JP2006088207A - Welding robot - Google Patents

Welding robot Download PDF

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JP2006088207A
JP2006088207A JP2004278642A JP2004278642A JP2006088207A JP 2006088207 A JP2006088207 A JP 2006088207A JP 2004278642 A JP2004278642 A JP 2004278642A JP 2004278642 A JP2004278642 A JP 2004278642A JP 2006088207 A JP2006088207 A JP 2006088207A
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welding
cylindrical material
welding torch
robot
linear guide
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Isao Takahashi
勲 高橋
Rintaro Chinen
林太郎 知念
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Daihen Corp
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Daihen Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a welding robot that performs cylinder welding at high speed and with high accuracy without requiring control of the speed and locus of the tip end of a welding torch by simultaneously moving each joint of an articulated robot and also without using a positioner, in welding a cylindrical material. <P>SOLUTION: In the welding robot for performing welding between cylindrical materials or between a cylindrical material and a flat plate, the robot is equipped with a welding torch and a linear guide mechanism which is installed freely rotatably at the tip end of a manipulator and which moves the welding torch freely linearly and slidingly. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、円筒材と円筒材との溶接または円筒材と平板との溶接を行う溶接ロボットに関するものである。   The present invention relates to a welding robot that performs welding between a cylindrical material and a cylindrical material or welding between a cylindrical material and a flat plate.

従来から、円筒材と円筒材との溶接または円筒材と平板との溶接を行う溶接ロボットは、多間接ロボットであって、各々の軸を駆動制御させること、または、溶接ロボットを固定しポジショナーを用いて加工物を回転させることで円筒材の円周上の所望の位置を溶接していた(特許文献１及び２参照)。   Conventionally, a welding robot that performs welding between a cylindrical material and a cylindrical material or between a cylindrical material and a flat plate is a multi-indirect robot, and each axis is driven or controlled, or a welding robot is fixed and a positioner is fixed. The desired position on the circumference of the cylindrical material was welded by rotating the workpiece using the method (see Patent Documents 1 and 2).

図４乃至図８を用いて従来の一般的な円筒材１０と円筒材１０との溶接または円筒材１０と平板１１との溶接を行う溶接ロボットを説明する。
図４は円筒材１０と円筒材１０とを溶接するときの溶接トーチ１の状態を示す図であり、図５は円筒材１０と平板１１とを溶接するときのトーチ１の状態を示す図である。
図４及び図５に示すように、円筒材１０と円筒材１０との溶接または円筒材１０と平板１１との溶接を行う場合、溶接トーチ１の先端にある溶接ワイヤを接続部Ｗに接触させて溶接を行う必要がある。また、円筒材１０の溶接を行う場合、接続部Ｗに沿って円周上に溶接を行う。
そこで従来技術では次のような方法によって溶接を行っていた。
図６は、円筒材１０と円筒材１０とを溶接する溶接ロボット本体であるマニピュレータ２の先端に備えた溶接トーチ１の状態を示す図である。溶接ロボットは全体の図示を省略するが、６軸多間接ロボットであって、各々の軸(６軸)を駆動させることによって溶接トーチを自在な姿勢に駆動させ、円筒材１０と円筒材１０との接続部Ｗに溶接トーチ１の先端にある溶接ワイヤ(図示省略)を接触させて接続部の円周上の溶接を行っている。(以下の説明では、溶接ワイヤを省略して、単に溶接トーチの先端という。)
図７は、従来の他の溶接方法を示す図であって、円筒材１０をポジショナー２０に固定させて、溶接トーチ１の先端を接続部Ｗに接触させて溶接トーチを固定し、ポジショナーを中心軸Ｏを中心に回転させることで接続部Ｗの円周上の溶接を行うものである。
図８は、従来の他の溶接方法を示す図である。マニピュレータ２には、予め溶接トーチ１とマニピュレータ２の先端部との間にオフセット量ＯＦだけオフセットさせるブラケット２１が回動自在に設けてあり、この状態で溶接トーチ１の先端を接続部Ｗに接触させる。ここで、円筒材１０の中心軸Ｏと、ブラケット２１を介した溶接トーチ１とマニピュレータ２との接続部の中心とを一致させるようにブラケット２１のオフセット量ＯＦは設定されている。以上のような構成で、ブラケット２１に接続された溶接トーチ１は、中心軸Ｏを中心に回転させるだけで、他のロボットの軸を駆動させることなく円筒材の溶接を行うことができる。
特開平９−２６７１７２号公報 特開平１１−２６７８３２号公報 A conventional welding robot that performs welding between the cylindrical material 10 and the cylindrical material 10 or welding between the cylindrical material 10 and the flat plate 11 will be described with reference to FIGS.
4 is a view showing a state of the welding torch 1 when the cylindrical member 10 and the cylindrical member 10 are welded, and FIG. 5 is a view showing a state of the torch 1 when the cylindrical member 10 and the flat plate 11 are welded. is there.
As shown in FIG. 4 and FIG. 5, when welding the cylindrical material 10 and the cylindrical material 10 or welding the cylindrical material 10 and the flat plate 11, the welding wire at the tip of the welding torch 1 is brought into contact with the connection portion W. Welding is necessary. Further, when the cylindrical member 10 is welded, the welding is performed along the connection portion W on the circumference.
Therefore, in the prior art, welding is performed by the following method.
FIG. 6 is a diagram illustrating a state of the welding torch 1 provided at the tip of the manipulator 2 which is a welding robot body that welds the cylindrical material 10 and the cylindrical material 10. Although the entire illustration of the welding robot is omitted, it is a six-axis multi-indirect robot, and by driving each axis (six axes), the welding torch is driven in a free posture, and the cylindrical material 10 and the cylindrical material 10 A welding wire (not shown) at the tip of the welding torch 1 is brought into contact with the connecting portion W of the welding torch 1 to perform welding on the circumference of the connecting portion. (In the following description, the welding wire is omitted and simply referred to as the tip of the welding torch.)
FIG. 7 is a diagram showing another conventional welding method, in which the cylindrical member 10 is fixed to the positioner 20, the tip of the welding torch 1 is brought into contact with the connection portion W, and the welding torch is fixed. By rotating about the axis O, welding on the circumference of the connecting portion W is performed.
FIG. 8 is a diagram showing another conventional welding method. The manipulator 2 is provided with a bracket 21 that is offset in advance by an offset amount OF between the welding torch 1 and the tip of the manipulator 2, and the tip of the welding torch 1 contacts the connecting portion W in this state. Let Here, the offset amount OF of the bracket 21 is set so that the center axis O of the cylindrical member 10 and the center of the connection portion between the welding torch 1 and the manipulator 2 via the bracket 21 are matched. With the configuration as described above, the welding torch 1 connected to the bracket 21 can be welded to the cylindrical material only by rotating around the central axis O without driving the axis of another robot.
JP-A-9-267172 JP-A-11-267832

図６に示す従来技術では、マニピュレータ２の各々の駆動軸である間接(６軸多間接ロボットであれば６軸)を同時に動かして、溶接トーチ１の先端の速度および軌跡の制御を行うため、演算速度の限界、機械精度の限界により、小円弧に対してある速度以上になると速度が変動し、軌跡精度が悪くなる。
また、図７に示す従来技術では、溶接トーチ１を固定して、ポジショナー２０で円筒材１０を回転させて溶接を行うために、常にポジショナー２０が必要になり、ポジショナー２０の大きさによっては、小円弧の円筒に対する高速での回転が困難となり、また、高速回転するには大きな駆動源（モータなど）が必要になり、コストがかかる。
また、図８に示す従来技術では、円筒材１０の半径が変わるたびに、ブラケット２１を取り替える必要があり、溶接トーチ先端の位置調整を再度行うなど調整が面倒であり、自動化に適さない。 In the prior art shown in FIG. 6, indirect (6 axes in the case of a 6-axis multi-indirect robot) is simultaneously moved to control the speed and locus of the tip of the welding torch 1. Due to the limit of the calculation speed and the limit of machine accuracy, the speed fluctuates when the speed exceeds a certain speed with respect to the small arc, and the trajectory accuracy deteriorates.
Further, in the prior art shown in FIG. 7, in order to fix the welding torch 1 and rotate the cylindrical material 10 with the positioner 20 to perform welding, the positioner 20 is always required, and depending on the size of the positioner 20, It becomes difficult to rotate the small circular arc at a high speed, and a large drive source (such as a motor) is required for high-speed rotation, which is expensive.
Further, in the prior art shown in FIG. 8, it is necessary to replace the bracket 21 every time the radius of the cylindrical member 10 changes, and adjustment is troublesome such as re-adjusting the position of the tip of the welding torch, which is not suitable for automation.

本発明の目的は、円筒材の溶接において、多間接ロボットの各々の間接を同時に動かして、溶接トーチの先端の速度および軌跡の制御を行う必要がなく、また、ポジショナーを使用することもなく、高速で高精度の円筒溶接を行う溶接ロボットを提供することにある。   It is an object of the present invention to eliminate the need to control the speed and trajectory of the tip of the welding torch by simultaneously moving each indirect of the multi-indirect robot in the welding of the cylindrical material, and without using a positioner. The object is to provide a welding robot that performs high-speed and high-precision cylindrical welding.

本発明の実施の形態は、円筒材と円筒材との溶接または円筒材と平板との溶接を行う溶接ロボットにおいて、溶接トーチと、マニピュレータの先端に回動自在に備えられ上記溶接トーチを直線移動自在に滑動的に移動させるリニアガイド機構とを備えた溶接ロボットである。   An embodiment of the present invention is a welding robot that performs welding between a cylindrical material and a cylindrical material or welding between a cylindrical material and a flat plate. The welding torch and a tip of a manipulator are rotatably provided and linearly move the welding torch. It is a welding robot provided with a linear guide mechanism that moves freely and slidably.

好ましい実施の形態は、リニアガイド機構が、リニアガイドと、エンコーダとブレーキとを備え上記溶接トーチの移動量の検出及び上記溶接トーチの直線移動の停止をする位置検出器とからなるものである。   In a preferred embodiment, the linear guide mechanism includes a linear guide, a position detector that includes an encoder and a brake and detects the amount of movement of the welding torch and stops the linear movement of the welding torch.

以上のように、本発明によれば、溶接トーチをリニアガイド機構によって、滑動的で直線移動自在に移動させることによって、容易に円筒材の半径方向に溶接トーチの先端を移動させることができ、円筒材の半径方向の大きさにあわせて、自在にトーチ先端のワイヤの位置を移動及び固定させることができる。そのため、容易に接続部に溶接ワイヤを当接させることができ、従来技術のように６軸多間接ロボットの６つの間接を同時に動かすような複雑な制御を行う必要がなく、また、ポジショナーを使用することもなく、高速で高精度の円筒溶接を行うことができる。   As described above, according to the present invention, the tip of the welding torch can be easily moved in the radial direction of the cylindrical material by moving the welding torch slidably and linearly by the linear guide mechanism. The position of the wire at the tip of the torch can be freely moved and fixed in accordance with the radial size of the cylindrical material. Therefore, the welding wire can be easily brought into contact with the connecting portion, and it is not necessary to perform complicated control to simultaneously move the six indirects of the six-axis multi-indirect robot as in the prior art, and a positioner is used. Without this, high-speed and high-precision cylindrical welding can be performed.

図１は、本発明に係わるマニピュレータの先端部を示す要部拡大図である。同図において、マニピュレータ２の先端にフランジ３６を介して回動自在に取付けられたリニアガイド機構３は、リニアガイド３１、位置検出器３２等を備えており、溶接トーチ１の先端が所望の位置となるように、滑動的で直線移動自在に位置調整することができる。   FIG. 1 is an enlarged view of a main part showing a distal end portion of a manipulator according to the present invention. In the figure, a linear guide mechanism 3 rotatably attached to the tip of a manipulator 2 via a flange 36 includes a linear guide 31, a position detector 32, etc., and the tip of the welding torch 1 is at a desired position. The position can be adjusted so as to be slidable and linearly movable.

図２は、本発明のリニアガイド機構３の要部拡大一部断面図である。同図に示すように、溶接トーチ１はブラケット３５を介してリニアガイド３１に固定されている。リニアガイド３１はスライド軸３４に沿って設置されており、ボールネジ３３を回転させながら直線移動させることができる。ここで、ボールネジ３３は、位置検出器３２内のブレーキ３２１及びエンコーダ３２２に取付けられており、このエンコーダ３２２によってボールネジ３３の回転量を検出する。ここで、エンコーダ３２２は一般的に用いられる例えば、パルスエンコーダであって、ボールネジ３３の回転量に応じてパルスを発生させる。位置検出器３２はこのパルスのカウント数を後述するロボット制御装置に出力する。ロボット制御装置はこのパルスのカウント数からリニアガイド３１の移動量を算出する。この移動量を算出することによって、リニアガイド３１にブラケット３５を介して取付けられた溶接トーチ１の先端の位置を検出することができる。
なお、リニアガイド３１はスライド軸３４に沿って設置されており、ボールネジ３３と滑動的にかみ合わされた構造となっており、非常に小さな圧力によって矢示ＡまたはＢの方向に駆動することができる。すなわち、溶接トーチ１は矢示ＡまたはＢの方向に容易に移動させることができる。 FIG. 2 is an enlarged partial cross-sectional view of a main part of the linear guide mechanism 3 of the present invention. As shown in the figure, the welding torch 1 is fixed to a linear guide 31 via a bracket 35. The linear guide 31 is installed along the slide shaft 34 and can be moved linearly while rotating the ball screw 33. Here, the ball screw 33 is attached to the brake 321 and the encoder 322 in the position detector 32, and the encoder 322 detects the amount of rotation of the ball screw 33. Here, the encoder 322 is a commonly used pulse encoder, for example, and generates a pulse in accordance with the amount of rotation of the ball screw 33. The position detector 32 outputs the number of pulses counted to a robot controller described later. The robot controller calculates the amount of movement of the linear guide 31 from the number of pulses counted. By calculating the amount of movement, the position of the tip of the welding torch 1 attached to the linear guide 31 via the bracket 35 can be detected.
The linear guide 31 is installed along the slide shaft 34 and has a structure in which the linear guide 31 is slidably engaged with the ball screw 33 and can be driven in the direction of the arrow A or B by a very small pressure. . That is, the welding torch 1 can be easily moved in the direction of arrow A or B.

図２において、例えば、矢示Ａの方向から溶接トーチを押圧すると、リニアガイド３１はスライド軸３４に沿って矢示Ａの方向に移動する。このときのボールネジ３３の回転量を位置検出器３２内にあるエンコーダ３２２が検出して、後述するロボット制御装置に出力する。この検出された値から溶接トーチ１の位置を算出して、所望の位置となった時点でロボット制御装置は位置検出器３２内にあるブレーキ３２１を駆動させてボールネジの回転を停止させ溶接トーチ１を停止させる。   In FIG. 2, for example, when the welding torch is pressed from the direction of arrow A, the linear guide 31 moves in the direction of arrow A along the slide shaft 34. The amount of rotation of the ball screw 33 at this time is detected by an encoder 322 in the position detector 32 and output to a robot control device described later. The position of the welding torch 1 is calculated from the detected value, and when the desired position is reached, the robot control device drives the brake 321 in the position detector 32 to stop the rotation of the ball screw and to stop the welding torch 1. Stop.

前述した矢示ＡまたはＢの方向に押圧する方法は、例えば手動により押圧する方法、マニピュレータ２を駆動させて、図２に示す矢示ＡまたはＢの面に溶接トーチ１の周辺にある壁面、治具の一部等に押圧させて駆動させる方法等があり、適宜、溶接するときのマニピュレータ２の状態、被加工物の状況等にあわせて容易に対応することができる。   The method of pressing in the direction of arrow A or B described above is, for example, a method of manually pressing, driving the manipulator 2, and a wall surface around the welding torch 1 on the surface of the arrow A or B shown in FIG. There is a method of driving by pressing a part of the jig or the like, and it is possible to easily cope with the state of the manipulator 2 when welding, the state of the workpiece, and the like.

図３は本発明の溶接ロボットを用いて円筒材１０同士を溶接する方法を示す図である。
同図において、リニアガイド機構３とマニピュレータ２の先端とを回動自在に接続しているフランジ３６の中心と、円筒材１０の中心軸Ｏとを予め一致させておく。
円筒材１０の半径ｒが予め認識できている場合は、次のような手順で位置決めを行う。
予め、円筒材１０の半径ｒを位置検出器３２と電気的に接続されたロボット制御装置４に記憶させておく。次に、溶接トーチ１を予め設定されたスタート位置（ここでは円筒材１０の中心軸Ｏから距離Ｌ離れた位置）から矢示Ａの方向に押圧することによって、円筒材の中心軸Ｏからの距離Ｌが円筒材１０の半径ｒとなる位置、すなわち円筒材１０の側面に溶接トーチの先端が当接する位置となったときに、位置検出器３２内のエンコーダ３２２はリニアガイド３１の移動距離を検出してこの移動距離をロボット制御装置４に入力する。この移動距離を入力したロボット制御装置４は、溶接トーチ１の位置データをスタート位置から円筒材１０の側面に当接する位置に変換し、変換した位置において、溶接を開始させるようにマニピュレータ２を駆動制御する。 FIG. 3 is a view showing a method of welding the cylindrical members 10 using the welding robot of the present invention.
In the figure, the center of the flange 36 that pivotably connects the linear guide mechanism 3 and the tip of the manipulator 2 and the center axis O of the cylindrical member 10 are matched in advance.
When the radius r of the cylindrical material 10 can be recognized in advance, positioning is performed according to the following procedure.
The radius r of the cylindrical member 10 is stored in advance in the robot control device 4 that is electrically connected to the position detector 32. Next, by pressing the welding torch 1 in the direction of arrow A from a preset start position (here, a position separated from the central axis O of the cylindrical material 10 by a distance L), the welding torch 1 is moved from the central axis O of the cylindrical material. When the distance L is a position where the cylindrical material 10 has a radius r, that is, a position where the tip of the welding torch contacts the side surface of the cylindrical material 10, the encoder 322 in the position detector 32 determines the moving distance of the linear guide 31. This movement distance is detected and input to the robot controller 4. The robot control device 4 that has input this moving distance converts the position data of the welding torch 1 from the start position to a position that contacts the side surface of the cylindrical member 10 and drives the manipulator 2 to start welding at the converted position. Control.

次に、円筒材１０の半径ｒが予め認識できていない場合は、次のような手順で位置決めを行う。
溶接トーチ１を予め設定されたスタート位置（ここでは円筒材１０の中心軸Ｏから距離Ｌ離れた位置）とする。次に溶接トーチを矢示Ａの方向に押圧する。溶接トーチ１の先端が円筒材１０の側面に当接する位置となったときに、位置検出器３２内のエンコーダ３２２はこのときリニアガイド３１が移動した距離ａを検出して、この移動距離ａをロボット制御装置４に入力する。予め設定されたスタート位置である円筒材１０の中心軸Ｏからの距離Ｌと検出した距離ａとの差を演算して得た距離ｒをロボット制御装置４は円筒材１０の半径と認識して、溶接トーチ１の位置データをスタート位置から距離ａ移動させた位置に変換して、変換した位置において溶接を開始させるようにマニピュレータ２を駆動制御する。 Next, when the radius r of the cylindrical material 10 cannot be recognized in advance, positioning is performed according to the following procedure.
The welding torch 1 is set to a preset start position (here, a position away from the central axis O of the cylindrical material 10 by a distance L). Next, the welding torch is pressed in the direction of arrow A. When the tip of the welding torch 1 is in a position where it abuts against the side surface of the cylindrical member 10, the encoder 322 in the position detector 32 detects the distance a that the linear guide 31 has moved at this time, and this moving distance a is determined. Input to the robot controller 4. The robot controller 4 recognizes the distance r obtained by calculating the difference between the distance L from the central axis O of the cylindrical material 10 which is a preset start position and the detected distance a as the radius of the cylindrical material 10. Then, the position data of the welding torch 1 is converted into a position moved by a distance a from the start position, and the manipulator 2 is driven and controlled so that welding is started at the converted position.

以上のように、マニピュレータ２の先端に備えた溶接トーチ１の先端をスタート位置から円筒材１０の所望の位置に当接させる。このときリニアガイド機構３とマニピュレータ２の先端とを回動自在に接続しているフランジ３６の中心軸と、円筒材１０の中心軸Ｏとは予め一致されている。そのため、中心軸Ｏを中心にリニアガイド３を回転させることによって、円筒材１０の円周上を容易に溶接することができる。
すなわち、前述したように各々の中心軸を一致させ、中心軸Ｏからの一定の距離を隔てたスタート位置を予め記憶することで、円筒材１０の大きさが変わった場合でも容易に溶接トーチの位置調整を行うことができる。
また、溶接ロボットの各々の駆動軸(６軸多間接ロボットであれば６軸)を同時に動かして、溶接トーチの先端の速度および軌跡の制御を行う必要がなく、また、ポジショナーを使用することもなく、高速で高精度の円筒溶接を行うことができる。 As described above, the tip of the welding torch 1 provided at the tip of the manipulator 2 is brought into contact with the desired position of the cylindrical material 10 from the start position. At this time, the central axis of the flange 36 that rotatably connects the linear guide mechanism 3 and the tip of the manipulator 2 and the central axis O of the cylindrical member 10 are matched in advance. Therefore, by rotating the linear guide 3 around the central axis O, the circumference of the cylindrical material 10 can be easily welded.
That is, as described above, by matching the respective central axes and storing in advance the start position separated by a certain distance from the central axis O, the welding torch can be easily formed even when the size of the cylindrical member 10 changes. Position adjustment can be performed.
In addition, it is not necessary to control the welding torch tip speed and trajectory by simultaneously moving the driving axes of the welding robot (6 axes in the case of a 6-axis multi-indirect robot), and it is also possible to use a positioner. In addition, high-speed and high-precision cylindrical welding can be performed.

なお、本発明の実施例では円筒材１０と円筒材１０とを溶接する方法を示しているが、前述した図５に示す円筒材１０と平板１１とを溶接する方法にも適用できることができる。   In addition, although the method of welding the cylindrical material 10 and the cylindrical material 10 is shown in the Example of this invention, it can apply also to the method of welding the cylindrical material 10 and the flat plate 11 which were shown in FIG. 5 mentioned above.

また、本発明では、溶接トーチ１をリニアガイド機構によって直線移動させる場合に、溶接トーチ１を手動により押圧する方法、マニピュレータ２を駆動させて、図２に示す矢示ＡまたはＢの面に溶接トーチ１の周辺にある壁面、治具の一部等に押圧させて駆動させる方法で説明しているが、位置検出器内にモータを備えて、モータによってボールネジの回転、すなわち溶接トーチの移動を駆動制御する機構とすることもできる。   In the present invention, when the welding torch 1 is linearly moved by the linear guide mechanism, the welding torch 1 is manually pressed, the manipulator 2 is driven, and welding is performed on the surface indicated by the arrow A or B shown in FIG. The method is explained by the method of driving by pressing against the wall surface around the torch 1, a part of the jig, etc., but a motor is provided in the position detector, and the motor rotates the ball screw, that is, moves the welding torch. It can also be set as the mechanism which controls drive.

本発明に係わるマニピュレータの先端部を示す要部拡大図である。It is a principal part enlarged view which shows the front-end | tip part of the manipulator concerning this invention. 本発明のリニアガイド機構の要部拡大一部断面図である。It is a principal part expanded partial sectional view of the linear guide mechanism of this invention. 本発明のマニピュレータを用いて円筒材を溶接する方法を示す図である。It is a figure which shows the method of welding a cylindrical material using the manipulator of this invention. 従来の円筒材と円筒材とを溶接するときの溶接トーチの状態を示す図である。It is a figure which shows the state of the welding torch when welding the conventional cylindrical material and cylindrical material. 従来の円筒材と平板とを溶接するときの溶接トーチの状態を示す図である。It is a figure which shows the state of the welding torch when welding the conventional cylindrical material and a flat plate. 従来の円筒材と円筒材とを溶接するマニピュレータ先端の溶接トーチの状態を示す図である。It is a figure which shows the state of the welding torch of the manipulator tip which welds the conventional cylindrical material and cylindrical material. 従来の円筒材をポジショナーに固定させて溶接する方法を示す図である。It is a figure which shows the method of fixing and fixing the conventional cylindrical material to a positioner. 従来の円筒材と円筒材とを溶接する他のマニピュレータによる溶接方法を示す図である。It is a figure which shows the welding method by the other manipulator which welds the conventional cylindrical material and cylindrical material.

符号の説明Explanation of symbols

１ 溶接トーチ
２ マニピュレータ
３ リニアガイド機構
１０ 円筒材
１１ 平板
２０ ポジショナー
３１ リニアガイド
３２ 位置検出器
３２１ ブレーキ
３２２ エンコーダ
３３ ボールネジ
３４ スライド軸
Ｗ 接続部
DESCRIPTION OF SYMBOLS 1 Welding torch 2 Manipulator 3 Linear guide mechanism 10 Cylindrical material 11 Flat plate 20 Positioner 31 Linear guide 32 Position detector 321 Brake 322 Encoder 33 Ball screw 34 Slide shaft W Connection part

Claims (2)

円筒材と円筒材との溶接または円筒材と平板との溶接を行う溶接ロボットにおいて、溶接トーチと、マニピュレータの先端に回動自在に備えられ前記溶接トーチを直線移動自在に滑動的に移動させるリニアガイド機構とを備えた溶接ロボット。   In a welding robot that performs welding between a cylindrical material and a cylindrical material or between a cylindrical material and a flat plate, the welding torch and a linear device that is rotatably provided at the tip of a manipulator and that moves the welding torch linearly and slidably. Welding robot with a guide mechanism. 前記リニアガイド機構が、リニアガイドと、エンコーダとブレーキとを備え前記溶接トーチの移動量の検出及び前記溶接トーチの直線移動の停止をする位置検出器とからなる溶接ロボット。
A welding robot, wherein the linear guide mechanism includes a linear guide, an encoder and a brake, and a position detector that detects the amount of movement of the welding torch and stops linear movement of the welding torch.
JP2004278642A 2004-09-27 2004-09-27 Welding robot Withdrawn JP2006088207A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011206830A (en) * 2010-03-30 2011-10-20 Komatsu Ltd Control device of welding robot
JP2014073501A (en) * 2012-10-02 2014-04-24 Ihi Corp Welding aiming positional dislocation restraining method of automatic welding unit
CN106514078A (en) * 2016-12-02 2017-03-22 芜湖市元山机械制造有限公司 Circular arc track welding robot for automobile spring plate subassembly
CN106624507A (en) * 2016-11-14 2017-05-10 芜湖市元山机械制造有限公司 Automotive front subframe welding robot with improved pedestal
CN115297985A (en) * 2020-03-25 2022-11-04 株式会社神户制钢所 Circumferential welding method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011206830A (en) * 2010-03-30 2011-10-20 Komatsu Ltd Control device of welding robot
JP2014073501A (en) * 2012-10-02 2014-04-24 Ihi Corp Welding aiming positional dislocation restraining method of automatic welding unit
CN106624507A (en) * 2016-11-14 2017-05-10 芜湖市元山机械制造有限公司 Automotive front subframe welding robot with improved pedestal
CN106514078A (en) * 2016-12-02 2017-03-22 芜湖市元山机械制造有限公司 Circular arc track welding robot for automobile spring plate subassembly
CN115297985A (en) * 2020-03-25 2022-11-04 株式会社神户制钢所 Circumferential welding method

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