CN1146741A - 机器人 - Google Patents
机器人 Download PDFInfo
- Publication number
- CN1146741A CN1146741A CN96190100A CN96190100A CN1146741A CN 1146741 A CN1146741 A CN 1146741A CN 96190100 A CN96190100 A CN 96190100A CN 96190100 A CN96190100 A CN 96190100A CN 1146741 A CN1146741 A CN 1146741A
- Authority
- CN
- China
- Prior art keywords
- robot
- welding
- circuit
- arc welding
- support
- 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
- 238000003466 welding Methods 0.000 claims abstract description 43
- 238000009434 installation Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010891 electric arc Methods 0.000 description 10
- 230000014509 gene expression Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 2
- 239000002826 coolant Substances 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
Abstract
一种机器人,包括安装于一个容纳用于驱动和控制由机器人所握持的工具(例如,焊炬)的电路(例如,焊接电源)的基座上的有活节的机械手。这种机器人减小了所需的安装空间,并只需更少的安装时间和更少的部件,从而降低了制造成本,简化了机器人的安装操作并获得了稳定的焊接性能。
Description
本发明涉及机器人,由于在机器人支架内安装有整体电弧焊接电源,所以可以减化机器人的安装操作,减少其安装所需的空间,缩短焊接电源的输出电缆并获得稳定的焊接性能。
过去,焊接机器人通常包括三部分,即机器人体(机械手),机器人控制单元(控制板)和焊接电源(包括一个电线馈送机械装置),其中焊接机器人和焊接电源分离放置,并且机器人和焊接电源通过焊接输出电缆连接。然而,这样就存在一个问题,因为机器人所需的安装位置和焊接电源所需的位置是独立的,所以需要保证有大的安装空间。
为代替这种机器人,已经公开了一种把电弧焊接电源包容在机器人控制板内的方法。日本未审查专利公开号Hei 4-365581就公开了这样一种方法。然而,由于需要长的焊接输出电缆来连接机器人和焊接电源,电缆的感应很高,所以短路定时延迟和短路时间的检测太长,使电弧不稳定。另外,电流的上升时间被扩展,阻碍了平滑地向电弧转换,导致了不稳定的电弧。
日本未审查专利公开号sho 60-158987公开了上述机器人的一种改进,并公开了一种点焊接机器人,其中把焊接电源(变压器和整流器)安置于机器人臂的最末端。把焊接电源安装于臂的最末端并不是最优的,因为必须用具有专门结构的机械手来支撑负载,并且臂部分也太大。
因此,本发明的一个目的是提供一种机器人,它可减小所需的安装空间,并有较短的安装时间和较少的部件,从而可以降低制造成本,简化机器人的安装操作并获得稳定的焊接性能。
本发明的特征在于:在上面放置着由有活节的机械手组成的机器人体的机器人支架的内部装有用来驱动和控制由机器人体所握持的工具的操作的电路。
用这种结构,可以减少电弧焊接机器人所需的安装空间,简化安装操作并获得稳定的焊接性能。
图1是根据本发明的电弧焊接机器人的优选实施方式的前视图,其前罩已被拿掉;
图2是根据本发明的电弧焊接机器人的优选实施方式的前视图,其前罩已装上;
图3是根据本发明的电弧焊接机器人的优选实施方式的左视图;
图4是根据本发明的电弧焊接机器人的优选实施方式的后视图。
下面将参照附图对本发明进行描述。图1是根据本发明的电弧焊接机器人的优选实施方式的前视图,其前罩已被拿掉;图2是装上前罩的机器人的前视图。图3是机器人的左视图,图4是机器人的后视图。在图1到4中,标记1表示电弧焊接机器人;1a表示焊炬;2表示电弧焊接机器人支架;3表示电弧焊接电源输出电缆用的开口;4表示机器人用的马达的伺服执行单元;5表示电弧焊接电源;6表示给伺服执行单元和电弧焊接电源供电的电源插头;7表示接口插座;8表示通风口;9表示风扇。在该实施方式中,机器人马达用的伺服执行单元4也与电弧焊接电源5一起位于支架内,电弧焊接电源是用于驱动和控制由机器人体所握持的工具的操作的电路。
如图所示,电弧焊接机器人1用的支架2内装有用于驱动电弧焊接机器人1的伺服执行单元4和电弧焊接电源5,支架2的侧边上装有空气冷却通风口8和风扇9,支架2的前表面上形成有输出电缆用的窗口3,而在支架2的背面装有用于给伺服执行单元4和焊接电源5供电的电源插头6和用于连到机器人控制器上的接口电缆的插座7。
虽然在该实施例中示出了一种电弧焊接机器人,但本发明并不仅限于此,而可被应用到所有的机器人上。
在需要相对大的电路来驱动和控制由机器人所握持的工具的情况下,本发明尤其具有很大的优点。
另外,如上面所述的实施例,在用于驱动和控制机器人体(机械手)的电路是位于支架内部的情况下,过去位于机器人控制板中的电路可以转移到机架中。这又产生了使机器人控制板小型化的额外效果。
进一步的效果是,假如增强空气冷却装置,在机器人体一边产生的热量也可以通过支架被冷却。
如上所述,根据本发明的机器人适用于电弧焊接及另外类似的应用中。
Claims (5)
1.一种机器人,其特征在于在上面放置由有活节的机械手组成的机器人体的机器人支架的内部安装有用来驱动和控制由所述机器人体所握持的工具的操作的电路。
2.如权利要求1的机器人,其中由所述机器人握持的工具包括焊炬或焊枪,所述的电路包括一个焊接电源。
3.如权利要求1或2的机器人,其中所述机器人支架还用作所述电路的电磁屏蔽罩。
4.如权利要求1,2或3的机器人,其中所述机器人支架内部安装有用于空气冷却所述电路的风扇和通风口。
5.如权利要求1至4之一的机器人,其中所述机器人支架内部安装有用于驱动电马达以移动所述有活节的机械手的伺服电路。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7051834A JPH08216082A (ja) | 1995-02-15 | 1995-02-15 | ロボット装置 |
JP51834/95 | 1995-02-15 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1146741A true CN1146741A (zh) | 1997-04-02 |
CN1046455C CN1046455C (zh) | 1999-11-17 |
Family
ID=12897900
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN96190100A Expired - Fee Related CN1046455C (zh) | 1995-02-15 | 1996-02-13 | 机器人 |
Country Status (7)
Country | Link |
---|---|
US (1) | US5783921A (zh) |
EP (1) | EP0755758B1 (zh) |
JP (1) | JPH08216082A (zh) |
KR (1) | KR100414660B1 (zh) |
CN (1) | CN1046455C (zh) |
DE (1) | DE69606113T2 (zh) |
WO (1) | WO1996025275A1 (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102672728A (zh) * | 2011-03-08 | 2012-09-19 | 株式会社安川电机 | 机器人控制装置 |
CN103753600A (zh) * | 2014-02-18 | 2014-04-30 | 威海正棋机电技术有限公司 | 一种具有强迫空气对流系统的水平关节机器人 |
CN108247677A (zh) * | 2017-12-28 | 2018-07-06 | 浙江捷尚人工智能研究发展有限公司 | 具备内部散热功能的机器人 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6348752B1 (en) | 1992-04-06 | 2002-02-19 | General Electric Company | Integral motor and control |
JPH08216082A (ja) * | 1995-02-15 | 1996-08-27 | Yaskawa Electric Corp | ロボット装置 |
DE102009018308B4 (de) * | 2009-04-22 | 2014-06-12 | Renate KEINATH | Peripheriegerät für eine Spritzgießmaschine |
JP6250372B2 (ja) * | 2013-11-22 | 2017-12-20 | Ntn株式会社 | 自動溶接機 |
US10207722B2 (en) | 2016-08-22 | 2019-02-19 | Strato, Inc. | Automated machining and welding of railway car parts |
Family Cites Families (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4086522A (en) * | 1976-09-08 | 1978-04-25 | Unimation, Inc. | Computer assisted teaching arrangement for conveyor line operation |
DE2659743A1 (de) * | 1976-12-31 | 1978-07-13 | Daimler Benz Ag | Schweissroboter zum ausfuehren von widerstandselektrischen punktschweissungen |
US4677276A (en) * | 1982-11-23 | 1987-06-30 | Yaskawa Electric Mfg. Co., Ltd. | Method of welding robot control which controls the three basic axes of a robot to provide a repetition of a weaving pattern along a robot locus |
KR900003637B1 (ko) * | 1982-11-26 | 1990-05-28 | 가부시기가이샤 히다찌 세이사꾸쇼 | 로보트의 동작제어장치 |
FR2539346B1 (fr) * | 1983-01-18 | 1990-12-07 | Mitsubishi Electric Corp | Dispositif manipulateur automatique articule notamment pour le soudage a l'arc |
GB2137423B (en) * | 1983-03-30 | 1985-11-13 | Prutec Ltd | Robot support pod |
GB2149707B (en) * | 1983-11-15 | 1987-10-28 | Hitachi Shipbuilding Eng Co | Automatic welding apparatus |
JPS60158987A (ja) * | 1984-01-28 | 1985-08-20 | Honda Motor Co Ltd | ロボット塔載直流抵抗溶接装置 |
US4578554A (en) * | 1984-04-30 | 1986-03-25 | Teledyne, Inc. | Laser welding apparatus |
JPS61199387A (ja) * | 1985-02-28 | 1986-09-03 | Nec Home Electronics Ltd | 静止画記録装置 |
JPH0411034Y2 (zh) * | 1985-05-30 | 1992-03-18 | ||
JPH0829514B2 (ja) * | 1986-09-22 | 1996-03-27 | ヤマハ発動機株式会社 | コントロ−ラ内蔵の一軸ロボツト |
JPS642888A (en) * | 1987-06-24 | 1989-01-06 | Fanuc Ltd | Industrial robot |
CH677745A5 (zh) * | 1988-02-15 | 1991-06-28 | Amada Co Ltd | |
JP2604012B2 (ja) * | 1988-07-29 | 1997-04-23 | 株式会社東芝 | クリーンロボット |
JPH03208592A (ja) * | 1990-01-09 | 1991-09-11 | Shibaura Eng Works Co Ltd | ロボット装置 |
JP2674358B2 (ja) * | 1991-06-11 | 1997-11-12 | 松下電器産業株式会社 | アーク溶接電源内蔵ロボットコントローラ |
JPH05177580A (ja) * | 1991-12-28 | 1993-07-20 | Jiyooben Denki Kk | 作業用ロボット |
US5403988A (en) * | 1993-06-07 | 1995-04-04 | Honda Giken Kogyo Kabushiki Kaisha | Stud welding apparatus |
ZA948103B (en) * | 1993-11-17 | 1995-06-05 | Honda Motor Co Ltd | Method and apparatus for assembling motor vehicle body |
GB9412179D0 (en) * | 1994-06-17 | 1994-08-10 | Dow Corning Sa | Foam control agent |
US5658121A (en) * | 1994-07-25 | 1997-08-19 | Fanuc Ltd. | Robot system |
JP3491780B2 (ja) * | 1994-12-07 | 2004-01-26 | 株式会社安川電機 | 産業用ロボットにおけるリード線処理構造 |
JPH08216082A (ja) * | 1995-02-15 | 1996-08-27 | Yaskawa Electric Corp | ロボット装置 |
-
1995
- 1995-02-15 JP JP7051834A patent/JPH08216082A/ja active Pending
-
1996
- 1996-02-13 CN CN96190100A patent/CN1046455C/zh not_active Expired - Fee Related
- 1996-02-13 EP EP96902439A patent/EP0755758B1/en not_active Expired - Lifetime
- 1996-02-13 US US08/722,042 patent/US5783921A/en not_active Expired - Fee Related
- 1996-02-13 KR KR1019960705787A patent/KR100414660B1/ko not_active IP Right Cessation
- 1996-02-13 WO PCT/JP1996/000321 patent/WO1996025275A1/ja active IP Right Grant
- 1996-02-13 DE DE69606113T patent/DE69606113T2/de not_active Expired - Fee Related
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102672728A (zh) * | 2011-03-08 | 2012-09-19 | 株式会社安川电机 | 机器人控制装置 |
CN102672728B (zh) * | 2011-03-08 | 2015-12-16 | 株式会社安川电机 | 机器人控制装置 |
CN103753600A (zh) * | 2014-02-18 | 2014-04-30 | 威海正棋机电技术有限公司 | 一种具有强迫空气对流系统的水平关节机器人 |
CN103753600B (zh) * | 2014-02-18 | 2016-08-17 | 威海新北洋正棋机器人股份有限公司 | 一种具有强迫空气对流系统的水平关节机器人 |
CN108247677A (zh) * | 2017-12-28 | 2018-07-06 | 浙江捷尚人工智能研究发展有限公司 | 具备内部散热功能的机器人 |
Also Published As
Publication number | Publication date |
---|---|
JPH08216082A (ja) | 1996-08-27 |
EP0755758A1 (en) | 1997-01-29 |
US5783921A (en) | 1998-07-21 |
DE69606113T2 (de) | 2000-06-15 |
KR100414660B1 (ko) | 2004-05-22 |
WO1996025275A1 (fr) | 1996-08-22 |
KR970702129A (ko) | 1997-05-13 |
DE69606113D1 (de) | 2000-02-17 |
EP0755758A4 (en) | 1997-05-14 |
CN1046455C (zh) | 1999-11-17 |
EP0755758B1 (en) | 2000-01-12 |
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C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
C17 | Cessation of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 19991117 Termination date: 20100213 |