8 of the welding gun 7 is
As shown in FIG. 17, a pair of upper and lower electrode chips C, C filled in the extraction part 31 is pressed from above and below the extraction part 31, and these electrode chips C, C are attached to the attachment part 8 of the welding gun 7.
The electrode chips C, C by fitting the plugs in and pulling them toward the open side of the take-out portion 31 (toward this side in FIG. 17).
Is attached to the attachment portion 8 of the welding gun 7. In addition, a pair of upper and lower electrode chips C filled in the main body frame 30,
When C disappears, the transmissive photoelectric switch 35 is turned off, and the operator can be informed by a buzzer, a lamp or the like and the robot can be stopped at the same time.
【００２３】[0023]
【発明の効果】この発明の溶接ガンの電極チップの切削
確認、交換装置は、以上に述べたように構成されてお
り、光センサーの発光素子に切削片やゴミ等が付着する
ことがないので、この発光素子から発せられた光りの反
射量が影響を受けることがなく、電極チップの切削の有
無の確認、及び合否の判断等がし易くなる。また、溶接
ロボット等の溶接ガンに取り付けられた電極チップの交
換を行う場合も、作業者が溶接ガンに接近しなくてもよ
くなるので、溶接ガンの誤作動にかかわらず、作業者の
安全が保たれる。The cutting confirmation and replacement device for the electrode tip of the welding gun according to the present invention is constructed as described above, and since cutting pieces and dust do not adhere to the light emitting element of the optical sensor. The amount of reflection of the light emitted from the light emitting element is not affected, and it becomes easy to confirm whether or not the electrode tip has been cut, and to judge whether or not the electrode tip has been cut. Also, when replacing the electrode tip attached to the welding gun of a welding robot or the like, the operator does not have to approach the welding gun, so the operator's safety is maintained regardless of the malfunction of the welding gun. Be drunk
【図１】この発明の溶接ガンの電極チップの切削確認、
交換装置の側面図である。FIG. 1 is a view for confirming cutting of an electrode tip of a welding gun of the present invention,
It is a side view of an exchange device.
【図２】この発明の溶接ガンの電極チップの切削確認、
交換装置における電極チップ切削確認装置の斜視図であ
る。FIG. 2 is a cutting confirmation of the electrode tip of the welding gun of the present invention,
It is a perspective view of an electrode tip cutting confirmation device in the exchange device.
【図３】この発明の溶接ガンの電極チップの切削確認、
交換装置における電極チップ切削確認装置の斜視図であ
る。FIG. 3 is a cutting confirmation of the electrode tip of the welding gun of the present invention,
It is a perspective view of an electrode tip cutting confirmation device in the exchange device.
【図４】この発明の溶接ガンの電極チップの切削確認、
交換装置における電極チップ取外し装置及び電極チップ
取付け装置の斜視図である。[Fig. 4] Cutting confirmation of the electrode tip of the welding gun of the present invention;
It is a perspective view of an electrode tip removal device and an electrode tip attachment device in an exchange device.
【図５】この発明の溶接ガンの電極チップの切削確認、
交換装置における電極チップ切削確認装置の作動状態を
示す一部破断側面図である。FIG. 5: Cutting confirmation of the electrode tip of the welding gun of the present invention,
It is a partially broken side view showing an operating state of the electrode tip cutting confirmation device in the exchange device.
【図６】この発明の溶接ガンの電極チップの切削確認、
交換装置における電極チップ切削確認装置の作動状態を
示す一部破断側面図である。FIG. 6 is a cutting confirmation of the electrode tip of the welding gun of the present invention;
It is a partially broken side view showing an operating state of the electrode tip cutting confirmation device in the exchange device.
【図７】この発明の溶接ガンの電極チップの切削確認、
交換装置における電極チップ切削確認装置の作動状態を
示す一部破断側面図である。FIG. 7: Cutting confirmation of the electrode tip of the welding gun of the present invention,
It is a partially broken side view showing an operating state of the electrode tip cutting confirmation device in the exchange device.
【図８】この発明の溶接ガンの電極チップの切削確認、
交換装置における電極チップ取外し装置の作動状態を示
す一部破断側面図である。FIG. 8: Cutting confirmation of the electrode tip of the welding gun of the present invention,
It is a partially broken side view showing an operating state of the electrode tip removing device in the exchange device.
【図９】この発明の溶接ガンの電極チップの切削確認、
交換装置における電極チップ取外し装置の作動状態を示
す一部破断側面図である。FIG. 9: Cutting confirmation of the electrode tip of the welding gun of the present invention,
It is a partially broken side view showing an operating state of the electrode tip removing device in the exchange device.
【図１０】この発明の溶接ガンの電極チップの切削確
認、交換装置における電極チップ取外し装置の作動状態
を示す一部破断側面図である。FIG. 10 is a partially cutaway side view showing an operating state of the electrode tip removing device in the electrode tip cutting confirmation and exchange device of the welding gun of the present invention.
【図１１】この発明の溶接ガンの電極チップの切削確
認、交換装置における電極チップ取外し装置の作動状態
を示す一部破断側面図である。FIG. 11 is a partially cutaway side view showing an operating state of the electrode tip removing device in the electrode tip cutting confirmation and exchange device of the welding gun of the present invention.
【図１２】この発明の溶接ガンの電極チップの切削確
認、交換装置における電極チップ取外し装置の作動状態
を示す一部破断側面図である。FIG. 12 is a partially cutaway side view showing the operating state of the electrode tip removing device in the electrode tip cutting confirmation and replacement device of the welding gun of the present invention.
【図１３】この発明の溶接ガンの電極チップの切削確
認、交換装置における電極チップ取外し装置の作動状態
を示す部分拡大説明図である。FIG. 13 is a partially enlarged explanatory view showing an operating state of the electrode tip removing device in the electrode tip cutting confirmation and exchange device of the welding gun of the present invention.
【図１４】この発明の溶接ガンの電極チップの切削確
認、交換装置における電極チップ取外し装置の作動状態
を示す部分拡大説明図である。FIG. 14 is a partially enlarged explanatory view showing an operating state of the electrode tip removing device in the electrode tip cutting confirmation and exchange device of the welding gun of the present invention.
【図１５】この発明の溶接ガンの電極チップの切削確
認、交換装置における電極チップ取外し装置の作動状態
を示す部分拡大説明図である。FIG. 15 is a partially enlarged explanatory view showing an operating state of the electrode tip removing device in the electrode tip cutting confirmation and exchange device of the welding gun of the present invention.
【図１６】この発明の溶接ガンの電極チップの切削確
認、交換装置における電極チップ取付け装置の作動状態
を示す側面図である。FIG. 16 is a side view showing an operating state of an electrode tip attaching device in the electrode tip cutting confirmation and exchange device of the welding gun of the present invention.
【図１７】この発明の溶接ガンの電極チップの切削確
認、交換装置における電極チップ取付け装置の作動状態
を示す側面図である。FIG. 17 is a side view showing an operating state of the electrode tip attaching device in the electrode tip cutting confirmation and exchange device of the welding gun of the present invention.
１ 電極チップ切削確認装置 ２ 電極チップ取外し装置 ３ 電極チップ取付け装置 ５ 左右上下揺動機構 ７ 溶接ガン ８ 取付部 ９ 凹部 １０ 本体ケース １１ 小孔 １２ チップガイド １３ 発光素子 １４ 保護カバー １５ ノズル ２０ 本体フレーム ２１ エアシリンダ ２２ ピストンロッド ２３ 楔 ２３ａ 凹曲面 ２４ 楔 ２４ａ 凹曲面 ２５ ノズル ２６ 透過式光電スイッチ ３０ 本体フレーム ３１ 取出部 ３２ スプリング ３３ 押板 ３４ ハンドル ３５ 透過式光電スイッチ 1 Electrode Tip Cutting Confirmation Device 2 Electrode Tip Removal Device 3 Electrode Tip Attachment Device 5 Left / Right Vertical Swing Mechanism 7 Welding Gun 8 Attachment Part 9 Recess 10 Main Body Case 11 Small Hole 12 Chip Guide 13 Light Emitting Element 14 Protective Cover 15 Nozzle 20 Main Frame 21 Air Cylinder 22 Piston Rod 23 Wedge 23a Concave Curved Surface 24 Wedge 24a Concave Curved Surface 25 Nozzle 26 Transparent Photoelectric Switch 30 Body Frame 31 Extraction Portion 32 Spring 33 Push Plate 34 Handle 35 Transparent Photoelectric Switch
Claims (4)
先端と略同形状の凹部９を本体ケース１０の一端部に形
成したチップガイド１２、本体ケース１０からチップガ
イド１２の凹部９の小孔１１内に突設した光センサーの
発光素子１３、チップガイド１２の凹部９の上下を開閉
自在とした保護カバー１４、前記発光素子１３に向かっ
てエアブロー可能としたノズル１５を備えた電極チップ
切削確認装置１と、 本体フレーム２０の一端部にエアシリンダ２１を取り付
けると共に、このエアシリンダ２１のピストンロッド２
２の先端に、先端を凹曲面２３ａとした一方の楔２３を
取り付け、この楔２３に対向させて先端を凹曲面２４ａ
としたもう一方の楔２４を前記本体フレーム２０の他端
部に取り付け、しかも前記楔２３、２４の凹曲面２３
ａ、２４ａにそれぞれエアブローのノズル２５、２５を
設けた電極チップ取外し装置２と、 本体フレーム３０の前部に上下面と一側面が開放した取
出部３１を有し、本体フレーム３０の内部に上下一対の
電極チップＣ、Ｃを複数個並列して装填すると共に、複
数個並列した最後部の電極チップＣ、Ｃにスプリング３
２により付勢された押板３３を押し当て、さらに前記押
板３３を引き戻すためのハンドル３４をこの押板３３に
設けた電極チップ取付け装置３と、 からなることを特徴とする溶接ガンの電極チップの切削
確認、交換装置。1. A chip guide 12 in which a recess 9 having substantially the same shape as the tip of an electrode tip C that has been accurately cut is formed at one end of a main body case 10, and the recess 9 from the main body case 10 to the tip guide 12 is small. Electrode chip cutting provided with a light emitting element 13 of an optical sensor protruding in a hole 11, a protective cover 14 that can open and close the upper and lower sides of a recess 9 of a chip guide 12, and a nozzle 15 that can blow air toward the light emitting element 13. The confirmation device 1 and the air cylinder 21 are attached to one end of the body frame 20, and the piston rod 2 of the air cylinder 21 is attached.
One of the wedges 23 having a concave curved surface 23a is attached to the distal end of 2, and the wedge 23 is made to face the wedge 23 and the distal end is concave curved surface 24a.
The other wedge 24 is attached to the other end of the body frame 20, and the concave curved surface 23 of the wedges 23, 24 is attached.
a and 24a are provided with air blow nozzles 25, 25, respectively, and an electrode tip removing device 2 is provided, and a front portion of the main body frame 30 has a take-out portion 31 whose upper and lower surfaces and one side surface are open. A plurality of pairs of electrode chips C, C are loaded in parallel, and a spring 3 is mounted on the plurality of electrode chips C, C in the rearmost part.
The electrode of the welding gun, comprising: an electrode tip attachment device 3 provided with a handle 34 for pressing the push plate 33 biased by 2 and pulling back the push plate 33. Chip cutting confirmation and replacement device.
２０の両側部に、溶接ガン７の取付部８に嵌め込まれた
上下一対の電極チップＣ、Ｃが、前記楔２３、２４の間
の定位置付近に移動したとき働くようにした透過式光電
スイッチ２６を取り付けたことを特徴とする請求項１記
載の溶接ガンの電極チップの切削確認、交換装置。2. A pair of upper and lower electrode tips C, C fitted in the attachment portion 8 of the welding gun 7 are provided at fixed positions between the wedges 23, 24 on both sides of the body frame 20 of the electrode tip removing device 2. 2. A cutting confirmation and replacement device for an electrode tip of a welding gun according to claim 1, further comprising a transmission type photoelectric switch 26 which is adapted to work when moved to the vicinity.
３０の両側部に、本体フレーム３０の内部に充填された
上下一対の電極チップＣ、Ｃの残量確認のための透過式
光電スイッチ３５を取り付けたことを特徴とする請求項
１記載の溶接ガンの電極チップの切削確認、交換装置。3. A transparent photoelectric switch 35 for confirming the remaining amount of a pair of upper and lower electrode chips C filled in the main body frame 30 is attached to both sides of the main body frame 30 of the electrode tip attaching device 3. The cutting confirmation / exchange device for the electrode tip of the welding gun according to claim 1, wherein
２０及び電極チップ取付け装置３の本体フレーム３０を
左右上下揺動機構５に取り付けたことを特徴とする請求
項１記載の溶接ガンの電極チップの切削確認、交換装
置。4. The electrode tip of a welding gun according to claim 1, wherein the body frame 20 of the electrode tip removing device 2 and the body frame 30 of the electrode tip attaching device 3 are attached to the left and right vertical swing mechanism 5. Cutting confirmation and replacement device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04879792A JP3200653B2 (en) | 1992-03-05 | 1992-03-05 | Confirmation and replacement of electrode tip of welding gun |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP04879792A JP3200653B2 (en) | 1992-03-05 | 1992-03-05 | Confirmation and replacement of electrode tip of welding gun |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05245654A true JPH05245654A (en) | 1993-09-24 |
| JP3200653B2 JP3200653B2 (en) | 2001-08-20 |
Family
ID=12813221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP04879792A Expired - Fee Related JP3200653B2 (en) | 1992-03-05 | 1992-03-05 | Confirmation and replacement of electrode tip of welding gun |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3200653B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07308786A (en) * | 1994-05-19 | 1995-11-28 | Hinomoto Kogyo Kk | Sensor for tip dressing |
| KR100651235B1 (en) * | 2005-05-10 | 2006-11-30 | 학교법인 한국산업기술대학 | Apparatus And Method For Tip Automatic Exchange Of Body Welding Robot |
| KR100845462B1 (en) * | 2002-07-13 | 2008-07-10 | 주식회사 포스코 | Apparatus for changing welding tip of banding machine |
| US10065263B2 (en) | 2005-07-28 | 2018-09-04 | Copperhead Industrial Inc. | Spot welding cap changer |
-
1992
- 1992-03-05 JP JP04879792A patent/JP3200653B2/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07308786A (en) * | 1994-05-19 | 1995-11-28 | Hinomoto Kogyo Kk | Sensor for tip dressing |
| KR100845462B1 (en) * | 2002-07-13 | 2008-07-10 | 주식회사 포스코 | Apparatus for changing welding tip of banding machine |
| KR100651235B1 (en) * | 2005-05-10 | 2006-11-30 | 학교법인 한국산업기술대학 | Apparatus And Method For Tip Automatic Exchange Of Body Welding Robot |
| US10065263B2 (en) | 2005-07-28 | 2018-09-04 | Copperhead Industrial Inc. | Spot welding cap changer |
| US11207746B2 (en) | 2005-07-28 | 2021-12-28 | Copperhead Industrial Inc. | Spot welding cap changer |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3200653B2 (en) | 2001-08-20 |
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