JP2004202645A - Welding robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a welding robot system for largely shortening the work time by dispensing with replacing time of a tool by an ATC (automatic tool changer) mechanism and teaching time for the replacement, and largely improving too much enlargement of a system due to increase in the dead weight of the tip of a robot, increase in electric power consumption and equipment cost caused by the enlargement and deterioration in welding quality. <P>SOLUTION: This welding robot system is composed of a stand 3, a plurality of welding torches WT1 to WT2 of at least two or more switchably arranged on the stand 3, a robot 1 having a welding object table 10 on the tip and driving a welding object 9 provided on the welding object table 10 in the free direction and a robot controller 2 connected to the plurality of welding torches and the robot, switching the welding torches and performing control for applying desired welding to the welding object by driving a welding attitude and the welding object on the welding object table provided on the tip of the robot in a free attitude. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a welding robot system that performs a plurality of processes on a workpiece.
[0002]
[Prior art]
When a robot performs an operation using at least two or more tools (for example, tools such as a welding torch, a grinder, and the like, hereinafter referred to as tools), from a tool stand provided with a plurality of tools installed in advance. 2. Description of the Related Art A robot provided with an automatic tool changer (ATC) mechanism (hereinafter, referred to as an ATC mechanism) for selecting an appropriate tool according to an operation, exchanging a tool of the robot, and performing an operation is generally known.
In addition, a robot system for performing different welding by configuring a welding robot system with a plurality of welding machines and one robot and selecting a torch and welding conditions according to each welding machine has been conventionally employed. I have.
[0003]
[Prior art 1]
FIG. 8 is an overall configuration diagram showing an example of a robot system having an ATC mechanism conventionally used.
In the figure, a tool is attached to an ATC mechanism 32 at the end of an arm of a robot 101, and tools 16a to 16d suitable for processing a workpiece to a target state are sequentially placed on a tool stand by a known means. Select from 16 and change tools. The two-dot chain line in the figure is the operating range of the ATC mechanism 32 at the end of the arm of the robot 101, and the workpiece can be processed within the range of the chain line.
For example, in FIG. 8 described above, a welding torch is provided at the tip of the arm of the robot to weld the welding position of the workpiece, and when a grinding operation is required as a post-process of the welding position of the workpiece, the tip of the robot arm is attached. The tool is moved from the welding position to the tool stand, the tool of the ATC mechanism is changed from a welding torch to a grinder by a well-known means, and the robot arm is again moved to the position to be welded on the workpiece to perform the processing operation.
As described above, a plurality of processing steps can be performed on a workpiece by the robot system including the ATC mechanism. (For example, see Patent Document 1)
[0004]
[Prior art 2]
FIG. 9 is an overall configuration diagram showing an example of a conventionally used robot system, and is a schematic diagram when welding a workpiece using two robots.
In the figure, reference numeral 20 denotes a robot controller, which controls movements required for robot welding, such as trajectory calculation of the robots 102 and 103, editing, addition and deletion of teaching data, and creation of welding conditions. Reference numeral 70 denotes a teach pendant, which is connected to the robot controller 20 and sets, instructs, corrects, edits, etc., a welding position, a welding condition, sensing, and the like of a workpiece. Reference numerals 8 and 80 denote welding power sources controlled by a robot controller. The welding power sources 90 and 90 are mounted on the workpiece base 100 via welding torches WT11 and WT12 attached to the tips of the robots 102 and 103, respectively. To weld.
In the robot system described above, when two or more different types of welding are performed on a workpiece, a plurality of weldings are performed on the workpiece while controlling each using a plurality of robots having a welding torch. .
[0005]
Further, in FIG. 9, welding work is performed using a plurality of robots. However, a single robot having an ATC mechanism as shown in FIG. It is also possible to select a welding torch and perform welding of the workpiece.
Furthermore, a plurality of torches can be provided at the tip of one robot to perform two or more different weldings on the workpiece. (For example, see Patent Document 2)
[0006]
[Patent Document 1]
JP-A-6-55478
[Patent Document 2]
Japanese Patent No. 2612552
[0007]
[Problems to be solved by the invention]
When performing processing such as welding or grinding on a processing portion of a workpiece, it is necessary to position the tool with high accuracy at the processing position in consideration of the processing quality of the workpiece.
When a workpiece is machined by the robot system having the ATC mechanism according to the prior art 1 shown in FIG. 8 described above, when the tool is replaced, the joining surface between the tool and the tip of the arm of the robot causes a slight displacement. It is necessary to always carry out the replacement work accurately. Therefore, when it becomes difficult to join the above-mentioned joining surfaces in a normal state due to wear, adhesion of dust, and the like, it is necessary to replace the tip of the arm of the tool or the robot, perform a cleaning operation, and the like.
[0008]
Also, when changing tools, the robot arm tip is retracted once from the processing position of the work to be welded, moved to a tool storage position such as a tool stand, and the tool is replaced. It is necessary to move the tip of the arm, and a teaching operation for exchanging tools is also required, which is one of the causes for increasing the operation time in the machining process.
[0009]
When the tool is a welding torch, a sensor or the like, a long flexible accessory (hereinafter referred to as a cable (such as an electric wiring cable or a welding wire feeding cable) or a hose (such as gas or cooling water)). , A flexible tool accessory), for example, in a case where a welding wire is connected and a welding wire needs to be supplied from the outside together with a current, such as a welding torch, the feeding wire is fed. The length between the mechanism and the welding torch has a significant effect on the stability of the welding wire feed and can be a factor directly affecting welding quality. Therefore, a configuration is generally used in which the distance between the feeding mechanism and the welding torch is shortened by installing the feeding mechanism of the welding wire at a position close to the robot body.
However, in the case of a robot system having an ATC mechanism as in the above-described prior art 1, the feeding mechanism of the welding wire is installed at a position close to the robot body, and the flexible tool accessory is used. When the length of a certain welding wire is shortened, it is necessary that the tool stand supporting the tool having the flexible tool attachment is located close to the robot and within the movable range of the robot. Therefore, when a machining operation is performed by the tool, it is necessary to prevent the robot including the tool, the tool stand, the flexible tool accessory, and the like from interfering with each other, and the work space is limited.
[0010]
In the welding robot of the prior art 2 described above, a plurality of weldings can be performed by providing welding torches of a plurality of welding machines at the tip of the robot. However, the weight of the robot tip is heavy, and the posture of the welding torch can be stabilized. It is difficult and causes deterioration of welding quality. Furthermore, since the weight of the robot tip becomes heavy, a large motor is required to drive the robot tip, which increases the size of the entire system and increases the cost.
[0011]
An object of the present invention is to significantly reduce the working time by eliminating the need for the ATC mechanism to exchange tools and teaching time for exchange. It is an object of the present invention to provide a welding robot system capable of significantly improving the size of the system due to the heavy weight of the tip of the robot, increasing power consumption and equipment costs due to the increase in size, reducing welding quality, and the like.
[0012]
[Means for Solving the Problems]
In order to achieve the above object, the invention according to claim 1 is, as shown in FIG. 1, a welding robot system for performing a welding operation on a workpiece by at least two or more welding torches.
A gantry 3, at least two or more welding torches WT1 and WT2 or WT3 and WT4 on the gantry 3 and installed in a switchable manner;
A robot 1 having a workpiece base 10 at its tip and driving the workpiece 9 provided on the workpiece base 10 in any direction;
The plurality of welding torches WT1 and WT2 or WT3 and WT4 are connected to the robot 1 to switch the welding torches WT1 and WT2 or WT3 and WT4 and the welding posture, and the workpieces on the workpiece base 10 provided at the tip of the robot. This is a welding robot system including a robot controller 2 or 21 for controlling the welding object 9 to be driven freely and performing desired welding on the object 9 to be welded.
[0013]
The invention described in claim 2 is
The two sides of the L-shaped frame 4 have substantially the same length, and the substantially center of the substantially right-angled portion of the L-shaped frame 4 is pivotally connected to the substantially central position O in the longitudinal direction on the horizontal plane on the gantry 3. A first welding, which is rotatably mounted in a horizontal direction and has a horizontal axis of rotation and a vertical axis of rotation at a tip different from a portion that forms a substantially right angle between the two sides of the L-shaped frame 4. The welding robot system according to claim 1, wherein the torch WT1 and the second welding torch WT2 are attached so as to obtain a desired welding posture.
[0014]
The invention according to claim 3 is:
At least two or more links 53 and 54 are attached to the gantry 3 at a substantially central position in a longitudinal direction on a horizontal plane, and the plurality of links 53 and 54 are arranged in a vertical direction (about a rotation axis TO). A link mechanism 5 that is driven to move up and down in the direction of arrow T);
A third welding torch WT3 and a fourth welding torch WT4, which are the tips of the plurality of links 53 and 54 and are composed of horizontal turning axes T10 and T30 and vertical turning axes T20 and T40, are desirable. The welding robot system according to claim 1, wherein the welding robot system is mounted so as to obtain a welding posture.
[0015]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiments of the present invention will be described based on examples with reference to the drawings.
FIG. 1 is an overall configuration diagram showing a first embodiment of the robot system of the present invention. FIG. 2 is a top view of FIG. 1 and is a partially omitted schematic view showing a main part. FIG. 3 is a front view of FIG. 1 and is a partially omitted schematic view. Hereinafter, the first embodiment of the present invention will be described in detail with reference to FIG. 1, FIG. 2 and FIG.
[0016]
In FIG. 1, reference numeral 1 denotes a robot, which can freely change the posture of a workpiece 9 on a workpiece base 10 as shown in FIG. Reference numeral 3 denotes a stand on which a plurality of welding torches WT1 and WT2 are installed. Reference numeral 4 denotes an L-shaped frame. A substantially center of a substantially right-angled portion of the L-shaped frame 4 is mounted so as to be horizontally rotatable about a substantially center position O in a longitudinal direction on a horizontal plane on the gantry 3 as a pivot. The lengths of the two sides of the L-shaped frame 4 are substantially the same. That is, the lengths between OA, OB, and OC shown in FIG. 2 are substantially equal.
The first welding torch WT1 and the first welding torch WT1, which are constituted by horizontal turning axes L10 and L30 and vertical turning axes L20 and L40 at the respective ends different from the portions forming substantially right angles of the two sides of the L-shaped frame 4. The second welding torch WT2 is attached so as to obtain a desired welding posture. Reference numeral 2 denotes a robot controller, which performs robot welding such as calculation of trajectories of the robot 1, the first welding torch WT1, the second welding torch WT2, and the L-shaped frame 4, editing, addition, and deletion of teaching data, and creation of welding conditions. To control the movements needed. Reference numeral 7 denotes a teach pendant, which is connected to the robot controller 2 and sets, instructs, corrects, edits, etc., a welding position, a welding condition, sensing, and the like of a workpiece. Reference numerals 81 and 82 denote welding power supplies which are controlled by the robot controller 2. The welding power supplies 81 and 82 cause welding torches WT1 and WT2 attached to the end of the L-shaped frame 4 to supply welding wires from the wire feeding mechanisms 61 and 62, respectively. The work 9 to be welded installed on the work table 10 is welded.
The wire feeding mechanisms 61 and 62 are installed on an L-shaped frame. For example, as shown in FIGS. 1 to 3, each of the first and second welding torches WT1 and WT2 is a right angle portion of the L-shaped frame. It is installed at a position opposite to the welding torch WT2 via the mounts 611 and 621. However, the position at which the wire feeding mechanism is installed is not limited to the above-described position, and a method of directly installing the base on the gantry 3, a method of providing an installation pedestal at a position away from the gantry 3, and the like, such as L The frame can be appropriately installed at a position where it does not interfere when the frame rotates in the horizontal direction with the substantially central position O in the longitudinal direction on the horizontal plane on the gantry 3 as a pivot.
[0017]
Next, the robot 1 of the present invention will be described in detail with reference to FIG. FIG. 4 is a schematic side view of the robot 1 used in the robot system of the present invention, which is shown in FIGS. 1 to 3.
In FIG. 1, reference numeral 11 denotes a frame which is installed at a predetermined position. Reference numeral 12 denotes a frame 11 which is rotatably mounted so as to turn horizontally around a pivot S10 as shown by an arrow S1. Reference numeral 13 denotes a lower arm, which is attached to be rotatable in the front-rear direction about a pivot S20 as shown by an arrow S2. Reference numeral 14 denotes an upper arm portion, which is attached so as to be rotatable vertically about a pivot S30 as shown by an arrow S3. Reference numeral 15 denotes a wrist unit, which is rotatably mounted on a pivot S40 as shown by an arrow S4, and which is vertically rotatable about a pivot S50 as shown by an arrow S5. Reference numeral 10 denotes a workpiece base on which the workpiece 9 is installed, and is attached so as to be rotatable about a pivot S60 as shown by an arrow S6.
[0018]
Here, usually, the workpiece 9 is fixed to a predetermined position by a screw, a clamp mechanism, or the like on the workpiece base 10. Therefore, when replacing the workpiece 9, there is a method of removing the workpiece 9 from the workpiece base 10 and replacing the workpiece 9 with another desired workpiece.
Further, as another method, for example, an ATC mechanism for separating the workpiece base 10 from the wrist unit 15 is provided, and the workpiece base 10 is replaced with another workpiece. That is, although not shown, an arbitrary workpiece base 10 is selected from a storage stand storing a plurality of workpiece bases 10 to which the workpieces are fixed, and the workpiece base 10 attached to the tip of the wrist unit 15 is selected. ATC mechanism that replaces the ATC mechanism. The method of replacing the workpiece 9 together with the workpiece base 10 by this ATC mechanism is easier to replace than the method of replacing the workpiece 9 on the workpiece base 10 described above, and the time required for replacement is reduced. In addition, there is no need to replace the workpiece 9 on the workpiece base 10, and the mounting accuracy of the workpiece 9 can be improved.
[0019]
The robot 1 can place the workpiece 9 placed on the workpiece base 10 in a free attitude around the pivots S10 to S60 described above. Here, the drive source for driving the workpiece to be freely oriented in the directions indicated by the arrows S1 to S6 is a well-known drive source, for example, a motor or the like (not shown). Is driven and controlled. The robot 1 is installed, for example, at a position as shown in FIGS. 1 and 3 as an example, and the gantry 3 is installed so as to straddle the robot 1.
Further, as shown in FIG. 3, the first welding torch WT1 drives the torch tip rotatably in the horizontal direction shown by the arrow L1 about the pivot axis L10, and also vertically moves the L20 around the L20. The torch tip can be driven in a desired direction by driving the torch tip in a freely rotatable manner.
As shown in FIG. 3, the welding torch WT2 also drives the tip of the torch rotatably in the horizontal direction indicated by the arrow L3 about the pivot axis L30, and in the vertical direction indicated by the arrow L4 about the L40. The tip of the torch is rotatably driven, and the torch posture can be driven to a desired state. At this time, the drive source for driving the welding torch is a well-known drive source, for example, a motor or the like (not shown), and the drive is controlled by the robot controller 2.
[0020]
In the above configuration, when performing a plurality of welding operations on the workpiece, the L-shaped frame driven and controlled by the robot controller 2 is driven to move the first welding torch WT1 to the point B shown in FIG. Installed in a location.
When the first welding torch WT1 is set at the point B, the robot 1 and the first welding torch WT1 are both controlled by the robot controller 2 so that the first welding torch WT1 maintains a desired welding posture. The workpiece 9 is driven and controlled to a free position by the drive of the robot 1 to perform a desired welding operation.
Next, when performing another welding to the workpiece to be welded by the first welding torch WT1 described above, the L-shaped frame 4 is substantially in the longitudinal direction on the horizontal plane on the gantry 3 as shown in FIGS. The first welding torch WT1 attached to the end of the L-shaped frame moves from the position of the point B to the position of the point C while rotating in a horizontal direction and clockwise about the center position O as a pivot. The second welding torch WT2 at the position A moves to the position at the point B and is set on the workpiece 9.
When the second welding torch WT2 is installed at the point B, the robot 1 and the second welding torch WT2 are both controlled by the robot controller 2 so that the second welding torch WT2 maintains a desired welding posture. The workpiece 9 is driven and controlled to a free position by the drive of the robot 1 to perform a desired welding operation.
As described above, the robot controller 2 drives and controls the robot 1 and the first welding torch WT1 and the second welding torch WT2, so that a plurality of weldings can be performed on the workpiece.
[0021]
At this time, when performing MIG welding and MAG welding on the workpiece by switching each welding torch, for example, a first welding torch WT1 is provided with a MIG welding torch, and a second welding torch WT2 is provided with a MAG welding torch. As described above, the MIG welding torch, which is the first welding torch WT1, is set at the position of the point B to perform MIG welding, and then the MAG welding torch, which is the second welding torch WT2, is provided. Is switched to the position of point B and welding is performed, whereby two types of welding can be performed on the workpiece.
[0022]
Here, the first welding torch WT1 and the second welding torch WT2 are only driven and controlled so as to maintain the torch attitude as described above, and at least the number of driven axes is a horizontal rotation axis (L10 or L30). ) And the vertical axis of rotation (L20 or L40) so that the torch posture can be maintained by driving the torch posture. The driving of the welding torch can be more restricted than in the case where welding is performed while driving the welding, so that deterioration of welding quality due to the welding torch moving more than necessary can be improved.
[0023]
Further, in the above-described first embodiment, the lengths of the two sides of the L-shaped frame 4 (between OA and OB shown in FIG. 2) are set to be substantially the same length. Even if the lengths are different, the welding operation can be performed by switching between the two welding torches as in the first embodiment. The length of the two sides at this time is such that the welding torch and the L-shaped link 4 do not interfere with the gantry 3, peripheral devices, and the like. As a result, the system becomes compact.
Furthermore, in the first embodiment described above, the two sides of the L-shaped frame 4 that are substantially perpendicular to each other can be welded by switching between two welding torches as in the first embodiment, even if they are acute and obtuse. Work can be done. The angle at this time is such that the welding torch and the L-shaped link 4 do not interfere with the gantry 3, peripheral equipment, and the like. It becomes compact as well.
[0024]
FIG. 5 is an overall configuration diagram showing a second embodiment of the robot system of the present invention. FIG. 6 is a top view of FIG. 5 and is a partially omitted schematic view showing a main part. FIG. 7 is a front view of FIG. 5 and a partially omitted schematic view. Hereinafter, the second embodiment of the present invention will be described in detail with reference to FIG. 5, FIG. 6, and FIG.
5 and 6, a plurality of links 53 and 54 are provided at a substantially central position in the longitudinal direction on a horizontal plane on the gantry 3 and the plurality of links 53 and 54 are vertically arranged about the rotation axis TO. A link mechanism 5 that is driven to move up and down in the direction (the direction of the arrow T shown in FIG. 5), the turning axes T10 and T30 at the tips of the plurality of links 53 and 54, the turning axes T20 and T20 A third welding torch WT3 and a fourth welding torch WT4 configured with T40 are attached so as to obtain a desired welding posture.
Reference numeral 21 denotes a robot controller which calculates the trajectory of the robot 1, the third welding torch WT3, the fourth welding torch WT4, the links 53 and 54 of the link mechanism 5, edits, adds, deletes, and creates welding conditions. Controls the movement required for robot welding such as Reference numeral 71 denotes a teach pendant, which is connected to the robot controller 21 and sets, instructs, corrects, edits, etc., a welding position, a welding condition, sensing, and the like of a workpiece. Reference numerals 83 and 84 denote welding power supplies, which are controlled by the robot controller 21. The welding power supplies 83 and 84 send welding wires from the wire feeding mechanisms 63 and 64 to the welding torches WT3 and WT4 attached to the tips of the links 53 and 54 of the link mechanism 5, respectively. Then, the workpiece 9 placed on the workpiece base 10 is welded.
The wire feeding mechanisms 63 and 64 are installed on the link mechanism. However, the position at which the wire feeding mechanism is installed is not limited to the above-described position, and a link such as a method of directly installing the mounting table 3 or a method of providing an installation table at a position remote from the mounting table 3 is used. It can be appropriately installed at a position where the links 53 and 54 of the mechanism do not interfere when driven.
The robot 1 is the same as in FIGS. 1 to 4 described above, and a description thereof will be omitted.
The driving of the horizontal turning axes T10 and T30 and the vertical turning axes T20 and T40 of the third welding torch WT3 and the fourth welding torch WT4, respectively, is performed by the robot controller in the same manner as in FIGS. The drive is controlled by 21.
[0025]
In the above configuration, when performing a plurality of welding operations on the workpiece, the third welding torch WT3 is driven by the link mechanism 5 that is driven and controlled by the robot controller 21, as shown in FIG. It is installed on the workpiece 10.
When the welding torch WT3 is installed, the robot 1 and the third welding torch WT3 are both controlled by the robot controller 21 so that the third welding torch WT3 maintains a desired welding posture and the workpiece 9 is moved by the robot. The desired welding operation is performed by being driven and controlled to a free posture by the driving of the first drive.
[0026]
Next, when performing another welding to the workpiece to be welded by the third welding torch WT3 described above, the links 53 and 54 are centered on the drive shaft TO of the link mechanism 5 as shown in FIGS. Rotating in the direction of arrow T, that is, in the vertical direction, the third welding torch WT3 attached to the tip of the link 53 moves upward, and the fourth welding torch WT4 moves downward to move the workpiece 9 Installed on top.
When the welding torch WT4 is installed, the robot 1 and the fourth welding torch WT4 are both controlled by the robot controller 21 so that the fourth welding torch WT4 maintains a desired welding position and the workpiece 9 is moved by the robot. The desired welding operation is performed by being driven and controlled to a free posture by the driving of the first drive.
As described above, by controlling the robot 1 and the third welding torch WT3 and the fourth welding torch WT4 by the robot controller 21, a desired plurality of weldings can be performed on the workpiece.
[0027]
At this time, when performing MIG welding and MAG welding on the workpiece by switching each welding torch, for example, a third welding torch WT3 is provided with a MIG welding torch, and a fourth welding torch WT4 is provided with a MAG welding torch. As described above, the MIG welding torch, which is the third welding torch WT3, is provided with a torch and is placed on the workpiece 9 to perform MIG welding, and then the fourth welding torch WT4 is provided. By moving the MAG welding torch downward and installing it on the workpiece 9 to perform welding, two types of welding can be performed on the workpiece.
[0028]
Here, similarly to the first embodiment, the third welding torch WT3 and the fourth welding torch WT4 are only driven and controlled so as to maintain the torch posture, and at least the number of driven axes is horizontal. , The torch posture can be maintained by being driven only by two axes, ie, the rotation axis (T10 or T30) in the vertical direction and the rotation axis (T20 or T40) in the vertical direction. Since the driving of the welding torch can be more restricted than when welding is performed while the welding torch is provided with the welding torch, deterioration of welding quality due to the welding torch moving more than necessary can be improved.
[0029]
In the first and second embodiments described above, the position where the robot 1 is installed is such that the gantry 3 straddles the robot 1. However, the robot 1 is taken out from below the gantry 3 and the robot 1 is placed in the first and second embodiments. The drive control can be performed in the same manner as in Embodiments 1 and 2 even if the device is installed 180 ° inverted from the position of 2 and facing the gantry, and the welding quality of the workpiece is the same. be able to.
[0030]
The gantry 3 and the robot 1 are not necessarily a pair. For example, a plurality of gantry 3s, for example, two gantry 3s are arranged side by side, and four weldings are respectively provided as mechanisms having the L-shaped frames shown in FIGS. The torch is attached, and the robot 1 is installed so that the center position of the work to be welded is located at the center of the two mounts at a position opposite to the two mounts. Can be controlled by a robot controller to perform a welding operation.
In particular, when the object to be welded is a left and right object and the same type of welding is performed on both sides of the object to be welded, two welding stands are used to coordinately control each welding torch and simultaneously weld two places. Can be carried out, so that one robot is equipped with one welding torch and welding is performed by switching the welding torch by an ATC mechanism or the like. Time is greatly reduced.
Furthermore, welding work corresponding to various welding conditions can be performed by combining a plurality of the gantry according to the first or second embodiment in accordance with the welding conditions of the workpiece.
[0031]
Further, the robot 1 described in the present invention is installed at a predetermined position. However, it is not necessary to fix the robot 1 at a specific position, and the robot main body can be moved according to the application. That is, the robot 1 can be moved to a predetermined position by wirelessly controlling the robot 1 by moving the robot 1 on two-way rails or by providing wheels or the like that can move in any direction on the robot frame. The desired welding can be performed on the workpiece by freely moving the robot on a robot system in which a plurality of pedestals are installed. At this time, as shown in FIG. 4 described above, since a plurality of workpieces can be machined by switching by the ATC mechanism, each robot can use a different type of workpiece for each of the plurality of workpieces. Different welding can be easily performed.
[0032]
Further, in the embodiment of the present invention, the case where the welding torch is provided on the gantry has been described, but the tool provided on the gantry is not limited to the welding torch, and other tools such as a grinder, tools such as a drill, Any tool, such as a sensor, which is necessary for processing a target workpiece can be driven and controlled in the same manner using any tool. Included in the range.
[0033]
【The invention's effect】
A robot system according to the present invention includes a gantry, at least two or more welding torches provided on the gantry and installed in a switchable manner, and a workpiece provided on the workpiece base having a workpiece base at a tip thereof. A robot that drives the robot in any direction, a plurality of welding torches and a robot that is connected to the robot to switch the welding torch and weld the posture, and the posture of the workpiece on the workpiece table provided at the tip of the robot. And a robot controller for performing control to apply desired welding to the workpiece by driving the welding robot, and has the following effects.
[0034]
There is no need to attach and detach a tool for each operation as in the prior art 1 described above, and replace it. Therefore, there is no need to replace the tool or the tip of the arm of the robot, perform a cleaning operation, and the like.
Further, a tool stand and a teaching operation for attaching and detaching a tool and exchanging the tool are not required, so that a working space can be greatly reduced and a working time in a machining process can be significantly reduced.
[0035]
Further, in the welding robot according to the prior art 2 described above, it is difficult to stabilize the posture of the welding torch by providing a plurality of welding torches at the tip of the robot, which causes deterioration in welding quality. In the system, since the welding torch can always perform welding while maintaining a substantially constant posture, stable welding can be performed and welding quality can be improved.
Further, since the number of robots can be reduced as compared with the case where a plurality of robots are used, the work space can be reduced, and the power consumption and equipment cost can be significantly reduced.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram showing a first embodiment of a robot system according to the present invention.
FIG. 2 is a top view of FIG. 1 and is a partially omitted schematic diagram showing a main part.
FIG. 3 is a schematic front view of FIG. 1 with a part omitted.
FIG. 4 is a schematic side view of a robot of the robot system according to the present invention.
FIG. 5 is an overall configuration diagram showing a second embodiment of the robot system of the present invention.
6 is a top view of FIG. 5 and is a partially omitted schematic view showing a main part.
FIG. 7 is a schematic front view of FIG. 5 with a part omitted.
FIG. 8 is an overall configuration diagram showing an example of a robot system having an ATC mechanism conventionally used.
FIG. 9 is an overall configuration diagram showing an example of a conventionally used robot system, and is a schematic diagram when welding an object to be welded using two robots.
[Explanation of symbols]
1 Robot
101 Robot
102 Robot
103 Robot
2 Robot controller
20 Robot controller
21 Robot Controller
3 stand
32 ATC mechanism
4 L-shaped frame
5 Link mechanism
53 links
54 links
61 Wire feeding mechanism
611 mounting base
62 Wire feeding mechanism
621 mounting base
63 wire feeding mechanism
64 wire feeding mechanism
7 Teach pendant
70 Teach pendant
71 Teach pendant
8 Welding power supply
80 welding power supply
81 First welding power source
82 Second welding power source
83 Third welding power source
84 Fourth welding power source
9 Workpiece
90 Workpiece
10 Workpiece base
100 Workpiece table
11 frames
12 Turntable
13 Lower arm
14 Upper arm
15 Wrist unit
16 Tool stand
16a, 16b, 16c, 16d Tool
WT1 First welding torch
WT2 Second welding torch
WT3 Third welding torch
WT4 4th welding torch
WT11 welding torch
WT12 welding torch

Claims (3)

In a welding robot system for performing a welding operation on a workpiece by at least two or more welding torches,
A gantry, and at least two or more welding torches mounted on the gantry so as to be switchable;
A robot that has a workpiece base at its tip and drives the workpiece provided on the workpiece base in any direction,
The plurality of welding torches and the robot are connected to each other to drive and change the welding torch and the welding posture, and the workpiece on the workpiece base provided at the tip of the robot to the desired posture to drive the workpiece. Welding robot system consisting of a robot controller that controls welding to be performed. The two sides of the L-shaped frame have substantially the same length, and the center of a substantially right-angled portion of the L-shaped frame is formed in a horizontal direction with a substantially central position in the longitudinal direction on a horizontal plane on the gantry as an axis. A first welding torch and a second welding torch, which are rotatably mounted and have a horizontal turning axis and a vertical turning axis at a tip different from a portion forming substantially a right angle between two sides of the L-shaped frame; 2. The welding robot system according to claim 1, wherein the welding torch is mounted so as to obtain a desired welding posture. A link mechanism that is provided at a substantially central position in a longitudinal direction on a horizontal plane on the gantry and includes at least two or more links, and the links are configured to be vertically movable around a rotation axis so as to be vertically movable; When,
A third welding torch and a fourth welding torch, each of which is a tip of the plurality of links and includes a horizontal turning axis and a vertical turning axis, are attached so as to obtain a desired welding posture. The welding robot system according to claim 1.

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