WO2024048165A1

WO2024048165A1 - Wire cable and welding robot system

Info

Publication number: WO2024048165A1
Application number: PCT/JP2023/028007
Authority: WO
Inventors: 一弥北山
Original assignee: パナソニックＩｐマネジメント株式会社
Priority date: 2022-08-31
Filing date: 2023-07-31
Publication date: 2024-03-07

Abstract

This wire cable is for use in a welding robot system that is provided with a welding robot to which a welding torch is provided and a relay part which relays welding wire to be supplied to the welding torch, said wire cable comprising: a cable body which is connected to the welding torch and to a wire connection part provided to the relay part, and inside which the welding wire is inserted; and a cover part which is provided to the cable body and that covers at least part of the wire connection part when the cable body is connected to the wire connection part.

Description

wire cable and welding robot system

The present disclosure relates to wire cables and welding robot systems.

Patent Document 1 discloses a wire feeding device that stably feeds a welding wire regardless of the posture of an arc welding robot. The wire feeding device is a wire feeding device for an arc welding robot, and includes a tube that sucks air into the outer periphery of a conduit cable, and an air supply control means that fills the tube with air.

Further, Patent Document 2 discloses an arc welding robot that includes a conduit that has a bending radius of a certain value or more and is routed so as not to receive undesirable stress due to arm movement. An arc welding robot includes a welding wire supply source disposed around the robot, and a conduit connected at both ends to a wire feeding device and into which a welding wire is inserted. In an arc welding robot, a conduit is connected to a bottom plate-like member installed on an installation surface at a position offset from the center of rotation of the robot's rotating torso, and to an upper plate-like member to which the robot's rotating torso is fixed. Then, the conduit extending from the welding wire supply source passes through a through hole for passing from the offset side to the swing center side and the space sandwiched between the bottom plate member and the upper plate member, and then is installed in the swing body. The wire is supported by the first supporting member and is routed in a substantially S-shape to the wire feeding device.

Japanese Patent Application Publication No. 11-33723 Japanese Patent Application Publication No. 2010-36231

The present disclosure provides a wire cable and welding robot system that prevents incorrect connection of power cables.

The present disclosure relates to a wire cable used in a welding robot system including a welding robot provided with a welding torch and a relay section that relays welding wire supplied to the welding torch, the wire cable having one end connected to the welding torch. a cable body, the other end of which is connected to a wire connection part provided in the relay part, and into which the welding wire is inserted; A wire cable is provided, comprising: a cover part that is connected to the connection part and covers at least a part of the wire connection part.

The present disclosure also provides the wire cable, the welding robot provided with the welding torch, the relay section that relays the welding wire supplied to the welding torch, and a power source that supplies power to the welding robot. A welding robot system comprising: a cable; the power cable is configured to be connectable to the wire connection when the wire cable is not connected to the wire connection; and the wire cable is connected to the wire connection. Provided is a welding robot system configured such that when the welding robot system is connected to the wire connection section, the cover section prevents connection to the wire connection section.

According to the present disclosure, incorrect connection of the power cable can be prevented.

A diagram showing an example of a welding robot system according to Embodiment 1 A perspective view illustrating a connection between a wire supply device and a wire cable. Side view illustrating the connection between the wire supply device and the wire cable A-A sectional view of wire connection part A diagram illustrating a connection example of a wire cable and a welding power cable of the welding robot system according to Embodiment 1. Diagram explaining the connection between the wire supply device and wire cable when installing the cover B-B sectional view of the wire supply device and wire cable when the cover is installed Diagram explaining the function of the cover External perspective view of the cover in Embodiment 1 Side view of the cover in Embodiment 1 CC sectional view of the cover in Embodiment 1 Front view of the cover in Embodiment 1 DD sectional view of the cover in Embodiment 1 Diagram explaining the function of the cover cutout Diagram explaining modification example 1 of the cover Diagram explaining modification example 2 of the cover Diagram explaining an example of how the cover is used in a pull feeder type manipulator Diagram illustrating an example of how the cover is used in a 2-feeder wire switching type manipulator Diagram explaining an example of a manipulator for the exterior type and built-in type Diagram explaining connection examples of exterior type and built-in type welding power cables

(Circumstances leading to this disclosure)
In a welding robot system, the wire feeding path that feeds the welding wire toward the tip of the welding torch and the welding current path that supplies welding current to the welding torch are routed according to the torch cable type of the welding robot system. It depends. Conventionally, torch cable types include, for example, an exterior type (for example, see Patent Document 1), a built-in type (for example, see Patent Document 2), a separate type, and the like. The torch cable type of a robotic welding system is changed on the welding site by the operator. Here, the wire feeding path 503 and welding current path 505 of the exterior type and built-in type will be described with reference to FIGS. 19 and 20, respectively. FIG. 19 is a diagram illustrating an example of an exterior type and a built-in type of torch cable. FIG. 20 is a diagram illustrating a connection example of the exterior type and built-in type welding power cables 521.

As shown in FIG. 19, an exterior type welding robot system 500A has an exterior torch cable 507 in which a wire feeding path 503 for feeding a welding wire 501 and a welding current path 505 for feeding a welding current are integrated. Be prepared. In the armored torch cable 507, a welding power cable 521 that supplies welding current to the welding current path 505 is connected to a CC (conduit cable) fitting 519, and the wire feeding path 503 and the welding current path 505 are connected to the robot arm 509. Pull it outside.

Furthermore, the built-in type welding robot system 500B includes a built-in torch cable 511 that integrates a wire feeding path 503 and a welding current path 505. In the built-in torch cable 511, a welding power cable 521 that supplies welding current to a welding current path 505 is connected to a CC mounting bracket 519, and a wire feeding path 503 and a welding current path 505 are each integrally built in, and the robot arm 509 inside the hollow part.

However, in the above-mentioned armored torch cable 507, since both the wire feeding path 503 and the welding current path 505 are routed outside the robot arm 509, the wire feeding path 503 and the welding current path 505 tend to interfere with each other. However, there were problems such as it being difficult for the welding torch to approach the workpiece to be welded. In addition, the built-in torch cable 511 has a high bending ratio in the wire feeding path 503, and the welding wire 501 tends to bend while passing through the wire feeding path 503, so the welding wire is likely to misalign the welding position. There were problems such as the ease with which the feedability of 501 deteriorated.

Therefore, in order to solve the above-mentioned problems, welding is provided with a separate type torch cable that can route the wire feeding path 503 outside the robot arm 509 and the welding current path 505 inside the hollow part of the robot arm 509. There is a robot system 11 (see FIG. 1). Such a welding robot system 11 is designed so that the wire feeding path 503 and the CC mounting bracket 519 to which the welding power cable 521 is connected can be shared between the exterior type and the built-in type. As a result, by changing the fixing base (for example, the exterior fixing base 515, built-in fixing base 517, etc.) attached to the hollow arm structure robot 513 and the connection point of the welding power cable 521, the cable type can be changed to an exterior type or a built-in type. You can easily change between the two types and separate types.

However, since the CC mounting bracket 519 to which the wire feed path 503 and welding power cable 521 are connected for the exterior type and built-in type is also shared by the separate type welding robot system, the operator must separate the When changing the type, there was a possibility that the welding power cable 521 would be erroneously connected to the CC mounting bracket 519. In a separate type welding robot system, such an erroneous connection causes a large current to flow through the welding wire 501 and cause it to burn out, so there has been a need for a technique to prevent the erroneous connection of the welding power cable 521.

Therefore, in the present disclosure, embodiments specifically disclosing a wire cable and a welding robot system will be described in detail below with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanations of well-known matters or redundant explanations of substantially the same configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter recited in the claims.

First, a welding robot system 11 according to Embodiment 1 will be described with reference to FIG. 1. FIG. 1 is a diagram showing an example of a welding robot system 11 according to the first embodiment.

The welding robot system 11 includes a manipulator 13. The welding robot system 11 allows the operator to change parts (for example, the exterior fixing base 37 for fixing the first wire supply device 39, the RW connection unit 119, etc.) or change the connection location of the wire cable 49 or welding power cable 61. The torch cable type can be changed by performing the following steps. The torch cable type of the welding robot system 11 described in the first embodiment has a welding wire 45 feeding path (second feeding path) from the first wire feeding device 39 (an example of a relay section) to the welding torch 15. This is a separate type in which the route 47) and the welding current route 51 are routed differently.

The manipulator 13, which is an example of a welding robot, is a six-axis articulated robot with a welding torch 15 attached to the tip of the wrist 23. The manipulator 13 includes a base portion 17, an upper arm portion 19, a forearm portion 21, and a wrist portion 23. The manipulator 13 rotates the first axis 25, the second axis 27, the third axis 29, the fourth axis 31, the fifth axis 33, and the sixth axis 35, respectively, to rotate the upper arm 19, the forearm 21, and the wrist. 23 and welding torch 15 are driven. Note that the number of axes (number of joints) of the manipulator 13 is not limited to this.

As described above, the separate type welding robot system 11 routes the welding wire 45 around the outside of the upper arm 19 and forearm 21 using the wire cable 49 (that is, the second feeding path 47) that feeds the welding torch 15. On the other hand, the welding robot system 11 routes the welding current path 51 inside the hollow portion of the forearm portion 21 .

The manipulator 13 includes a relay part fixed to the back of the forearm part 21 by an exterior fixing base 37. The welding robot system 11 shown in FIG. 1 includes a first wire supply device 39 (an example of a relay section) that feeds a welding wire 45 from a wire supply source 41 toward the tip of the welding torch 15 in the relay section.

The manipulator 13 uses the first wire supply device 39 to pull out the welding wire 45 from the wire supply source 41 . Manipulator 13 feeds welding wire 45 toward the tip of welding torch 15 via each of first feeding path 43 , first wire feeding device 39 , and second feeding path 47 . The second feeding path 47 is constituted by a wire cable 49. The welding wire 45 is inserted into the wire cable 49 .

The welding wire 45 fed to the welding torch 15 is powered by a forced power feeding mechanism (not shown) provided at the tip of the welding torch 15 and supplied with power by a welding power cable 61 (an example of a power cable), and the welding wire 45 is welded. is sent toward the target position (welding location).

Next, with reference to each of FIGS. 2 to 4, a connection point between the first wire supply device 39 and the wire cable 49 (second feeding path 47) in the separate type welding robot system 11 will be described. FIG. 2 is a perspective view illustrating a connecting portion between the first wire supply device 39 and the wire cable 49. FIG. 3 is a side view illustrating a connecting portion between the first wire supply device 39 and the wire cable 49. FIG. 4 is a cross-sectional view of the wire connection portion 53 taken along the line AA.

The wire cable 49 forming the second feeding path 47 of the welding wire 45 has one end connected to the welding torch 15 (see FIG. 1) and the other end connected to a wire connection portion 53 provided in the first wire supply device 39. connected to.

The wire connection portion 53 is composed of a CC mounting bracket 55 and a fixing bolt 65 (an example of a protrusion). The CC mounting bracket 55 is fixed to the first wire supply device 39, which is a relay section. The metal fitting 71 is fixed and integrated with the cable main body 57 via the spiral cable gland 79. The metal fitting 71 can be connected to the CC attachment fitting 55 at any rotational position with the extending direction (X direction) of the cable body 57 as the center of rotation. This allows the manipulator 13 to connect the wire cable 49 between the welding torch 15 and the CC fitting 55 during setup without being twisted according to the bending tendency of the cable body 57.

The CC mounting bracket 55 is a half-split socket, has a split-tightening structure by fastening a fixing bolt 65, and is provided with a terminal fastening hole 63 to which a welding power cable 61 can be connected. The CC mounting bracket 55 is configured to attach the first wire by fastening the fixing bolt 65 to the through hole 67 with the fixture 71 inserted into the mounting hole 69 formed along the extending direction of the spiral cable gland 79. A wire cable 49 can be connected to the supply device 39. The metal fitting 71 coaxially includes a substantially cylindrical liner base 73 through which the welding wire 45 is passed.

Note that the CC mounting bracket 55 is the same member as the CC mounting bracket 519 used in the exterior type or built-in type welding

robot systems

500A and 500B.

The forearm portion 21 includes an RW connection unit 119 (see FIG. 5) to which the welding power cable 61 can be connected. When the welding power cable 61 is connected to the RW connection unit 119, it supplies power to the forced power supply mechanism of the welding torch 15 through the welding current path 51.

As described above, in the separate type welding robot system 11, the wire cable 49 (second feeding path 47) is connected to the first wire supply device 39 attached to the exterior fixing base 37 of the forearm part 21, and the welding power cable 61 is connected to the RW connection unit 119 (see FIG. 5) of the forearm portion 21. That is, in the separate type welding robot system 11, the welding power cable 61 is not connected to the terminal fastening hole 63 to which the welding power cable 61 can be connected.

Next, the welding robot system 11 that can prevent erroneous connections of the welding power cable 61 according to the first embodiment will be described with reference to each of FIGS. 5 to 8. FIG. 5 is a diagram illustrating a connection example of the wire cable 49 and the welding power cable 61 of the welding robot system 11 according to the first embodiment. FIG. 6 is a diagram illustrating the connection between the first wire supply device 39 and the wire cable 49 when the cover 59 is attached. FIG. 7 is a BB sectional view of the first wire supply device 39 and the wire cable 49 when the cover 59 is attached. FIG. 8 is a diagram illustrating the function of the cover 59.

A liner cap accommodating hole 75 is coaxially formed in the metal fitting 71. An O-ring 77 is attached to the outer periphery of the liner cap 73 and contacts the inner periphery of the liner cap accommodating hole 75 . In the wire cable 49, the base end of the cable body 57 is covered by a spiral cable gland 79. Note that the base end here refers to the upstream side of the welding wire 45 in the feeding direction.

A liner 81 through which the welding wire 45 passes is inserted into the flexible conduit covered with the spiral cable gland 79. The liner 81 prevents the welding wire 45 from being bent beyond a predetermined curvature. A proximal end of the liner 81 is connected to the liner cap 73.

The wire cable 49 is attached by fitting the circumferential edge of the mounting hole 87 of the cover 59 into the circumferential groove 85 provided between the large diameter portion 83 of the metal fitting 71 and the spiral cable gland 79, and attaching the wire cable 49 to the cable main body 57. will be installed on the

In the wire connection part 53, when the metal fitting 71 is connected to the CC fitting 55 with the cover 59 attached to the wire cable 49, the terminal fastening hole 63 of the CC fitting 55 is covered by the cover 59, and the welding power cable 61 is blocked so that it cannot be connected (see FIG. 7).

Therefore, in the manipulator 13, when the wire cable 49 is not connected to the wire connection part 53, the welding power cable 61 is exposed to be connectable to the terminal fastening hole 63 of the CC mounting bracket 55, and the wire cable 49 is connected to the wire connection part 53. , the welding power cable 61 is covered by the cover 59 so that the welding power cable 61 cannot be connected to the terminal fastening hole 63 of the CC mounting bracket 55 .

As shown in FIG. 8, the manipulator 13 prevents interference between the welding power cable 61 and the cover 59 when the welding power cable 61 is connected to the CC mounting bracket 55 of the wire connection part 53 before the wire cable 49 is connected. Therefore, the wire cable 49 cannot be connected to the wire connection portion 53.

As a result, in the welding robot system 11 according to the first embodiment, when the connection point of the welding power cable 61 is changed due to a change in the torch cable type, by attaching the cover 59 to the wire cable 49, the welding robot system 11 can be attached to the CC mounting bracket. It is possible to make it impossible to connect the welding power cable 61 to the terminal fastening hole 63 of 55. Therefore, the welding robot system 11 can more effectively prevent erroneous connection of the welding power cable 61 to the terminal fastening hole 63 when changing the torch cable type.

Here, the cover 59 will be explained with reference to each of FIGS. 9 to 13. FIG. 9 is an external perspective view of the cover 59 in the first embodiment. FIG. 10 is a side view of the cover 59 in the first embodiment. FIG. 11 is a sectional view taken along the line CC of the cover 59 in the first embodiment. FIG. 12 is a front view of the cover 59 in the first embodiment. FIG. 13 is a DD sectional view of the cover 59 in the first embodiment.

The cover 59, which is an example of the cover portion, is formed of, for example, silicone-based, fluorine-based, urethane-based rubber (elastic member), or the like. The cover 59 is made of rubber (elastic member), so that the mounting hole 87 can be expanded and contracted, and the cover 59 is configured to be detachable and rotatable relative to the cable body 57.

Here, since the cover 59 is configured to be detachable, if the cover 59 is damaged, it can be easily replaced with a new cover 59.

In addition, since the cover 59 is formed of rubber (elastic member), even if a gap is generated between the cover 59 and the cable body 57 when it is attached to the cable body 57, the cover 59 can be used when the manipulator 13 is driven. Abnormal noise and damage caused by vibration can be suppressed.

Note that the material of the cover 59 is not limited to the above-mentioned rubber (elastic member). For example, the cover 59 may be formed of metal such as iron, aluminum, copper, etc., resin such as POM (polyoxymethylene), nylon, PPS (polyphenylene sulfide), glass epoxy, etc.

The cover 59 includes a first cover part 89 and a second cover part 91. The first cover part 89 and the second cover part 91 are formed along the shape of the wire connection part 53.

The first cover portion 89 includes an opening portion 93 formed in a substantially rectangular shape and a notch portion 95 formed in a semi-elliptical shape.

The opening 93 is formed with an opening width R1 larger than the opening width R2 of the second cover part 91. When the wire cable 49 is connected to the wire connection part 53, the opening 93 covers the wire connection part 53 having a substantially hexahedral shape from the outside so that the terminal fastening hole 63 is not exposed.

The cutout portion 95 is formed at an arbitrary position on one or both surfaces of the first cover portion 89. Note that the shape of the cutout portion 95 in the first embodiment is merely an example, and is not limited thereto.

The second cover part 91 is formed in a substantially cylindrical shape to cover the large diameter part 83 of the metal fitting 71 constituting the cable main body 57 from the outside. The second cover part 91 has a mounting hole 87 on the opposite side from the opening 93 of the first cover part 89 . The mounting hole 87 is formed with an opening width R1 smaller than the large diameter portion 83 of the wire connection portion 53, and functions to prevent the cover 59 from coming off from the wire cable 49.

A stepped portion 99 that follows the outer shape of the CC mounting bracket 55 is formed between the first cover portion 89 and the second cover portion 91. Note that the stepped portion 99 is not essential and may be omitted.

In addition, in the cover 59 according to the first embodiment, one corner of the four corners of the substantially rectangular shape of the first cover portion 89 is shaved off when viewed from the front in the X direction. Although the second cover portion 91 is formed closer to each other (eccentrically), the second cover portion 91 is not limited thereto. The cover 59 prevents the welding power cable 61 from being connected to the wire connection portion 53 (specifically, the terminal fastening hole 63 of the CC mounting bracket 55) when the wire cable 49 and the wire connection portion 53 are connected. Any possible shape and size is acceptable.

Here, the cutout portion 95 of the cover 59 will be explained with reference to FIG. 14. FIG. 14 is a diagram illustrating the function of the cutout 95 of the cover 59. Each of the wire cable 49 and the wire connection portion 53 shown in FIG. 14 is shown as viewed from the bottom side (-Z direction).

The cutout portion 95 is formed along the connection direction between the wire cable 49 and the wire connection portion 53 (the direction in which the wire cable 49 extends). The cutout portion 95 is formed so that the fixing bolt 65 protruding from the CC mounting bracket 55 of the wire connection portion 53 can be exposed when the wire cable 49 and the wire connection portion 53 are connected. Thereby, the notch portion 95 prevents interference between the inner surface 97 of the first cover portion 89 and the fixing bolt 65 when the wire cable 49 is connected.

Further, the fixing bolt 65 exposed from the notch 95 can be fastened and unfastened from the outside of the cover 59. Thereby, the wire cable 49 can avoid interference with the fixing bolt 65 and can tighten and unfasten the fixing bolt 65 while covering the terminal fastening hole 63 of the CC mounting bracket 55.

As described above, the cover 59 in the first embodiment has been described as an example including the first cover part 89 formed in a substantially rectangular shape and the second cover part 91 formed in a substantially cylindrical shape. Hereinafter, the covers 101 and 109 will be described as modified examples 1 and 2 of the cover 59, respectively.

(Cover modification example 1)
Next, with reference to FIG. 15, a cover 101 as a first modification of the cover 59 will be described. FIG. 15 is a diagram illustrating Modification 1 of the cover 59.

The cover 101, which is an example of the cover part, is formed by, for example, bending a substantially rectangular sheet metal member at a plurality of locations along the longitudinal direction. Since such a cover 101 is formed by processing a sheet metal member, the cost of parts can be reduced. The cover 101 includes a convex portion 105 and each of two wall portions 103.

The convex portion 105 is formed with a mounting hole (not shown) through which the other end side of the cable main body 57 (the side connected to the first wire supply device 39) can pass through. The cover 101 is removably attached by being screwed onto the metal fitting 71 with a fixing screw 107 with the other end of the cable body 57 inserted into the attachment hole.

Each of the two wall portions 103 is formed along the long side direction of the cover 101. Each of the two wall portions 103 has a welding power cable 61 connected to the side (Y direction) of the CC fitting 55 with the wire cable 49 connected to the CC fitting 55 of the first wire supply device 39. Prevent access.

Although the cover 101 shown in FIG. 15 is formed by bending a rectangular sheet metal member along the longitudinal direction, the cover 101 is not limited thereto. For example, the convex portion 105 and the two wall portions 103 may be formed by bending the cover 101 along a transverse direction that is substantially orthogonal to the longitudinal direction. More specifically, the cover 101 may be formed such that each of the two wall portions 103 has a length such that the welding power cable 61 cannot be connected to the terminal fastening hole 63 of the CC mounting bracket 55.

In addition, the cover 101 shown in FIG. 15 has two wall portions 103 along the side surface of the CC fitting 55 in a state where the wire cable 49 is connected to the CC fitting 55 of the first wire supply device 39. are arranged to face each other to obstruct access of the welding power cable 61, but the structure is not limited thereto. For example, in the cover 101 shown in FIG. 15, the two wall portions 103 may be arranged to face each other along the surface where the terminal fastening hole 63 of the CC mounting bracket 55 is formed. In such a case, the cover 101 can prevent the welding power cable 61 from accessing the terminal fastening hole 63.

(Cover modification example 2)
Next, a cover 109 as a second modification of the cover 59 will be described with reference to FIG. 16. FIG. 16 is a diagram illustrating a second modification of the cover 59.

The cover 109, which is an example of the cover part, is formed of, for example, silicone-based, fluorine-based, urethane-based rubber (elastic member), resin such as POM, nylon, PPS, glass epoxy, etc. The cover 109 includes a first cover part 111 and a second cover part 113.

The first cover part 111 includes an opening 115 formed in a substantially cylindrical shape, a substantially dome shape, or the like. The opening 115 is formed in a substantially circular shape and covers the wire connection part 53 from the outside so that the terminal fastening hole 63 is not exposed when the wire cable 49 is connected to the wire connection part 53. Although not shown in FIG. 16, the opening 115 may be provided with a notch that allows the fixing bolt 65 to be exposed.

The second cover portion 113 is formed in a substantially cylindrical shape to cover the large diameter portion 83 of the metal fitting 71 constituting the cable main body 57 from the outside. The second cover part 113 has a mounting hole (not shown) on the opposite side to the opening 115 of the first cover part 111 . The mounting hole is formed with an opening width smaller than the large diameter portion 83 of the wire connection portion 53 and functions to prevent the wire connection portion 53 from coming off.

As described above, in Embodiment 1, an example has been described in which covers 59, 101, and 109 are used in manipulator 13 whose torch cable type is a separate type to prevent erroneous connection of welding power cable 61. In the following description, an example will be described in which the cover 59 is used for each of the

manipulators

13A and 13B whose torch cable type is a separate type. In addition, in the description regarding other separate types, only the usage example of the cover 59 will be explained, omitting the usage example of the covers 101 and 109.

(Pull feeder type manipulator)
An example of using the cover 59 in the pull feeder type manipulator 13A will be described with reference to FIG. 17. FIG. 17 is a diagram illustrating an example of how the cover 59 is used in the pull feeder type manipulator 13A.

A pull feeder type manipulator 13A as an example of a welding robot includes a relay part 117 attached to an exterior fixing base 37 and a second wire supply device 121 attached to the upper part of the welding torch 15.

The relay section 117 is installed at the joint between the first feeding route 43 and the second feeding route 47. Relay part 117 supports welding wire 45 that is drawn out from wire supply source 41 and fed toward the tip of welding torch 15 by second wire supply device 121 .

The second wire supply device 121 draws out the welding wire 45 from the wire supply source 41 and feeds it toward the tip of the welding torch 15.

The manipulator 13A has a wire cable 49 (second feeding path 47) connected to a CC mounting bracket 55 attached to the relay section 117, and an RW connection unit 119 (CC mounting bracket) attached to the forearm section 21. A welding power cable 61 is connected to an example of a power supply connection section.

The manipulator 13A can make it impossible to connect the welding power cable 61 to the terminal fastening hole 63 of the CC fitting 55 by connecting the wire cable 49 with the cover 59 attached to the CC fitting 55 of the relay section 117. Therefore, by using the cover 59, the manipulator 13A can prevent the operator from erroneously connecting the welding power cable 61 when changing the torch cable type.

(2 feeder wire switching type manipulator)
Referring to FIG. 18, an example in which the cover 59 is used in the manipulator 13B for switching between two feeder wires will be described. FIG. 18 is a diagram illustrating an example of use of the cover 59 in the 2-feeder wire switching type manipulator 13B.

The two-feeder wire switching type manipulator 13B is configured by attaching two first wire supply devices 39 to an exterior fixing base 123.

Each of the two first wire supply devices 39 pulls out the welding wire 45 from the wire supply source 41 and feeds it toward the welding torch 15.

The manipulator 13B, which is an example of a welding robot, has a wire cable 49 (second feeding path 47) connected to a CC mounting bracket 55 attached to each of two first wire feeding devices 39, and a forearm portion 21. The welding power cable 61 is connected to the RW connection unit 119 (CC mounting bracket) attached to the RW connection unit 119 (CC mounting bracket).

The manipulator 13B can make it impossible to connect the welding power cable 61 to the terminal fastening hole 63 of each CC mounting bracket 55 by connecting the wire cable 49 with the cover 59 attached to each CC mounting bracket 55. Therefore, by using the cover 59, the manipulator 13B can prevent the operator from erroneously connecting the welding power cable 61 when changing the torch cable type.

As described above, the wire cable 49 according to the first embodiment connects the

manipulators

13, 13A, 13B (an example of a welding robot) provided with the welding torch 15 and the first The wire supply device 39 (an example of a relay section) or the relay section 117 is used in the welding robot system 11. The wire cable 49 is connected to the welding torch 15 and the first wire supply device 39 or to a wire connection section 53 provided in the relay section 117, and includes a cable body 57 into which the welding wire 45 is inserted, and a cable body 57. Since the cable main body 57 is connected to the wire connection portion 53, it has a cover 59 (an example of a cover portion) that covers at least a portion of the wire connection portion 53.

As a result, the wire cable 49 according to the first embodiment is provided with the cover 59 to cover the terminal fastening hole 63 provided in the CC mounting bracket 55 of the wire connection part 53 and to which the welding power cable 61 can be connected. It is possible to prevent the welding power cable 61 from being incorrectly connected to the hole 63.

Further, the cover 59 of the wire cable 49 according to the first embodiment is rotatably provided with respect to the cable main body 57. As a result, the wire cable 49 according to the first embodiment is capable of attaching the cover 59 to the wire cable 49 by making the cover 59 rotatable independently of the bending direction of the wire cable 49 during setup. You can orient yourself. Therefore, even with the cover 59 attached, the operator can connect the wire cable 49 between the welding torch 15 and the CC mounting bracket 55 without being twisted according to the bending tendency of the cable body 57. , it is possible to prevent damage to the cable main body 57 due to excessive twisting of the wire cable 49 due to the operation of the manipulator 13.

Further, the cover 59 of the wire cable 49 according to the first embodiment is fixed to the cable main body 57. As a result, the wire cable 49 according to the first embodiment has a structure in which the cover 59 cannot be removed unless the cable main body 57 is removed from the first wire supply device 39 or the relay section 117. Further, the connection point of the wire cable 49 is the first wire supply device 39 or the CC mounting bracket 55 of the relay section 117 regardless of the torch cable type. Therefore, the wire cable 49 with the cover 59 attached can more effectively suppress erroneous connections of the welding power cable 61.

Further, the cover 59 of the wire cable 49 according to the first embodiment is configured to be detachable from the cable main body 57. Thereby, the wire cable 49 according to the first embodiment can be easily replaced with a new cover 59 when the cover 59 is damaged.

Further, the cover 59 in the wire cable 49 according to the first embodiment is made of an elastic member. Thereby, even if there is a gap between the wire cable 49 and the wire cable 49 according to the first embodiment, it is possible to suppress noise and damage to the cover 59 due to drive vibrations of the

manipulators

13, 13A, and 13B.

Further, the cover 59 in the wire cable 49 according to the first embodiment is made of metal or resin. Thereby, in the wire cable 49 according to the first embodiment, the cover 59 is configured (formed) of metal, so that component costs can be reduced. Furthermore, since the cover 59 is made of resin, the wire cable 49 can be manufactured in any shape by molding.

Further, the cover 59 in the wire cable 49 according to the first embodiment includes a first cover part 89 that covers at least a part of the wire connection part 53 along the shape of the wire connection part 53, and a first cover part 89 that covers at least a part of the wire connection part 53 along the shape of the wire connection part 53, and a first cover part 89 that covers at least a part of the wire connection part 53 along the shape of the wire connection part 53; 57. Thereby, the wire cable 49 according to the first embodiment is attached to the cable main body 57 with the second cover part 91 engaged, and the terminal fastening hole 63 of the CC mounting bracket 55 is covered by the first cover part 89. Can be done.

Further, in the wire cable 49 according to the first embodiment, the wire connection portion 53 is provided with a protrusion, the cover 59 is provided with a cutout portion 95, and when the cable main body 57 is connected to the wire connection portion 53. Then, the fixing bolt 65 (an example of a protrusion) is fitted into the notch 95. Thereby, the wire cable 49 according to the first embodiment can prevent interference between the fixing bolt 65 fastened to the CC mounting bracket 55 having a split-fastening structure and the cover 59 attached to the cable main body 57.

Further, the cable main body 57 of the wire cable 49 according to the first embodiment is made of resin that has a tendency to bend. Thereby, in the wire cable 49 according to the first embodiment, an inexpensive gas hose that has a tendency to bend due to winding on a reel can be used as the cable main body 57.

Further, the wire connection portion 53 in the wire cable 49 according to the first embodiment is provided to be exposed outside the first wire supply device 39 or the relay portion 117. Thereby, in the wire cable 49 according to the first embodiment, the wire connection portion 53 can be easily accessed, and the manipulator 13 can be easily changed to a built-in type, an exterior type, or a separate type.

Further, the relay part in the wire cable 49 according to the first embodiment is the first wire supply device 39 that supplies the welding wire 45 to the welding torch 15. As a result, the wire cable 49 according to the first embodiment has a compact area around the welding torch 15 compared to the case where the second wire supply device 121 is provided above the welding torch 15, so that it is easier to approach the workpiece. The quality can be ensured.

The welding robot system 11 according to the first embodiment relays a wire cable 49,

manipulators

13, 13A, 13B (an example of a welding robot) provided with a welding torch 15, and a welding wire 45 supplied to the welding torch 15. The welding power cable 61 (an example of a power cable) that supplies power to the

manipulators

13, 13A, and 13B is provided. The welding power cable 61 is configured to be connectable to the wire connection portion 53 when the wire cable 49 is not connected to the wire connection portion 53, and is configured to be connectable to the wire connection portion 53 when the wire cable 49 is connected to the wire connection portion 53. It is configured so that it cannot be connected to the wire connection part 53.

Note that the wire cable 49 here refers to the

manipulators

13, 13A, 13B provided with the welding torch 15, and the first wire supply device 39 or relay section 117 that relays the welding wire 45 supplied to the welding torch 15. It is used in a welding robot system 11 comprising: Wire cable 49 is connected to welding torch 15 and first wire supply device 39 or wire connection section 53 provided at relay section 117 . A cable body 57 into which the welding wire 45 is inserted, and a cover 59 that is provided on the cable body 57 and covers at least a portion of the wire connection part 53 by connecting the cable body 57 to the wire connection part 53. has.

As a result, the welding robot system 11 according to the first embodiment has a cover when the torch cable type is changed from an exterior type or a built-in type to a separate type, a pull feeder type manipulator, or a two-feeder wire switching type manipulator. By using the wire cable 49 to which the welding power cable 61 is attached, it is possible to cover the terminal fastening hole 63 provided in the CC fitting 55 of the wire connection part 53 and to which the welding power cable 61 can be connected. Therefore, the welding robot system 11 can prevent the operator from incorrectly connecting the welding power cable 61 to the terminal fastening hole 63.

Furthermore, the first wire supply device 39 in the welding robot system 11 according to the first embodiment is one of the plurality of first wire supply devices 39. Wire cable 49 is one of a plurality of wire cables 49. As a result, in the welding robot system 11 according to the first embodiment, the cover 59 is attached to the wire cable 49 connected to each first wire supply device 39 even when the torch cable type is the two-feeder wire switching type. This can prevent incorrect connection of the welding power cable 61 to the terminal fastening hole 63 of each CC mounting bracket 55.

Furthermore, the manipulator 13 in the welding robot system 11 according to the first embodiment is provided with an RW connection unit 119 (an example of a power supply connection section) that is connected to the welding power cable 61. Welding power cable 61 is connected to RW connection unit 119 when wire cable 49 is connected to wire connection section 53 . As a result, the welding robot system 11 according to the first embodiment allows each first wire supply device 39 to By attaching the cover 59 to the wire cable 49 to be connected, it is possible to prevent the welding power cable 61 from being incorrectly connected to the terminal fastening hole 63 of the CC mounting bracket 55.

Further, the wire connection section 53 in the welding robot system 11 according to the first embodiment is provided near the RW connection unit 119. As a result, in the welding robot system 11 according to the first embodiment, the two connection points of the welding power cable 61 based on the torch cable type (that is, the CC mounting bracket 55 of the wire connection part 53 and the RW connection unit 119) are Even if they are installed close to each other, by attaching the cover 59 to the wire cable 49 connected to each first wire supply device 39, it is possible to prevent the welding power cable 61 from being inserted into the terminal fastening hole 63 of the CC mounting bracket 55 by mistake. connection can be prevented.

Further, the welding power cable 61 in the welding robot system 11 according to the first embodiment is connected to the wire connection portion 53 at the time of shipment from the factory. As a result, the welding robot system 11 according to the first embodiment has a torch cable type of the manipulator that is an exterior type or a built-in type and is shipped from the factory with the welding power cable 61 connected to the wire connection part 53. Even if the cover 59 is attached to the wire cable 49 later, it is possible to prevent the power cable 61 from being erroneously welded into the terminal fastening hole 63 of the CC mounting bracket 55 when changing to a separate type, pull feeder type manipulator, or 2 feeder wire switching type. connection can be prevented.

Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that those skilled in the art can come up with various changes, modifications, substitutions, additions, deletions, and equivalents within the scope of the claims, and It is understood that it naturally falls within the technical scope of the present disclosure. Further, each of the constituent elements in the various embodiments described above may be arbitrarily combined without departing from the spirit of the invention.

The present disclosure is useful as a wire cable and welding robot system that prevents incorrect connection of power cables.

11

Welding robot system

13, 13A, 13B Manipulator 15 Welding torch 39 First wire supply device (an example of a relay part)
121 Second wire supply device 45 Welding wire 49 Wire cable 53 Wire connection portion 57 Cable body 59 Cover 61 Welding power cable (an example of a power cable)
63 Terminal fastening hole 65 Fixing bolt 89 First cover part 91 Second cover part 95 Notch part 117 Relay part 119 RW connection unit

Claims

A welding robot equipped with a welding torch,
A wire cable used in a welding robot system, comprising a relay part that relays welding wire supplied to the welding torch,
a cable body having one end connected to the welding torch and the other end connected to a wire connection part provided in the relay part, and into which the welding wire is inserted;
a cover part provided on the cable main body and covering at least a part of the wire connection part by connecting the cable main body to the wire connection part;
wire cable.
The cover part is rotatably provided with respect to the cable main body,
The wire cable according to claim 1.
the cover part is fixed to the cable body;
The wire cable according to claim 1.
The cover part is configured to be detachable from the cable body.
The wire cable according to any one of claims 1 to 3.
The cover part is made of an elastic member.
The wire cable according to any one of claims 1 to 4.
The cover part is made of metal or resin,
The wire cable according to any one of claims 1 to 4.
The cover portion includes a first cover portion that covers at least a portion of the wire connection portion along the shape of the wire connection portion, and a second cover portion that engages with the cable body along the cable body. ,
The wire cable according to any one of claims 1 to 6.
The wire connection portion is provided with a protrusion,
The cover part is provided with a notch part,
The protrusion fits into the notch when the cable main body is connected to the wire connection part.
Wire cable according to any one of claims 1 to 7.
The cable body is made of resin that has a tendency to bend.
Wire cable according to any one of claims 1 to 8.
The wire connection part is provided to be exposed outside the relay part,
Wire cable according to any one of claims 1 to 9.
The relay part is a wire supply device that supplies the welding wire to the welding torch.
Wire cable according to any one of claims 1 to 10.
The wire cable according to any one of claims 1 to 11,
the welding robot provided with the welding torch;
the relay part that relays the welding wire supplied to the welding torch;
a welding power source that supplies power to the welding robot;
A welding robot system comprising the welding robot and a power cable connected to the welding power source,
The power cable is
When the wire cable is not connected to the wire connection part, it is configured to be connectable to the wire connection part,
When the wire cable is connected to the wire connection part, the cover part prevents the wire cable from being connected to the wire connection part.
Welding robot system.
The relay section is one of a plurality of relay sections,
the wire cable is one of a plurality of wire cables;
The welding robot system according to claim 12.
The welding robot has a power connection part connected to the power cable,
the power cable is connected to the power connection when the wire cable is connected to the wire connection;
The welding robot system according to claim 12 or 13.
The wire connection part is provided near the power supply connection part,
The welding robot system according to claim 14.
The power cable is connected to the wire connection part at the time of factory shipment,
The welding robot system according to any one of claims 12 to 15.