JP2001252769A - Automatic welding equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance the production efficiency of automatic welding equipment welding plural kinds of work. SOLUTION: This is the automatic welding equipment 10 constituted as follows; that is, a pick-up robot 13 is arranged between a work transfer path 12 and a welding robot 61, and the works W1, W2 are reciprocated between the work transfer path 12 and the welding robot 61 by the work hand Ha1 of this pick-up robot 13. A work hand mounting stand 170 on which a work hand Ha2 for replacing can be mounted, is arranged along the work transfer path 12 and out of the turning area A1 of the work hand Ha1. When replacing a work hand, after mounting the work hand mounting stand 170 on the work transfer path 12, it is moved within the turning area A1 of the work hand Ha1. Within the turning area A1, the work hand Ha1 can be replaced with the work hand Ha2 for replacement.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus in which a work is reciprocated between a work transfer line and a welding robot by a pickup robot.

[0002]

2. Description of the Related Art FIG. 29 is a plan view of a conventional automatic welding equipment. In the conventional automatic welding equipment 200, a pickup robot 203 is disposed between a work transfer line 201 and a welding robot 202, and the pickup robot 203
A work hand 205 is attached to the tip end of the arm 204 of the robot, and the work W 205 reciprocates the work W10 from the work transfer line 201 to the welding robot 202.

[0003] Specifically, when the automatic welding equipment 200 is viewed from above, the work hand 205 can turn within a turning area A11 indicated by imaginary lines. This turning area A1
1 overlaps with the work transfer line 201 and also with the turning area A12 of the arm 206 of the welding robot 202. The pick-up robot 203 transfers the work W10 on the work transfer line 201 to a position where the welding robot 202 welds the work W10, and the work W10 after welding.
Is returned to the work transfer line 201.

By the way, many works W10 of the same kind
Is welded, these workpieces W10 can be gripped and carried by a single workpiece hand 205. However, this is not the case when there are many types of work W10. For example, the body frame of a motorcycle often differs in shape and size depending on the vehicle type. If the shape and dimensions of the work W10 change, the conditions for grasping the work W10 will be different, and the work hand 205 needs to be replaced.

In order to cope with this, in the conventional automatic welding equipment 200, the work hand mounting table 207 is arranged in the replacement area A11a indicated by hatching in the swivel area A11 of the work hand 205, and the work hand mounting table 207 is The replacement work hand 208 is placed. When exchanging the work hand, the work hand 205
Is turned to the exchange area A11a and exchanged for the exchange work hand 208.

[0006]

In the conventional automatic welding equipment 200, the swivel area A11 of the work hand 205 is used.
The automatic welding equipment 200 is temporarily stopped when the replacement work hand 208 is replaced with the replacement work hand 208. After that, the work hand 205
The worker enters the turning area A11. Even if the turning angle of the work hand 205 is controlled by electric control, the stop of the pickup robot 203 is indispensable. The same applies to maintenance and inspection of the replacement work hand 208 placed on the work hand mounting table 207. Since the worker enters the turning area A11 to perform the work, the production efficiency of the automatic welding equipment 200 is inferior.

An object of the present invention is to increase the production efficiency of an automatic welding facility for welding a plurality of types of works.

[0008]

According to a first aspect of the present invention, a pickup robot is disposed between a work transfer line and a welding robot, and the work is transferred from the work transfer line by a work hand of the pickup robot. In an automatic welding equipment that reciprocates to a welding robot, a work hand mounting table on which a replacement work hand can be placed is placed along the work transfer line and outside the turning area of the work hand. The hand mounting table is placed on a work transfer line, moved into the swivel area of the work hand, and the work hand can be replaced.

[0009] A work hand mounting table is arranged outside the turning area of the work hand in the pickup robot, and a replacement work hand is prepared on the work hand mounting table in advance. When replacing the work hand, the work hand mounting table on which the replacement work hand is mounted is moved into the turning area on the work transfer line. In the turning area,
Replace the pick-up robot's work hand with a replacement work hand. Even when changing the type of work, there is no need for an operator to enter the turning area and perform the exchange work, so that the work hand can be exchanged in a minimum time.

According to a second aspect of the present invention, the work transfer line is a carriage that reciprocates in a predetermined section. The work hand mounting table or work on which the replacement work hand is
The truck can move into the turning area.

[0011]

Embodiments of the present invention will be described below with reference to the accompanying drawings. The drawings should be viewed in the direction of reference numerals. FIG. 1 is a plan view of the automatic welding equipment according to the present invention. The automatic welding facility 10 is a facility for automatically welding a plurality of types of workpieces with one welding apparatus 11.
The plurality of types of works are works having different shapes and dimensions. In order to facilitate understanding, two works (a first work W1 and a second work W2) will be described as an example. The first and second works W1, W2 are works of different materials from each other, for example, a body frame of a motorcycle.

FIG. 1 shows a welding robot 6 of a welding apparatus 11.
1, work transfer line 12, work transfer line 12
1 shows an automatic welding facility 10 provided with a pickup robot 13 disposed between a welding robot 61 and a welding robot 61. First, the welding apparatus 11 will be described with reference to FIGS. 2 to 12, and then the overall configuration and operation of the automatic welding equipment 10 will be described with reference to FIGS. 1 and 13 to 28.

FIG. 2 is a schematic view of a welding apparatus according to the present invention. The welding device 11 combines workpieces W1 and W2 having different materials with each other by combining one welding robot 61 with a plurality of welding torches 22 and 42.
This is a device for automatic welding. As a representative example,
One welding robot 61 has two welding torches 22 and 42
The MIG welding device combining the above will be described below.

The welding device 11 includes a first dedicated device 20 suitable for welding the first work W1, a second dedicated device 40 suitable for welding a second work W2 made of a different material from the first work W1, A shared device 60 shared by the first and second dedicated devices 20 and 40.

The first dedicated device 20 is a welding device suitable for welding, for example, a first work W1 made of an aluminum alloy, and includes a first welding machine 21, a first welding torch 22, and an aluminum-based first welding wire 23. , A first wire supply device 25 that draws out the first welding wire 23 from the first wire storage device 24 and supplies the first welding wire 23 to the first welding torch 22, an argon gas cylinder 26 as a shielding gas source, 1 A cooling water line 27 and a drainage line 28 for cooling the welding torch 22 and the welding robot 6
First, a compressed air source 29 used when attaching and detaching the first welding torch 22 is a main component.

The first wire supply device 25 is a device capable of appropriately adjusting the feed speed of the first welding wire 23 in accordance with the welding speed of the first welding torch 22, and floats on the ceiling Ce by the first support device 31. It is characterized by being supported, that is, supported in a floating state. The specific structure of the first support device 31 will be described later.

FIG. 2 shows a connection between a wire supply port 25a of the first wire supply device 25 and a wire inlet 22a of the first welding torch 22 by a first cable 32 having flexibility. In the cable 32, the first welding power line 33 and the signal line 34 of the first welding machine 21 and the first welding wire 2
3, the gas hose 35 of the argon gas cylinder 26, the cooling water hose 36 of the cooling water line 27, the drain hose 37 of the drain line 28, and the air hoses 38, 38 of the compressed air source 29 are shown.

These members 23, 33 to 38, which are adapted for welding the first work W1, are passed through a first cable (power cable) 32, and supplied from the first wire supply device 25 to the first welding torch 22. The route can be guided smoothly. A first welding wire 23, a first welding power line 33,
The signal line 34, the gas hose 35, the cooling water hose 36, and the drain hose 37 are connected to the first welding torch 22. By the way, although omitted in this figure, the first welding power line 33 is also connected to a power supply terminal (not shown) of the first wire supply device 25. Further, a compressed air source 2
Numeral 9 is connected to the air hoses 38, 38 via a four-port solenoid valve 39. By switching the four-port solenoid valve 39, the air supply path to the air hoses 38, 38 can be reversed.

The second dedicated device 40 is a welding device adapted to weld, for example, a second steel work W2.
Welding machine 41, second welding torch 42, second wire storage device 44 for storing iron-based second welding wire 43, second welding wire 43 is pulled out from second wire storage device 44 and supplied to second welding torch 42. The main components are a second wire supply device 45, an argon gas cylinder 46 and a carbon dioxide gas cylinder 47 as a shielding gas source, and a compressed air source 49 used when attaching and detaching the second welding torch 42 to and from the welding robot 61.

The second wire supply device 45 is a device capable of appropriately adjusting the feed speed of the second welding wire 43 according to the welding speed of the second welding torch 42, and is attached to the ceiling Ce by the second support device 51. It is a thing. The argon gas in the argon gas cylinder 46 and the carbon dioxide gas in the carbon dioxide gas cylinder 47 are mixed at a predetermined ratio in the mixer 48 and flow from the gas hose 55 as a mixed gas.

FIG. 2 shows a second cable 52 having flexibility connecting between a wire supply 45a of a second wire supply device 45 and a wire inlet 42a of a second welding torch 42. 52, the second welding machine 41
Welding power line 53, signal line 54, second welding wire 4
3, indicates that the gas has passed through the gas hose 55 of the mixer 48 and the air hoses 56 of the compressed air source 49.

These members 43, 53 to 56 adapted for welding the second work W2 are passed through a second cable (power cable) 52, and supplied from the second wire supply device 45 to the second welding torch 42. The route can be guided smoothly. A second welding wire 43, a second welding power line 53,
The signal line 54 and the gas hose 55 are connected to the second welding torch 42. By the way, although omitted in this figure,
The second welding power line 53 is also connected to a power terminal (not shown) of the second wire supply device 45. Further, the compressed air source 49 is connected to the air hoses 56, 56 via a four-port solenoid valve 57. 4-port solenoid valve 57
, The air supply path to the air hoses 56, 56 can be reversed.

The common device 60 includes the pickup robot 1
At 3, the first work W1 grasped via the work hand (hand jig) Ha1 or the second work W2 grasped via the replacement work hand (hand jig) Ha2.
Are welded by one welding robot 61. More specifically, the common device 60 includes one welding robot 61, a robot control unit 62 that controls the welding robot 61, a device control unit 63 that receives signals from the robot control unit 62 and controls the entire welding device 11, and a device control unit 63. The main components are a welding machine switching device 64 for switching the control signal to the first and second welding machines 21 and 41, and an earth switching device 66 for switching the ground wire 65 of the pickup robot 13 to the first and second welding machines 21 and 41. It is a member.

The ground wire 65 is not limited to the one connected to the pick-up robot 13, but is connected to the first
-The second works W1 and W2 may be grounded. For example, when the first and second works W1 and W2 are placed on a welding table and welded, the ground wire 65 may be connected to the welding table.

The welding robot 61 is configured to replaceably mount one of the first and second welding torches 22, 42. The mounting structure will be described later.
The first and second welding torches 22 and 42 can be moved two-dimensionally or three-dimensionally and rapidly by the welding robot 61 in accordance with the welding positions of the first and second works W1 and W2. For example, it can reciprocate back and forth and up and down and left and right, and can swing back and forth and up and down and left and right.

The robot controller 62 moves the first welding torch 22 or the second welding torch 42 two-dimensionally or three-dimensionally according to the data of the welding location of the first and second workpieces W1 and W2. And a function of issuing a posture control signal to the welding robot 61. The device control unit 63 includes (1) the first
The first welding machine 21 or the second welding machine 4 according to predetermined data such as the material, the plate thickness, and the welding location of the second works W1 and W2.
1 is a function of issuing a welding control signal so as to operate under optimum welding conditions, (2) a function of issuing a switching control signal according to the material data of the first and second works W1 and W2, and (3) earth switching. The device 66 has a function of issuing a switching signal and controls related devices. Welding machine switching device 6
4 has a function of selecting and transmitting the welding control signal to the first welding machine 21 or the second welding machine 41 based on the switching control signal.

As described above, when the first welding torch 22 is attached to the welding robot 61 by connecting the device controller 63 to the first and second welding machines 21 and 41 in parallel via the welding machine switching device 64, the device is controlled. The control signal (welding control signal) of the control unit 63 is switched by the welding machine switching device 64 to switch the first welding machine 21.
When the second welding torch 42 is attached to the welding robot 61, the welding control signal can be switched by the welding machine switching device 64 and transmitted to the second welding machine 41.

The earth switching device 66 includes an air cylinder 66a.
, An electrode bar (bar) 66b moved by the air cylinder 66a, fixed terminals 66c and 66d facing one of the electrode bars 66b, and fixed terminals 66e and 66f facing the other of the electrode bars 66b. Air cylinder 66a
Is connected to a compressed air source 68 via a 4-port solenoid valve 67. The fixed terminal 66c is connected to the fixed terminal 66e.

When welding the second steel work W2, the air cylinder 66a is turned on by the electrode rod 66b based on the switching signal transmitted from the device control unit 63 to the solenoid 67a.
Is retracted as shown in the figure. Earth wire 65
Is connected to the second welding machine 41 via the earth switching device 66. On the other hand, the first work W made of aluminum alloy
When welding 1 is performed, the air cylinder 66a moves the electrode rod 66b to the right in the drawing based on the switching signal received by the solenoid 67a. The ground wire 65 is connected to the first welding machine 21 via the ground switching device 66.

FIG. 3 is a diagram showing the relationship between the pickup robot and the welding robot according to the present invention.
1 shows the concept of welding. Automatic welding equipment 10
(1) The work hand Ha1 is detachably attached to the distal end of the arm 13a of the pickup robot 13. (2) The work hand Ha1 is turned together with the arm 13a to grip the first work W1 with the work hand Ha1. Is transferred from the work transfer line 12 to the welding position of the welding robot 61, and (3) the first work W1 held by the work hand Ha1 is welded by the first welding torch 22 of the welding robot 61, and (4) welding Work W1 after completion
Is returned to the work transfer line 12.

In this case, the welding current is first welding machine 21 → first welding power line 33 → first welding torch 22 → first work W
1 → Work hand Ha1 → Terminal 13b of pickup robot 13 → Earth wire 65 → Earth switching device 66 → First
It flows on the path of the welding machine 21. The case where the second work W2 shown in FIG. 1 is welded is the same as the case where the first work W1 is welded, and the second work W2 is connected to the work hand Ha2.
To be welded by the second welding torch 42 (see FIG. 2).

FIG. 4 is a diagram showing the relationship between the welding robot and the welding torch according to the present invention.
A torch mounting part 70 is provided at the tip of the first welding torch 2.
2 shows that a first clamper mechanism 80 </ b> A is provided at the base of the second clamper 2, and the first clamper mechanism 80 </ b> A is detachably connected to the torch mounting part 70. 22b is a clamper mounting arm. Similarly to the first welding torch 22, the second welding torch 4
2 also includes the second clamper mechanism 80B at the base, so that the second clamper mechanism 80B can be detachably connected to the torch mounting portion 70. 42b is a clamper mounting arm.

FIG. 5 is a diagram showing the relationship between the torch mounting portion and the clamper mechanism according to the present invention. At the base of the first welding torch 22, two air hoses 3 from the first cable 32 are shown.
8 and 38 are exposed, along the clamper mounting arm 22b of the first welding torch 22, and the end is connected to the first clamper mechanism 80A. Similarly to the first welding torch 22, the second welding torch 42 also exposes two air hoses 56, 56 from the second cable 52 at the base, and the second air torch 42 extends along the clamper mounting arm 42b of the second welding torch 42. The end can be connected to the second clamper mechanism 80B.

In this way, the air hoses 38, 38
Of the compressed air source 2 without attaching to the welding robot 61
9 (see FIG. 2) to the first clamper mechanism 80A. Further, the air hoses 56 can be routed from the compressed air source 49 (see FIG. 2) to the second clamper mechanism 80B without being attached to the welding robot 61.

The first cable 32 is connected to the air hose 3 together with various wires and hoses 23 and 33 to 37 (see FIG. 2).
It was put into one bundle by passing through 8,38. Moreover,
Various wires and hoses 43, 53 to 55 are connected to the second cable 52.
(See FIG. 2) together with the air hoses 56, 56 to form a single bundle. Therefore, even when the posture of the arm 61a is large and changes frequently,
a to various wires and hoses 23, 33-38, 43, 53-
There is no need to worry about 56 getting caught and entangled or rubbed and worn. For this reason, the frequency of performing the maintenance and inspection work by temporarily stopping the welding device 11 (see FIG. 2) can be reduced. Therefore,
The operation rate of the welding device 11 can be further increased.

FIG. 6 is a sectional view of the torch mounting portion and the clamper mechanism according to the present invention. The first clamper mechanism 80A includes a clamper case 81, a pneumatic actuator 82 built in the clamper case 81, and a plurality of clamper cams 83 which are stored and exposed by the pneumatic actuator 82.
Indicates a plurality. same as below. ). The clamper case 81 has a fitting convex portion 81a fitted into the fitting hole 71 of the torch attaching portion 70, and a plurality of clamper cams 83 are swingably attached to the fitting convex portion 81a.

A pneumatic actuator 82 includes a piston 85 for moving a cylinder 84 in a clamper case 81,
The air cylinder is composed of a rod 86 that is mounted on the piston 85 so as to be able to move forward and backward toward the fitting projection 81a, and a compression spring (return spring) 87 that resiliently moves in a direction to retract the rod 86. The cylinder 84 has upper and lower air chambers 84a, 84b partitioned by a piston 85 connected to a compressed air source 29 via air hoses 38, 38 and a 4-port solenoid valve 39. Since the engaging groove 86a at the tip of the rod 86 is engaged with the engaging ends of the plurality of clamper cams 83, the rod 86 moves forward and backward.
The distal ends of the clamper cams 83 can be exposed in the radial direction of the fitting projection 81a or can be stored in the fitting projection 81a. 88 is a lid.

Normally, the distal ends of the clamper cams 83 are exposed in the radial direction of the fitting projection 81a as shown in the figure. When the solenoid 39a of the four-port solenoid valve 39 is excited to switch the air passage of the four-port solenoid valve 39, the flow direction of the air to the air hoses 38, 38 is reversed. As a result, the piston 85 and the rod 86 are raised by the air pressure, and the clamper cams 83 are stored.

After the fitting projection 81a is inserted into the fitting hole 71, the solenoid 39a is de-energized and the four-port solenoid valve 3 is turned off.
By switching back to 9, the direction of air flow to the air hoses 38, 38 returns to the original direction shown in the figure. As a result, the piston 85 and the rod 86 are lowered by the air pressure to expose the clamper cams 83. Exposed clamper cam 8
Are hooked on the inner bottom surface 72 of the torch mounting portion 70, so that the first clamper mechanism 80A is attached to the torch mounting portion 70.
Are connected, that is, locked. When removing (unlocking) the first clamper mechanism 80A from the torch mounting portion 70, the solenoid 39a may be excited to switch the four-port solenoid valve 39. In this manner, the first welding torch 22 (see FIG. 4) can be detachably attached to the welding robot 61 by the first clamper mechanism 80A.

The second clamper mechanism 80B has the same configuration and operation as the first clamper mechanism 80A, and connects upper and lower air chambers 84a, 84b partitioned by a piston 85 in a cylinder 84 to air hoses 56, 56. Also, it is connected to a compressed air source 49 via a 4-port solenoid valve 57.

Here, the compressed air source 29 is an energy source for sending compressed air to the pneumatic actuator 82 of the first clamper mechanism 80A, and the compressed air source 49 supplies compressed air to the pneumatic actuator 82 of the second clamper mechanism 80B. It is a source of energy to send. The air hoses 38, 38 are first supply lines connecting the pneumatic actuator 82 of the first clamper mechanism 80A and the compressed air source 29, and the air hoses 56, 56 are connected to the pneumatic actuator 82 of the second clamper mechanism 80B and the compressed air source. The second connecting the 49
Supply line. The pneumatic actuator 82 of the first clamper mechanism 80A is a first drive mechanism of the first clamper mechanism 80A, and the pneumatic actuator 82 of the second clamper mechanism 80B is a second drive mechanism of the second clamper mechanism 80B.

FIGS. 7A and 7B show the first embodiment according to the present invention.
It is sectional drawing of a 2nd cable. (A) shows a wire supply hose 23 </ b> A, a first welding power line 33, two signal lines 34, 34, a gas hose 35, and a cooling water hose, through which a first welding wire 23 is passed freely through a first cable 32. 36,
The cross-sectional structure in a state where the drain hose 37 and the two air hoses 38 are passed through is shown. Thus, the first welding wire 23, the first welding power line 33, the signal lines 34 and 34, the gas hose 35, the cooling water hose 36, the drain hose 37, and the air hoses 38 and 38 can be combined into one bundle.

(B) shows a state in which the second
Wire supply hose 4 through which welding wire 43 is passed freely
3A, a second welding power line 53, two signal lines 54, 54,
Pass the gas hose 55 and connect the internal cable 58
The inner cable 58 and the air hoses 56, 56 are connected to the second cable 5 while the air hoses 56, 56
2 shows a cross-sectional structure in a state of passing through the inside. Second cable 5
2 is a heat-shrinkable tube. Thus, the second welding power line 53, the signal lines 54, 54, the second welding wire 43,
The gas hose 55 and the air hoses 56 can be combined into one bundle.

FIGS. 8A to 8D are explanatory views of a welding torch replacement procedure of the welding robot according to the present invention. The procedure for automatically replacing the first and second welding torches 22 and 42 with respect to the welding robot 61. Is shown. (A) shows a state where the first welding torch 22 is attached to the arm 61a of the welding robot 61. To remove the first welding torch 22, the arm 61a is pivoted to the position of the first torch pedestal 91, then lowered (arrows and arrows), the first welding torch 22 is placed on the first torch pedestal 91, and the first welding torch 22 is placed on the first torch pedestal 91. Unlock the clamper mechanism 80A.

(B) shows a state in which the first clamper mechanism 80A is released and the first welding torch 22 is placed on the first torch receiving table 91. Next, the arm 61a is raised (arrow). (C) lowers the arm 61a after turning it to the position of the second torch cradle 92 (arrows and arrows),
The second clamper mechanism 80B of the second welding torch 42 is locked by the torch mounting part 70. (D) shows that the arm 61a with the second welding torch 42 attached is raised (arrow). Thereafter, the arm 61a is turned to the original position shown in (a) (arrow) to complete the automatic replacement of the first and second welding torches 22, 42. When replacing the second welding torch 42 with the first welding torch 22, the procedure is reversed.

FIG. 9 is a perspective view around the first wire supply device and the first support device according to the present invention. In the first wire supply device 25, a wire supply port 25a on the left side for sending out the first welding wire 23 and a wire receiving port 25b on the right side for receiving the first welding wire 23 are arranged at the same height. Specifically, the first wire supply device 25 pulls the first welding wire 23 received from the wire receiving port 25b, and further sends it out from the wire supply port 25a, so that the first welding wire pulled out from the first wire storage device 24. 23 is sent horizontally (including substantially horizontally) to the first welding torch 22 side.

Here, the wire axis when the first welding wire 23 is fed horizontally (including substantially horizontal) by the first wire supply device 25, that is, the wire core is the X axis, and the horizontal axis orthogonal to the X axis is The Y axis is set, and the vertical axis orthogonal to these X axis and Y axis is set as the Z axis. That is, the Y axis is a horizontal axis extending in a direction perpendicular to the X axis, and the Z axis is a vertical axis extending in a direction perpendicular to the X axis and the Y axis.

The X-axis, Y-axis, and Z-axis in the present invention include the following contents (1) to (3). (1) The X axis is a substantially horizontal axis, and includes the axis (line) of the first welding wire 23 passing through the wire supply port 25a and the wire receiving port 25b of the first wire supply device 25. (2) The Y axis is a substantially horizontal axis and includes all axes (lines) extending in a direction substantially perpendicular to the X axis in plan view, regardless of the height (level) with respect to the X axis. . (3) The Z-axis is a substantially vertical axis, and includes all axes (lines) extending in a direction substantially perpendicular to the X-axis and the Y-axis in a side view, and is planar with respect to the X-axis and the Y-axis. Regardless of the position.

The first support device 31 has a support member 101 on the ceiling.
And an X-axis moving member 106 is attached to the supporting member 101 so as to be reciprocally movable along the X-axis. A supporting joint 111 is attached to the X-axis moving member 106 so as to be rotatable around the Y-axis and the Z-axis. The first wire supply device 25 is suspended from the joint 111. Hereinafter, a specific configuration of the first support device 31 will be described.

FIG. 10 is a side view of the first support device according to the present invention, and shows a main part in cross section. The support member 101 of the first support device 31 includes a guide shaft 104 for guiding the X-axis moving member 106 so as to be able to reciprocate along the X-axis, and the X-axis moving member 106 around the guide shaft 104.
Is rotatably supported. Specifically, the support member 101 includes a base 102 bolted to a ceiling Ce of a building as a fixed object, two left and right shaft support portions 103, 103 extending downward from the base 102, and these shaft support portions 103, 103. And a guide shaft 104 extending between the guide shafts 103. The guide shaft 104 is a round bar extending horizontally along the X axis. An axis passing through the center of the guide shaft 104 and extending horizontally along the X axis is referred to as an X1 axis.

The X-axis moving member 106 includes a slider 107 supported reciprocally on the guide shaft 104 and rotatably around the guide shaft 104, and an air cylinder 108 extending downward from the slider 107. Slider 107
Is reciprocally movable along the X axis and is rotatable about the guide shaft 104, that is, X is reciprocally movable along the X1 axis.
It is a member that can rotate around one axis. Such a slider 107 may include a bearing 109 for smoothly reciprocating or rotating with respect to the guide shaft 104, for example, a linear ball bearing shown in the figure. In the X-axis moving member 106, the range of reciprocating movement along the X-axis and the rotation range around the guide shaft 104 can be set arbitrarily in accordance with the moving range of the first welding torch 22 (see FIG. 8). I just need.

The air cylinder 108 is formed by bolting the upper end of the cylinder 108a to the lower part of the slider 107, extending the cylinder 108a downward, and projecting the rod 108b from the lower end of the cylinder 108a. Fulfill. Since it is the air cylinder 108, the rod 1
08b connected to the cylinder 108a
Rotation is possible within. Therefore, the rod 108 mounted vertically movably on the cylinder 108a extending along the Z axis.
b is rotatable about the Z axis.

The bearing joint 111 is connected to the air cylinder 1
A fork end 112 having a downward bifurcated shape is pin-connected to the lower end of a rod 108b of the rod 08, and a lower connecting body 114 is rotatably connected to the fork end 112 by a connecting pin 113. The lower connecting body 114 suspends the first wire supply device 25 by bolting a hanger 25c of the first wire supply device 25 to a lower portion. In this manner, the first wire supply device 25 can be floating supported by the first support device 31 on the ceiling Ce. The combination structure of the air cylinder 108 and the bearing joint 111 is a supply device elevating mechanism 115.

The configuration and operation of the piping and wiring of the air cylinder 108 will be described. The air cylinder 108 is connected to a compressed air source 117 via a 4-port solenoid valve 116, and the solenoid 116 of the 4-port solenoid valve 116
“a” is connected to the power supply 119 via the operation switch 118. When the first wire supply device 25 is in the use state shown in the drawing, the operation switch 118 is off. At this time, since the solenoid 116a is not excited, compressed air enters the lower air port 108d from the 4-port solenoid valve 116. As a result, the rod 108b is in a raised state.
Thereafter, when the operation switch 118 is turned on to excite the solenoid 116a, the air flow direction of the lower air port 108d and the upper air port 108e is reversed by switching the air passage of the 4-port solenoid valve 116. As a result, the rod 108b descends.

As described above, when the first wire supply device 25 is used, the first wire supply device 25 can be pulled up by the air cylinder 108 to a height that does not hinder other operations. Further, when performing the replacement work of the first welding wire 23 and the maintenance / inspection work of the first wire supply device 25, the first wire supply device 25 can be lowered to a height where the work can be easily performed by the air cylinder 108. Since the work can be performed at a low position, replacement work of the first welding wire 23 and maintenance / inspection work of the first wire supply device 25 become easy.

FIG. 11 is a sectional view taken along line 11-11 of FIG. 10, and shows a sectional structure of the bearing joint 111. Rod 1
08b is an air cylinder 108 that can rotate around the Z axis.
It will play a part of the role of the bearing joint 111. Also, since the lower connecting body 114 is connected to the fork end 112 by the connecting pin 113 extending along the Y axis,
The lower connector 114 is rotatable around the Y axis. Therefore, the bearing joint 111 is connected to the X-axis moving member 106 (FIG. 1).
0) so as to be rotatable about the Y axis and the Z axis.

In the bearing joint 111, Y
The rotation range around the axis and the rotation range around the Z axis may be set arbitrarily in accordance with the movement range of the first welding torch 22 (see FIG. 9). In particular, it is more preferable to restrict the rotation range around the Z axis to a range in which the rotation around the Y axis is smoothly performed. Also, fork end 112
The lower connector 114 may be mounted on the air cylinder 108 by exchanging the upper and lower parts.

Next, the operation of the first support device 31 having the above configuration will be described with reference to FIG. FIGS. 12A to 12D are operation diagrams of the first support device according to the present invention, and show an example of an operation of the first support device 31 with respect to the movement of the first welding torch 22.

(A) shows the operation when the first welding torch 22 moves back and forth. In this case, when the first welding torch 22 pulls or pushes the first wire supply device 25 forward or backward via the first cable 32, the X-axis moving member 106 reciprocates along the X-axis. (B) shows an operation when the first welding torch 22 turns up and down. In this case, the first welding torch 22 raises or lowers the wire supply port 25a side of the first wire supply device 25 via the first cable 32, and thereby the support joint 111
Rotates around the Y axis.

(C) shows the operation when the first welding torch 22 has moved left and right by a relatively small distance L1. In this case, the first welding torch 22 moves the wire supply port 25a side of the first wire supply device 25 to the left or right by a small amount via the first cable 32, so that the bearing joint 111 rotates around the Z axis. I do. (D) shows the operation when the first welding torch 22 has moved left and right by a relatively large distance L2. In this case, the first welding torch 22
Moves the wire supply port 25a side of the first wire supply device 25 largely left or right via the first cable 32, so that the X-axis moving member 106 rotates around the guide shaft 104.

To summarize the above description, the first cable 3
When the second cable 2 has a bending habit, the passage resistance when the first welding wire 23 (see FIG. 9) passes through the first cable 32 increases.
When the resistance increases, if the first welding wire 23 cannot be smoothly supplied to the first welding torch 22, the welding becomes insufficient,
Quality cannot be improved. In particular, the tendency is strong in the case of the first welding wire 23 which is lightweight and relatively flexible like an aluminum-based welding wire.

On the other hand, when the first welding torch 22 moves two-dimensionally or three-dimensionally, the force accompanying this movement is supplied from the first welding torch 22 via the first cable 32 to the first wire supply. Acts on device 25. The first wire supply device 25 supported in a floating manner reciprocates along the X-axis, rotates around the Y-axis, the Z-axis, and around the guide shaft 104 in accordance with the direction of the applied force. The movement of the welding torch 22 can be followed. Since the first wire feeding device 25 easily follows the movement of the first welding torch 22, no excessive force acts on the first cable 32 connected between the two. Therefore, the first cable 32
Hard to bend. Since there is no bending habit, the passage resistance when the first welding wire 23 passes through the first cable 32 does not increase. Therefore, the first welding wire 23 can be smoothly and stably supplied from the first wire supply device 25 to the first welding torch 22.

By doing so, the first work W1 made of aluminum alloy and the second work W made of steel shown in FIG.
2, it is easy to automatically weld workpieces made of different materials in the same process using one welding device 11. This is the reason why the first wire supply device 25 is floating supported.

Returning to FIG. 1, the overall configuration of the automatic welding equipment 10 will be described. The work transfer line 12
A plurality of types of works W1 and W2 are transported in a predetermined section in the left-right direction in the figure, and are, for example, trolleys (the input trolley 130 and the output trolley 140) that reciprocate in the predetermined section. Specifically, the work transfer line 12 is configured such that the carry-in carriage 130 and the carry-out carriage 140 reciprocate in a predetermined section on an elongated traveling frame 12A extending left and right in the figure. The loading cart 130 is one of the first
The work W1 or the second work W2 is
It is a bogie that runs while being carried at the carry-in position P1 near A.
The unloading cart 140 is one of the first workpieces W1 after welding.
Alternatively, it is a carriage that carries the second work W2 and travels to the carry-out position P2 of the traveling frame 12A.

The automatic welding equipment 10 is characterized by the following constitutions (1) and (2). (1) The work transfer line 12 is located near the unloading position P2.
Along the right and left two work unloading mechanisms (first and second work unloading mechanisms 150A and 150B).
That is, the traveling frame 12A (the loading / unloading trolley 13)
The first and second work unloading mechanisms 150A and 150B are arranged along the (0,140 reciprocating traveling section). (2) The work hand mounting table 170 is arranged in the middle of the work transfer line 12 along the work transfer line 12. That is, the work hand mounting table 170 is arranged in the longitudinal direction of the traveling frame 12A and along the traveling frame 12A.

First and second work lowering mechanisms 150A, 1
50B is used when lowering the first work W1 or the second work W2 from the unloading cart 140 to the unloading position P2. The work hand mounting table 170 has a work hand Ha.
1 and a work hand Ha2 for replacement, which is placed on a placement table moving mechanism 160 arranged along the work transfer line 12.

When the automatic welding equipment 10 is viewed from above, the arm 13a and the work hand Ha1 can turn within a substantially fan-shaped turning area A1 indicated by imaginary lines. The turning area A1 overlaps with the turning area A2 of the arm 61a of the welding robot 61 in the middle of the longitudinal direction of the work transfer line 12 (halfway of the traveling frame 12A).

The following positions (1) to (5) are arranged outside the turning area A1 of the work hand Ha1. (1) The position of the loading cart 130 when loading the first and second works W1 and W2. (2) The position of the unloading cart 140 when the first and second works W1 and W2 are lowered. (3) The carry-in position P1 and the carry-out position P2. (4) First and second work unloading mechanisms 150A, 150B
Position of. (5) The position of the work hand mounting table 170 on the mounting table moving mechanism 160.

FIG. 13 is a view taken in the direction of arrows 13-13 in FIG. 1, and shows the traveling frame 1 for loading the work before welding.
The side structure of the carrying-in vehicle 130 stopped at the predetermined position of 2A is shown. The loading carriage 130 has a traveling motor 134 and a work receiving base 136 mounted on a flat base 131. 125 is a stopper.

FIG. 14 is a sectional view taken along the line 14-14 of FIG. 13, and shows the sectional structure of the traveling frame 12A and the carry-in carriage 130. The traveling frame 12A is obtained by mounting two traveling rails 122, 122 on the left and right in the figure, one rack 123, and two inverted L-shaped guide rails 124, 124 on the left and right in the figure on a frame 121 installed on the floor FL. is there. These running rails 122, 122, rack 1
The guide rails 23 and the guide rails 124 are elongated members that are parallel to each other and extend in the front and rear directions in the figure.

The carrying vehicle 130 has two legs 132, 132 of a substantially U-shaped cross section attached to the lower surface of the base 131, and sliders 133, 13, 13 below the legs 132, 132.
3 and attach the sliders 133 and 133 to the running rail 12
2 and 122, and the grooves of the legs 132 and 132 are fitted to the guide rails 124 and 124 to restrict lateral runout. The traveling motor 134 is
A pinion 135 is attached to a downward motor shaft 134a. The pinion 135 meshes with the teeth of the rack 123.

When the pinion 135 is driven by the traveling motor 134, the pinion 135 moves along the rack 123 in the front and back direction of the figure. As a result, the loading carriage 130
Can travel in the longitudinal direction of the traveling frame 12A. The loading carriage 130 having such a configuration can be said to be a so-called electric self-propelled carriage (car). 126 is a rack mount.

FIG. 15 is a view taken in the direction of arrows 15-15 in FIG. 1, and the traveling frame 12 is used to lower the workpiece after welding.
2 shows the side structure of the carry-out carriage 140 stopped at a predetermined position A. The carry-out carriage 140 is obtained by mounting a traveling motor 144 on a flat base 141.

FIG. 16 is a sectional view taken along line 16-16 of FIG. 15, and shows a sectional structure of the traveling frame 12A and the carry-in / out carriage 140. The unloading carriage 140 has two legs 142, 142 of a substantially U-shaped cross section attached to the lower surface of the base 141, and sliders 143, 14 below the legs 142, 142.
3 and attach the sliders 143 and 143 to the traveling rail 12
2, 122, and the grooves of the legs 142, 142 are fitted to the guide rails 124, 124 to restrict lateral runout. The traveling motor 144 is
A pinion 145 is attached to a downward motor shaft 144a. The pinion 145 meshes with the teeth of the rack 123.

By driving the pinion 145 with the running motor 144, the pinion 145 moves along the rack 123 in the front and back direction in the figure. As a result, the unloading cart 140
Can travel in the longitudinal direction of the traveling frame 12A. The carry-out carriage 140 having such a configuration can be said to be a so-called electric self-propelled carriage (car).

On the unloading carriage 140, a large number of transport rollers 146 are rotatably mounted on a base 141, and a flat work receiving pallet 147 is placed on these transport rollers 146. It is a thing. A large number of transport rollers 146 are arranged in a direction substantially perpendicular to the longitudinal direction of the work transport line 12, that is,
Direction almost perpendicular to the movement direction of 0 (horizontal direction in the figure)
The work receiving pallets 147 are arranged so as to be horizontally movable.

The first and second work unloading mechanisms 150A and 150B shown by imaginary lines in this figure are provided with transfer rollers 146 of the unloading carriage 140 so that the work receiving pallet 147 can be transferred from the unloading carriage 140. A large number of transport rollers 151 are rotatably mounted at substantially the same level and in the same direction.

FIG. 17 is a view taken in the direction of arrows 17-17 in FIG. 1 and shows the side structure of the work hand mounting table 170 mounted on the mounting table moving mechanism 160. Mounting table moving mechanism 160
Is provided with a transport roller 162 rotatably mounted on a frame 161 installed on the floor FL.
The work hand mounting table 170 is placed on the table.
The work hand mounting table 170 has two left and right hand receiving portions (a first hand receiving portion 172 and a second hand receiving portion 172) on a flat base 171.
A hand receiving portion 173) is attached.

FIG. 18 is a view taken in the direction of the arrows 18-18 in FIG. 17. In order to make it possible to transfer the work hand mounting table 170 from the mounting table moving mechanism 160 to the unloading vehicle 140 indicated by imaginary lines, the mounting table is moved. This shows that a large number of transport rollers 162 are rotatably attached to the mechanism 160 at substantially the same level and in the same direction as the transport rollers 146 of the unloading vehicle 140. That is, the transport roller 16 of the mounting table moving mechanism 160
Are arranged so that the work hand mounting table 170 can be horizontally moved in a direction (horizontal direction in the drawing) substantially perpendicular to the moving direction of the unloading vehicle 140.

FIGS. 19A to 19C are explanatory diagrams showing the relationship between the pickup robot and the work hand according to the present invention. (A) shows that a hand attachment portion 13c is provided at the tip of the arm 13a of the pick-up robot 13, and that the work hand Ha1 or the replacement work hand Ha2 can be attached to the hand attachment portion 13c.

On the work hand mounting table 170, the first
The work hand Ha1 is placed on the hand receiving portion 172, and the second
An exchange work hand Ha2 can be placed on the hand receiving portion 173. The work hand Ha1 and the replacement work hand Ha2 are provided with attachment portions Ha11 and Ha21 at the upper part. These attachment portions Ha11 and Ha21 are inserted into the hand attachment portion 13c, and can be detachably attached by a clamp mechanism (not shown) built in the hand attachment portion 13c. When attaching the work hand Ha1 or the replacement work hand Ha2 to the hand attachment portion 13c, the arm 1
3a is three-dimensionally moved to the positions of the mounting portions Ha11 and Ha21 for positioning.

(B) shows a state where the first work W1 is gripped by the work hand Ha1 attached to the arm 13a.
(C) shows a state where the second work W2 is gripped by the replacement work hand Ha2 attached to the arm 13a.

Next, the work transfer procedure of the automatic welding equipment 10 having the above configuration will be described with reference to FIGS. FIG.
FIG. 2 is an explanatory view of a work transfer procedure according to the present invention (part 1), FIG.
1 is an explanatory view of a work transfer procedure according to the present invention (part 2), FIG. 22 is an explanatory view of a work transfer procedure according to the present invention (part 3),
FIG. 23 is an explanatory view of a work transfer procedure according to the present invention (part 4).
It is.

When the first work W1 is welded, first, in FIG. 20, an operator or a loading mechanism (not shown) places one first work W1 before welding on the carry-in carriage 130 at the carry-in position. Next, the carry-in carriage 130 moves forward on the traveling frame 12A to the right in the figure and stops at the transfer position indicated by the imaginary line. Next, the arm 13 of the pickup robot 13
a and the work hand Ha1 turn clockwise in the figure from the neutral position Ne to the position of the loading carriage 130 that is stopped.

Next, in FIG. 21, the first work W1 placed on the loading carriage 130 is gripped by the work hand Ha1.
The robot rotates counterclockwise to the welding position by the welding robot 61. Next, as shown in FIG. 3, the first work W1 is automatically welded by the welding robot 61. Almost simultaneously, FIG.
In, the carry-in carriage 130 moves back to the original carry-in position shown by the imaginary line. Thereafter, the carry-out carriage 140 in the standby state retreats to the left of the drawing to the position of the carry-in carriage 130 indicated by a solid line on the traveling frame 12A.

Next, in FIG. 22, the work hand Ha1 gripping the welded first work W1 pivots clockwise to the position of the stopped carry-out carriage 140, and the work receiving pallet of the carry-out carriage 140 is rotated. First work W1 at 147
Put. Next, the work hand Ha1 rotates counterclockwise to the neutral position Ne. Next, the unloading cart 140 moves forward to the original unloading position indicated by the imaginary line.

Next, in FIG. 23, the work receiving pallet 147 on which the first work W1 is placed is transferred from the unloading cart 140 to the first work unloading mechanism 150A. Next, the worker or the unloading mechanism (not shown) unloads the first work W1 from the first work unloading mechanism 150A at the unloading position.
At substantially the same time, the carry-out carriage 140 retreats leftward in the drawing to an intermediate position 140A indicated by an imaginary line on the traveling frame 12A. Finally, the second work unloading mechanism 150B loads a new work receiving pallet 147 onto the unloading carriage 140 stopped at the intermediate position 140A. The unloading cart 140 stands by in this state.

Thus, the procedure for carrying in, welding and carrying out one first work W1 in the automatic welding equipment 10 is completed. By repeating the procedure of FIGS. 20 to 23,
A large number of first works W1 can be continuously and automatically welded. As is clear from the above description, the loading carriage 130
Travels back and forth in a predetermined section from the carry-in position shown by the solid line to the transfer position shown by the imaginary line in FIG. In addition, the carry-out carriage 140 reciprocates in a predetermined section from the transfer position indicated by the solid line in FIG. 22 to the carry-out position indicated by the imaginary line. By replacing the work hand Ha1, a large number of second works W2 can be continuously and automatically welded.

Next, the pickup robot 1 having the above configuration
The work hand replacement procedure 3 will be described with reference to FIGS. FIG. 24 is an explanatory view of a work hand exchange procedure according to the present invention (part 1), FIG. 25 is an explanatory view of a work hand exchange procedure according to the present invention (part 2), and FIG. 26 is an explanatory view of a work hand exchange procedure according to the present invention ( Part 3), FIG. 27 is an explanatory view of a work hand exchange procedure according to the present invention (part 4), and FIG. 28 is an explanatory view of a work hand exchange procedure according to the present invention (part 5).

When the work hand is replaced, as shown in FIG. 24, the carry-out carriage 140 is in a standby state without loading a work receiving pallet. In order to replace the work hand Ha1 with the replacement work hand Ha2, first, in FIG. 24, a position where the unloading vehicle 140 faces the mounting table moving mechanism 160 on the traveling frame 12A (a mounting table loading position 140B indicated by an imaginary line). Move backward to the left of the figure. Next, the work hand mounting table 170 is operated by an operator or an extruding mechanism (not shown).
Is pushed from the mounting table moving mechanism 160 to the unloading car 140
Move to.

Next, in FIG. 25, the unloading carriage 140 placed on the work hand mounting table 170 is moved to the work hand Ha1.
And further stops at the hand exchange position 140C indicated by the imaginary line. In this way, the work hand mounting table 170 can be placed on the work transfer line 12 (the unloading vehicle 140) and moved into the turning area A1 of the work hand Ha1. Next, the arm 13a of the pickup robot 13 and the work hand Ha1
Swings clockwise from the neutral position Ne to the hand exchange position 140C.

Next, in FIG. 26, the work hand Ha1 is automatically released from the arm 13a and is placed on the first hand receiving portion 172 of the work hand mounting table 170. Thereafter, the arm 13a further pivots clockwise in the figure and stops at the position of the replacement work hand Ha2.

Next, in FIG. 27, after the arm 13a automatically mounts the replacement work hand Ha2 placed on the work hand mounting table 170, the arm 13a turns counterclockwise to the original neutral position Ne. Next, the unloading vehicle 140 moves forward to the mounting table loading position 140B indicated by the imaginary line.

Next, in FIG. 28, the work hand mounting table 170 is pushed by an operator or an extruding mechanism (not shown), and moves from the unloading vehicle 140 to the original mounting table moving mechanism 160. Finally, the carry-out carriage 140 advances to the original carry-out position indicated by the imaginary line and waits. Thus, the work hand exchange procedure is completed.

As described above, the work hand can be automatically exchanged according to the procedures shown in FIGS. When the exchange work hand Ha2 is exchanged for the work hand Ha1, the exchange procedure shown in FIGS.
In 7, the replacement work hand Ha2 detached from the arm 13a is first placed on the second hand receiving portion 173.
Work hand Ha1 placed on first hand receiving portion 172
May be attached to the arm 13a.

To summarize the above description, according to the present invention, as shown in FIG. 1, a work hand capable of mounting the replacement work hand Ha2 along the work transfer line 12 and outside the turning area A1 of the work hand Ha1. Mounting table 17
0, the work hand mounting table 170 is placed on the work transfer line 12 when the work hand is replaced, and is moved into the swivel area A1 of the work hand Ha1.
Since a1 can be replaced with the replacement work hand Ha2, a large number of replacement work hands Ha2 can be prepared outside the turning area A1 in advance without being restricted by the turning area A1 of the work hand Ha1. Moreover,
It is not necessary to stop the automatic welding equipment 10 when preparing or maintaining / checking the replacement work hand Ha2 in advance.

When the work hand is replaced, the work hand mounting table 170 on which the replacement work hand Ha2 is placed is moved to the turning area A on the work transfer line 12 (unloading vehicle 140).
1, the work hand Ha1 of the pickup robot 13 can be replaced with the replacement work hand Ha2.

Therefore, even when the types of the works W1 and W2 are changed, it is not necessary for the operator to enter the turning area A1 and perform the replacement work. For this reason, automatic welding equipment 1
0, the automatic welding process of the workpieces W1 and W2 is temporarily stopped for a minimum time, so that the work hand exchange operation can be performed automatically and easily. As a result, the production efficiency of the automatic welding equipment 10 can be improved. Further, in order to move the replacement work hand Ha2 outside the turning area A1 of the work hand Ha1 into the turning area A1, the work transfer line 1 for transferring the works W1 and W2 is used.
2, that is, since the carry-out carriage 140 is effectively used, there is no need to provide a special moving means for moving the replacement work hand Ha2.

Further, the present invention relates to a work transfer line 1
Reference numeral 2 is a carriage that reciprocates in a predetermined section, that is, a carry-out carriage 140. Therefore, pallet conveyor,
The equipment cost is lower than that of a conveyor such as a chain conveyor or a belt conveyor, in which the entire apparatus operates. In addition, even if the section distance of the work transfer line 12 is changed, it is possible to respond relatively freely, so that the arrangement of the automatic welding equipment 10 can be set relatively freely.

In the embodiment of the present invention, the following (1) to (5) may be used. (1) The work transfer line 12 shown in FIG. 1 may be any as long as it can transfer various works (the first and second works W1 and W2, etc.) and the work hand mounting table 170. That is, the carry-in carriage 130 and the carry-out carriage 140
Are the running rails 122, 122 of the running frame 12A.
It is not limited to one that reciprocates on the top, for example, floor FL
May travel directly back and forth. In this case, since the traveling frame 12A is unnecessary, the configuration of the entire work transfer line 12 is further simplified. Further, the work transfer line 12 is not limited to the carry-in carriage 130 and the carry-out carriage 140. For example, various works or the like can be performed by a transfer device such as a pallet conveyor, a chain conveyor, a belt conveyor, or the like in which the entire apparatus is operated. A configuration for transporting the work hand mounting table 170 may be employed. Furthermore, one of the carry-in carriage 130 and the carry-out carriage 140 may play both roles.

(2) The compressed air sources 29, 49,
The compressed air sources 117 shown in FIG. 10 and FIG. 10 are not limited to those independent of each other, and one compressed air source may be shared. Further, the compressed air source includes an air compressor. (3) The first and second drive mechanisms 82 shown in FIG. 6 are not limited to the pneumatic actuators 82, but may be, for example, electric actuators or hydraulic actuators.
In addition, the energy source and the first and second supply lines
It is determined according to the type of the second drive mechanism. For example, when the first and second drive mechanisms are electric actuators, the energy source is a power source, and the first and second supply lines are electric wires.

(4) The second cable 52 shown in FIG. 7 is not limited to a heat-shrinkable tube. For example, a general tube may be used.
The tape may be wound in a state where the tapes 6 and 56 are arranged along the tape. (5) The fixed object for attaching the support member 101 shown in FIG. 10 may be an object at a position distant from the welding robot 61 (see FIG. 2). Anything similar can be used.

[0103]

According to the present invention, the following effects are exhibited by the above configuration. Claim 1 disposes a work hand mounting table on which a replacement work hand can be mounted along a work transfer line and outside the turning area of the work hand. It is configured so that it can be placed on the transport line, moved into the swivel area of the work hand, and exchanged the work hand. Can be prepared. In addition, it is not necessary to stop the automatic welding equipment when preparing or maintaining / checking the replacement work hand in advance. When replacing the work hand, the work hand of the pickup robot can be replaced with the replacement work hand by moving the work hand mounting table on which the replacement work hand is placed into the swivel area on the work transfer line. .

Therefore, even when changing the type of the work, it is not necessary for the operator to enter the turning area of the work hand and perform the replacement work. For this reason, the automatic welding process of the work by the automatic welding equipment is temporarily stopped for a minimum time, and the work hand exchange operation can be performed automatically and easily. As a result, the production efficiency of the automatic welding equipment can be improved. Furthermore, since the work transfer line for transferring the work is effectively used for moving the replacement work hand outside the turning area of the work hand into the turning area, a special movement for moving the replacement work hand is used. There is no need to provide any means.

According to a second aspect of the present invention, the work transfer line is a carriage that reciprocates in a predetermined section.
The equipment cost is lower than that of a conveyor such as a chain conveyor or a belt conveyor, in which the entire apparatus operates. Moreover, even if the distance of the section where the bogie travels reciprocally can be changed relatively freely, the arrangement of the automatic welding equipment can be set relatively freely.

[Brief description of the drawings]

FIG. 1 is a plan view of an automatic welding equipment according to the present invention.

FIG. 2 is a schematic view of an automatic welding apparatus according to the present invention.

FIG. 3 is a diagram showing a relationship between a pickup robot and a welding robot according to the present invention.

FIG. 4 is a diagram showing the relationship between a welding robot and a welding torch according to the present invention.

FIG. 5 is a diagram showing the relationship between a torch mounting portion and a clamper mechanism according to the present invention.

FIG. 6 is a sectional view of a torch mounting portion and a clamper mechanism according to the present invention.

FIG. 7 is a sectional view of the first and second cables according to the present invention.

FIG. 8 is an explanatory view of a welding torch replacement procedure of the welding robot according to the present invention.

FIG. 9 is a perspective view of the periphery of the first wire supply device and the first support device according to the present invention.

FIG. 10 is a side view of the first support device according to the present invention.

FIG. 11 is a sectional view taken along line 11-11 of FIG. 10;

FIG. 12 is an operation view of the first support device according to the present invention.

FIG. 13 is a view taken along line 13-13 of FIG. 1;

14 is a sectional view taken along line 14-14 in FIG.

FIG. 15 is a view taken along line 15-15 of FIG. 1;

16 is a sectional view taken along line 16-16 of FIG.

FIG. 17 is a view taken along line 17-17 of FIG. 1;

FIG. 18 is a view taken along line 18-18 of FIG. 17;

FIG. 19 is an explanatory diagram showing a relationship between a pickup robot and a work hand according to the present invention.

FIG. 20 is an explanatory view of a work transfer procedure according to the present invention (part 1).

FIG. 21 is an explanatory view of a work transfer procedure according to the present invention (part 2).

FIG. 22 is a view for explaining a work transfer procedure according to the present invention (part 3).

FIG. 23 is an explanatory view of a work transfer procedure according to the present invention (part 4).

FIG. 24 is an explanatory diagram of a work hand exchange procedure according to the present invention (part 1).

FIG. 25 is an explanatory diagram of a work hand exchange procedure according to the present invention (part 2).

FIG. 26 is an explanatory diagram of a work hand exchange procedure according to the present invention (part 3).

FIG. 27 is an explanatory view of a work hand exchange procedure according to the present invention (part 4).

FIG. 28 is a view for explaining a work hand exchange procedure according to the present invention (part 5).

FIG. 29 is a plan view of a conventional automatic welding equipment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 ... Automatic welding equipment, 11 ... Welding equipment, 12 ... Work transfer line, 12A ... Traveling frame, 13 ... Pickup robot, 61 ... Welding robot, 130, 140 ... Truck (loading and unloading truck), 170 ... Work hand Mounting table, A1: Work hand swivel area, Ha1: Work hand, Ha2: Replacement work hand, W1, W2 ...
Work (first and second work).

Claims (2)

[Claims] A pick-up robot is arranged between a work transfer line and a welding robot, and the work hand of the pickup robot reciprocates the work from the work transfer line to the welding robot. And, outside the turning area of the work hand, a work hand mounting table on which a replacement work hand can be mounted is arranged, and when the work hand is replaced, the work hand mounting table is mounted on a work transfer line,
Automatic welding equipment characterized in that it is configured to be able to move within the swivel area of the work hand and replace the work hand. 2. The automatic welding equipment according to claim 1, wherein the work transfer line is a bogie that reciprocates in a predetermined section.