JP2014217859A - Welding method and welding device using robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a welding method and a welding device using a robot capable of preventing an increase in equipment space and work man hour, and capable of effectively preventing sputter from being adhered to a hole provided on a workpiece during welding.SOLUTION: A sealing member 30 attracted and held on a holding member 40 by a magnet is inserted into a hole such as a screw hole provided on a workpiece by the movement of an arm 11 before welding with a welding torch 20, and thereby the hole is sealed. Then, by the movement of the arm 11, the holding member 40 is moved in a direction vertical to the central axis of the hole and opposite to the sealing member 30, and thereby the sealing member 30 is separated from the holding member 40 and is left inside the hole.

Description

  The present invention relates to a welding method and a welding apparatus using a robot.

  A workpiece such as a vehicle body is welded by MIG welding or spot welding using a robot. In some cases, a screw hole of a weld nut (welding nut) is provided in advance in the vicinity of a welded part in such a workpiece as a hole used for connection with other members. In this case, if the welding operation is performed as it is, the spatter at the time of welding may scatter and enter the mouth portion or inside of the screw hole and be welded. For this reason, in the subsequent process, there is a problem that the bolt cannot be screwed into the screw hole at all, or the bolt is lifted off the seat surface without being screwed to the end, and the screw hole must be repaired as a countermeasure. It was happening.

  As a technique for preventing the spatter from adhering to the screw holes during such welding, the techniques described in Japanese Patent Application Laid-Open No. S59-1077779 (Patent Document 1) and Japanese Patent Application Laid-Open No. 2007-268574 (Patent Document 2). There is.

Patent Document 1 proposes a technique in which welding is performed on a welded portion while air is blown from the outside to a hole provided in the vicinity of the welded portion to prevent spatter from adhering to the hole (patent). See claims).
Further, Patent Document 2 proposes a technique for performing masking by screwing a masking member in which a male screw portion is threaded on an outer peripheral surface into a screw hole drilled in a workpiece and performing masking. (See claim 4).

JP 59-1077779 A JP 2007-268574 A

  However, in the technique described in Patent Document 1, an air supply device including an air nozzle is separately required in order to prevent spatter from entering the hole. Therefore, in the technique described in Patent Document 1, the equipment space increases and the equipment becomes larger, and it may be difficult to arrange the air hose in a relatively small work place, for example.

  In the technique described in Patent Document 2, the masking member must be attached and detached by screwing the masking member into and out of the screw hole of the workpiece, and a masking member attaching / detaching device with relatively high accuracy is provided. It is necessary separately. Therefore, the technique described in Patent Document 2 increases work man-hours and equipment space, and is difficult to apply to a production line that flows quickly.

  The present invention has been made in view of the circumstances as described above, and is effective in preventing spatter from adhering to a hole provided in a workpiece during welding while suppressing an increase in work man-hours and preventing an increase in equipment space. It is an object of the present invention to provide a welding method and a welding apparatus using a robot, which can be prevented automatically.

  In order to solve the above-mentioned problem, the invention according to claim 1 is directed to a sealing member that is detachably held on a holding member provided on the arm by moving an arm provided on the robot. A step of sealing the hole by inserting into the hole provided in the hole, and by moving the arm, the sealing member inserted in the hole is detached from the holding member and left in the hole. And a step in which welding means connected to the tip of the arm welds the workpiece while leaving the sealing member in the hole, and the holding member exerts a magnetic force on the sealing member. The sealing member has an insertion portion to be inserted into the hole and an end portion on the opposite side to the insertion direction of the insertion portion and has a larger radial dimension than the hole. The lid and the lid A shaft portion extending to the opposite side of the insertion portion and attracted by the magnet of the holding member, and in the step of leaving, when the sealing member is separated from the holding member, the arm provided on the arm The welding method using a robot, wherein the holding member is moved in a direction perpendicular to the central axis of the hole and opposite to the sealing member.

According to this invention, the holding member is provided on the arm of the existing welding robot, the sealing member is detachably held by the holding member, the arm is moved, and the insertion portion of the sealing member is inserted into the hole. Accordingly, the hole can be sealed with the insertion portion and the lid portion with a simple configuration. In addition, with the insertion portion of the sealing member inserted into the hole, the magnetism of the shaft portion by the magnet can be reduced by simply moving the holding member in a direction perpendicular to the center axis of the hole and away from the sealing member. The sealing member can be easily detached from the holding member and left in the hole.
That is, a welding method using a robot capable of effectively preventing spatter from adhering to a hole provided in a workpiece during welding while suppressing an increase in work man-hours and preventing an increase in equipment space is provided. can do.

  The invention according to claim 2 is a welding method using the robot according to claim 1, wherein the holding member holds the sealing member inserted into the hole by moving the arm. And pulling out from the hole, and the holding member includes a guide member that guides the shaft portion of the sealing member to the magnet when holding the sealing member.

  According to such a configuration, when the holding member is to hold the sealing member, the shaft portion of the sealing member is guided by the guide member and guided to the magnet. It can be held securely.

  Invention of Claim 3 is a welding method using the robot of Claim 2, Comprising: While the said guide member expands in the V shape toward the opposite side to the said magnet, on the said magnet side An opening is formed, and a part of the magnet is exposed to a space formed inside the guide member at the opening of the guide member so as to be in contact with the shaft portion. To do.

  According to such a configuration, when the holding member intends to hold the sealing member, the shaft portion of the sealing member is easily guided to the inside of the guide member by the guide member expanded in a V shape. The shaft portion of the sealing member is in direct contact with the magnet and is magnetically attached, so that it is securely held.

  Invention of Claim 4 is a welding method using the robot of Claim 3, Comprising: The said sealing member is provided in the edge part on the opposite side to the said cover part of the said axial part, from the said axial part. And a head having a larger radial dimension.

  In such a configuration, when the holding member holds the sealing member and then rises in a direction away from the hole along the central axis direction of the hole in order to pull out from the hole, the sealing member is also held by the holding member. Both rise. At this time, there is a possibility that the sealing member is slightly attached to the work due to the spatter scattered. Even in such a case, the attracting force of the magnet may be increased in order to reliably pull out the sealing member from the hole, but by providing the head portion on the shaft portion, the end portion of the guide member provided in the rising holding member is Since the sealing member can be lifted by coming into contact with the head, the holding member can reliably pull out the sealing member from the hole.

  Invention of Claim 5 is a welding method using the robot of any one of Claim 1 to 4, Comprising: The said axial part of the said sealing member is formed in the column shape. It is characterized by that.

  According to such a configuration, even when spatter during welding scatters and comes into contact with the shaft portion, it becomes point or line contact, and adhesion of spatter to the shaft portion can be effectively suppressed. Thereby, the magnet of a holding member can hold | maintain the axial part of a sealing member more reliably, without being disturbed by sputtering.

  The invention according to claim 6 is a robot provided with an arm, a welding means connected to the tip of the arm and welding the workpiece, and a seal inserted into the hole provided in the workpiece and sealing the hole. A member, a holding member provided on the arm and detachably holding the sealing member, and the sealing member held on the holding member by moving the arm before welding by the welding means A control unit for controlling the insertion of the sealing member into the hole, sealing the hole, and moving the arm to disengage the sealing member from the holding member and leaving it in the hole, The holding member includes a magnet that attracts and holds the sealing member by magnetic force, and the sealing member is provided at an insertion portion to be inserted into the hole and an end portion on the opposite side to the insertion direction of the insertion portion. Has a larger radial dimension than the hole A lid portion and a shaft portion extending from the lid portion to the opposite side of the insertion portion and attracted by the magnet of the holding member, and when the control unit causes the sealing member to be detached from the holding member, In the welding apparatus using a robot, the holding member provided on the arm is moved in a direction perpendicular to a central axis of the hole and opposite to the sealing member.

According to this invention, the holding member is provided on the arm of the existing welding robot, the sealing member is detachably held by the holding member, the arm is moved, and the insertion portion of the sealing member is inserted into the hole. Accordingly, the hole can be sealed with the insertion portion and the lid portion with a simple configuration. In addition, with the insertion portion of the sealing member inserted into the hole, the magnetism of the shaft portion by the magnet can be reduced by simply moving the holding member in a direction perpendicular to the center axis of the hole and away from the sealing member. The sealing member can be easily detached from the holding member and left in the hole.
That is, a welding apparatus using a robot capable of effectively preventing spatter from adhering to a hole provided in a workpiece during welding while suppressing an increase in work man-hours and an increase in equipment space is provided. can do.

  According to the present invention, a robot that can effectively prevent spatter from adhering to a hole provided in a workpiece during welding while suppressing an increase in work man-hours and preventing an increase in equipment space is used. A welding method and a welding apparatus can be provided.

It is a side view which shows typically the welding apparatus using the robot which concerns on one Embodiment of this invention. It is an expanded sectional view which shows typically the workpiece of welding with a welding torch. It is an expansion perspective view which shows the holding member which hold | maintains the sealing member shown by FIG. 1 so that attachment or detachment is possible. (A) is an enlarged front view of a holding member, (b) is an enlarged side view of a holding member. It is an enlarged side view of a sealing member. It is a flowchart which shows the procedure of the welding method. (A)-(f) is a figure which shows a motion of a holding member sequentially.

Embodiments of the present invention will be described in detail with reference to the drawings as appropriate.
Note that, in the drawings shown below, the same members or corresponding members are denoted by the same reference numerals, and redundant description is omitted as appropriate. In addition, the size and shape of the member may be schematically represented by being modified or exaggerated for convenience of explanation.

  FIG. 1 is a side view schematically showing a welding apparatus using a robot according to an embodiment of the present invention (hereinafter also simply referred to as “welding apparatus”). FIG. 2 is an enlarged cross-sectional view schematically showing a workpiece to be welded together with a welding torch.

  As shown in FIG. 1, a welding apparatus 1 includes a robot 10 having an arm 11, a welding torch (welding means) 20 that is connected to a tip of the arm 11 and welds a workpiece W (see FIG. 2), and a workpiece W. A sealing member 30 that is inserted into the provided screw hole (hole) 2 (see FIG. 2) and seals the screw hole 2, and a holding member that is provided on the arm 11 and holds the sealing member 30 in a detachable manner. 40 and a control unit 50 that controls the operation of the welding apparatus 1 in an integrated manner.

  The robot 10 is an articulated welding robot that performs MIG welding (metal inert gas welding). The robot 10 can arrange the welding torch 20 connected to the tip of the arm 11 at an arbitrary position and posture within the operation range. The robot 10 can perform a program operation and a teaching operation, and can operate the welding torch 20 to move via a plurality of teaching points previously taught.

  The holding member 40 is fixed to the distal end side of the arm 11 via the support portion 12. The fixing of the holding member 40 to the support portion 12 is performed here by screw fastening, but is not limited thereto, and may be performed by welding, for example.

  Then, the robot 10 can arrange the holding member 40 at a predetermined position and posture within the operation range. The installation position and posture of the holding member 40 on the arm 11 can be appropriately changed as long as the degree of freedom of movement of the holding member 40 is obtained sufficiently.

  As shown in FIG. 2, MIG welding is performed here by bringing the welding torch 20 close to the welding hole 3 formed in one metal plate member W1 of the workpiece W which is the two metal plate members W1 and W2 that are overlapped. Welding. For this reason, MIG welding is not limited to welding in the vicinity of the opening of the vehicle body, but can be used for welding at an arbitrary position. In FIG. 2, only one welding hole 3 which is a welding site is illustrated, but a plurality of workpieces W are generally provided.

  The welding torch 20 has a nozzle 21 that supplies an inert gas that blocks air, and a welding wire 22 that is supplied through the center of a contact tip (not shown) disposed inside the nozzle 21. At the time of welding, the welding torch 20 is brought close to the welding hole 3 of the workpiece W while supplying the inert gas and the welding wire 22 with a predetermined high voltage applied between the workpiece W and the contact tip. As a result, a high-temperature arc is generated, and the welding wire 22 melted by the heat is welded to the inside of the welding hole 3, whereby the workpiece W is welded.

  FIG. 3 is an enlarged perspective view showing a holding member that detachably holds the sealing member shown in FIG. 1. FIG. 4A is an enlarged front view of the holding member, and FIG. 4B is an enlarged side view of the holding member. FIG. 5 is an enlarged side view of the sealing member.

  As shown in FIGS. 3 and 4, the holding member 40 includes a magnet 41 that attracts and holds the sealing member 30 with a magnetic force. Here, the magnet 41 is formed in a columnar shape, and is disposed inside a mounting table 42 that is substantially U-shaped when viewed from the side. The mounting table 42 includes a bottom wall 42a on which the magnet 41 is mounted, and a pair of side walls 42b that are erected vertically from two opposing edges of the bottom wall 42a.

  The mounting table 42 is disposed on the distal end side of the substantially L-shaped bracket 43 as viewed from the side. Then, the bolt member 4 (see FIG. 4) is inserted through through holes (not shown) formed in the bracket 43 and the mounting table 42 from the bracket 43 side, and the female screw (not shown) provided in the magnet 41 is shown. The magnet 41 and the mounting table 42 are fixed to the bracket 43. On the base end side of the bracket 43, a through hole 43a is formed through which a bolt member (not shown) for fixing the bracket 43 to the support portion 12 (see FIG. 1) is inserted.

  Further, the holding member 40 includes a guide member 44 that guides the shaft portion 33 of the sealing member 30 to the magnet 41 when the sealing member 30 is held. The guide member 44 has a shape that expands in a V shape toward the opposite side of the magnet 41. The end surfaces (upper surfaces) of the pair of side walls 42b of the mounting table 42 are notched in a V shape corresponding to the shape of the guide member 44. The guide member 44 is formed on the pair of side walls 42b of the mounting table 42, for example, It is fixed by welding.

  The guide member 44 has an opening 44a (see FIG. 4A) formed on the magnet 41 side. A part of the magnet 41, specifically, an end face 41a opposite to the installation surface (see FIG. 4A) can be brought into contact with the shaft portion 33 so that the guide member 44 has an opening 44a. It is exposed to the space S (see FIG. 4A) formed inside.

  As shown in FIG. 2, a weld nut (welding nut) 5 having a screw hole 2 in the vicinity of the welding hole 3 in the metal plate member W1 of the workpiece W is coaxial with the through-hole 6 formed in the metal plate member W2. Are fixed in advance by spot welding. That is, the weld nut 5 is provided in the workpiece W, so that the screw hole 2 is provided in the workpiece W. The weld nut 5 is used for connection with other members, and the shape is not particularly limited, and may be a hexagonal nut or a square nut. The weld nut 5 is installed on the upper surface side of the metal plate member W2 in FIG. 2, but may be installed on the lower surface side. Further, the weld nut 5 may be installed on the workpiece W so as to be coaxial with a through hole (not shown) formed through a portion where the metal plate members W1 and W2 overlap, for example. Further, the screw hole 2 may be formed by female threading a burring hole formed in the workpiece W.

  As shown in FIGS. 3 and 5, the sealing member 30 includes an insertion portion 31 to be inserted into the screw hole 2 (see FIG. 2), and an end portion on the opposite side to the insertion direction of the insertion portion 31. A lid portion 32 having a larger radial dimension, and a shaft portion 33 extending from the lid portion 32 to the opposite side of the insertion portion 31 and attracted by the magnet 41 of the holding member 40.

  The insertion portion 31 has a substantially cylindrical shape, and is formed in a conical taper shape in which the distal end side tapers toward the distal end. Here, the lid portion 32 is formed in a substantially disc shape, and is formed on the insertion portion 31 side and formed with an end surface 32a (see FIG. 5) perpendicular to the axial direction and on the opposite side of the insertion portion 31 in the radially outward direction. And a conical taper surface 32b (see FIG. 5) inclined toward the insertion portion 31. The lid portion 32 functions as a stopper that supports the sealing member 30 on the workpiece W (see FIG. 2) when the insertion portion 31 of the sealing member 30 is inserted into the screw hole 2 (see FIG. 2). And has a function of covering the mouth of the screw hole 2.

  Here, the shaft portion 33 is formed in a cylindrical shape, and its side surface is magnetically attached by the magnet 41. However, the shaft portion 33 can also have a prismatic shape. The sealing member 30 further includes a head portion 34 provided at an end portion of the shaft portion 33 opposite to the lid portion 32 and having a larger diameter than the shaft portion 33. The head 34 is formed in a hexagonal column shape here, and the sealing member 30 can be manufactured by processing a bolt member. However, the head 34 is not limited to a hexagonal column shape, and may be formed in a substantially cylindrical shape, for example.

  The entire sealing member 30 may be formed integrally, or a plurality of parts may be joined by welding or the like. For example, the sealing member 30 may be formed by integrally forming a portion other than the lid portion 32, inserting the same into a central hole formed in the lid portion 32, and joining them together by welding or the like. Moreover, it is preferable that a spatter adhesion preventing agent such as a release agent or oil is applied to the entire surface of the sealing member 30 in advance so that spatter does not adhere during welding.

  The control unit 50 (see FIG. 1) controls the operations of the robot 10 and the welding torch 20. For example, the control unit 50 inserts the sealing member 30 held by the holding member 40 into the screw hole 2 (see FIG. 2) by moving the arm 11 before welding by the welding torch 20. 2 is sealed and the arm 11 is moved so that the sealing member 30 is detached from the holding member 40 and left in the screw hole 2. When the control unit 50 causes the sealing member 30 to be detached from the holding member 40, the control unit 50 moves the holding member 40 provided on the arm 11 in a direction perpendicular to the central axis of the screw hole 2 and opposite to the sealing member 30. Control to move.

Next, in addition to FIGS. 1-5, the welding method using the welding apparatus 1 comprised as mentioned above is demonstrated with reference to FIG. 6 and FIG.
FIG. 6 is a flowchart showing the procedure of the welding method. 7A to 7F are diagrams sequentially illustrating the movement of the holding member. Note that the content of the flowchart shown in FIG. 6 is implemented by the control unit 50 executing a predetermined program.

  First, when the control unit 50 moves the arm 11 provided in the robot 10, the sealing member 30 that is attracted to the holding member 40 provided on the arm 11 by the magnet 41 and is detachably held is attached to the workpiece W. Is inserted into the screw hole 2 of the weld nut 5 provided on the screw nut 2 to seal the screw hole 2 (S1, FIG. 7A). Accordingly, the mouth portion of the screw hole 2 is covered with the lid portion 32 of the sealing member 30, and the insertion portion 31 of the sealing member 30 is inserted into the screw hole 2, and the insertion portion 31 and the lid portion 32 are screwed. The hole 2 can be sealed.

  Here, for example, after the sealing member 30 is positioned above the screw hole 2 so that the center axis of the insertion portion 31 and the screw hole 2 substantially coincide with each other, the sealing member 30 is moved downward and inserted into the screw hole 2. The Since the distal end side of the insertion portion 31 is tapered toward the distal end, even if the central axis of the insertion portion 31 and the screw hole 2 is slightly shifted at the time of insertion, the insertion portion 31 is turned into the screw hole 2. It can be inserted smoothly.

  Subsequently, when the control unit 50 moves the arm 11, the sealing member 30 inserted in the screw hole 2 is detached from the holding member 40 and left in the screw hole 2 (S2, FIG. 7B). . Here, when the sealing member 30 is detached from the holding member 40, the holding member 40 provided on the arm 11 is perpendicular to the central axis of the screw hole 2 and in the direction opposite to the sealing member 30 (FIG. 7B). ) In the direction of the arrow). As a result, the sealing member 30 can be easily detached from the holding member 40 by cutting off the magnetizing action of the shaft portion 33 by the magnet 41 while the insertion portion 31 is inserted into the screw hole 2.

  Subsequently, the holding member 40 is moved, for example, in the arrow direction of FIG. 7C so as to be separated from the sealing member 30 (S3, FIG. 7C).

  And the welding torch 20 (refer FIG. 2) connected with the front-end | tip of the arm 11 in the state which left the sealing member 30 in the screw hole 2 welds the workpiece | work W (S4). At the time of welding, spatter is scattered around the weld hole 3 and the vicinity of the screw hole 2 which are welding parts, but the screw hole 2 is sealed by the insertion portion 31 and the lid portion 32 as shown in FIG. Therefore, it is possible to prevent spatter from adhering to the mouth portion and the inside of the screw hole 2.

  In addition, since the shaft portion 33 of the sealing member 30 is placed perpendicular to the workpiece W, the spatter scattered during welding hits the shaft portion 33 and falls, and adhesion to the shaft portion 33 is suppressed. Furthermore, since the shaft portion 33 of the sealing member 30 is formed in a cylindrical shape, even when spatter during welding is scattered and contacts the shaft portion 33, point or line contact occurs, and spatter adheres to the shaft portion 33. Can be effectively suppressed. Thereby, the magnet 41 of the holding member 40 can hold the shaft portion 33 of the sealing member 30 more reliably without disturbing the magnetizing action by sputtering.

  In addition, the inclined tapered surface 32b is formed on the lid portion 32, and further, a spatter adhesion preventing agent is applied to the entire surface of the sealing member 30, so that spatter scattered during welding contacts the sealing member 30 and adheres. This can be effectively suppressed. As described above, the sealing member 30 is prevented from being spoiled by spattering and changing its shape or deteriorating.

  When the predetermined welding operation is completed, the control unit 50 moves the arm 11 so that the holding member 40 comes close to the sealing member 30 inserted in the screw hole 2, for example, an arrow in FIG. It is moved in the direction (S5, FIG. 7 (d)).

  Subsequently, when the control unit 50 moves the arm 11, the holding member 40 is moved in a direction perpendicular to the central axis of the screw hole 2 and toward the sealing member 30 (arrow direction in FIG. 7E). The sealing member 30 in which the holding member 40 is inserted into the screw hole 2 is attracted and held by the magnet 41 (S6, FIG. 7 (e)).

  At this time, for example, when the weld nut 5 is installed slightly inclined, the sealing member 30 may be placed with the shaft portion 33 inclined with respect to the surface of the workpiece W. Even in such a case, the shaft portion 33 of the sealing member 30 is easily guided to the inside of the guide member 44 by the guide member 44 expanded in a V shape and is guided to the magnet 41. Further, the end surface 41a of the magnet 41 is exposed to the space S in the opening 44a of the guide member 44, and the shaft portion 33 of the sealing member 30 is directly contacted with the magnet 41 and is magnetically attached, so that it is securely held. .

  Subsequently, when the control unit 50 moves the arm 11, for example, the holding member 40 rises in the direction away from the screw hole 2 along the center axis direction of the screw hole 2 (the arrow direction in FIG. 7F). The sealing member 30 also rises while being held by the holding member 40, and the sealing member 30 is pulled out from the screw hole 2 (S7, FIG. 7 (f)). Then, the sealing member 30 magnetically attached to the magnet 41 stands by in a stable posture such that it is placed on the holding member 40 as shown in FIG.

  At this time, for example, when the sealing member 30 is inclined and spatter enters the vicinity of the screw hole 2 from the gap below the lid portion 32 of the sealing member 30, or the wall of the vehicle body where the lid portion 32 is the workpiece W. The sealing member 30 slightly adheres to the workpiece W due to scattered spatter, such as when spatter enters the narrow gap between the lid portion 32 and the wall portion. There is a possibility of being. Even in such a case, the attracting force of the magnet 41 may be increased in order to reliably pull out the sealing member 30 from the screw hole 2. However, by providing the head portion 34 on the shaft portion 33, the holding member 40 that rises is provided. Since the end portion of the guide member 44 is in contact with the head portion 34 and can lift the sealing member 30, the holding member 40 can reliably pull out the sealing member 30 from the screw hole 2.

As described above, according to the present embodiment, the holding member 40 is provided on the arm 11 of the existing welding robot 10, the sealing member 30 is detachably held by the holding member 40, and the arm 11 is moved. By inserting the insertion portion 31 of the sealing member 30 into the screw hole 2, the screw hole 2 can be sealed with the insertion portion 31 and the lid portion 32 with a simple configuration. Further, in a state where the insertion portion 31 of the sealing member 30 is inserted into the screw hole 2, the holding member 40 is simply moved in a direction perpendicular to the central axis of the screw hole 2 and away from the sealing member 30. The sealing member 30 can be easily detached from the holding member 40 and left in the screw hole 2 by cutting off the magnetic adhesion of the shaft portion 33 by 41.
That is, a welding method and a welding apparatus 1 using a robot capable of effectively preventing spatter adhesion to the screw hole 2 during welding while suppressing an increase in work man-hours and preventing an increase in equipment space. Can be provided.

  As mentioned above, although this invention was demonstrated based on embodiment, this invention is not limited to the structure described in the said embodiment, It includes including combining or selecting suitably the structure described in the said embodiment. The configuration can be changed as appropriate without departing from the spirit of the invention. Further, a part of the configuration of the above-described embodiment can be added, deleted, or replaced.

  For example, in the above-described embodiment, the welding of the workpiece W has been described for the case of MIG welding in which the welding site (weld hole 3) has a dot shape, but the present invention is not limited to this. The present invention can also be applied to MIG welding in which a welding site such as welding at the side edge of the workpiece W is linear, and furthermore, the stacked metal plate members are clamped from the front and back by a pair of electrodes. It can also be applied to spot welding for welding.

  In the above-described embodiment, one sealing member 30 is held by one holding member 40 provided on the arm 11, but the present invention is not limited to this. For example, a plurality of sealing members 30 may be held by one holding member 40 provided on the arm 11 so as to be compatible with a plurality of screw holes 2. Furthermore, a plurality of holding members 40 may be provided on the arm 11.

  In the above-described embodiment, the case where the hole to be sealed by the sealing member 30 is the screw hole 2 has been described, but the present invention is not limited to this. The present invention is also applicable to the case where the hole to be sealed by the sealing member 30 is a bolt hole through which a bolt member is inserted, for example, for connection to another member.

1 Welding device 2 Screw hole (hole)
5 Weld nut 10 Robot 11 Arm 20 Welding torch (welding means)
DESCRIPTION OF SYMBOLS 30 Sealing member 31 Insertion part 32 Cover part 33 Shaft part 34 Head 40 Holding member 41 Magnet 44 Guide member 44a Opening part 50 Control part S Space W Work W1, W2 Metal plate member

Claims (6)

Inserting a sealing member removably held by a holding member provided in the arm by moving an arm provided in the robot, and sealing the hole; ,
Moving the arm to separate the sealing member inserted in the hole from the holding member and leaving it in the hole;
A welding means connected to the tip of the arm in a state in which the sealing member is left in the hole, and welding the workpiece.
The holding member includes a magnet that attracts and holds the sealing member by magnetic force,
The sealing member includes an insertion portion to be inserted into the hole, a lid portion provided at an end opposite to the insertion direction of the insertion portion and having a larger radial dimension than the hole, and the insertion from the lid portion. A shaft portion extending to the opposite side of the portion and attracted by the magnet of the holding member,
In the leaving step, when the sealing member is detached from the holding member, the holding member provided on the arm is moved in a direction perpendicular to the central axis of the hole and opposite to the sealing member. The welding method using the robot characterized by being able to be performed. By moving the arm, the holding member holding the sealing member inserted in the hole and pulling out the hole;
The welding method using a robot according to claim 1, wherein the holding member includes a guide member that guides the shaft portion of the sealing member to the magnet when the sealing member is held. The guide member is expanded in a V shape toward the opposite side of the magnet, and an opening is formed on the magnet side.
The robot according to claim 2, wherein a part of the magnet is exposed to a space formed inside the guide member at the opening of the guide member so as to be in contact with the shaft portion. Welding method using. The robot according to claim 3, wherein the sealing member further includes a head provided at an end portion of the shaft portion opposite to the lid portion and having a larger radial dimension than the shaft portion. Welding method using. The welding method using a robot according to any one of claims 1 to 4, wherein the shaft portion of the sealing member is formed in a columnar shape. A robot with an arm;
Welding means connected to the tip of the arm and welding the workpiece;
A sealing member that is inserted into a hole provided in the workpiece and seals the hole;
A holding member provided on the arm and detachably holding the sealing member;
Prior to welding by the welding means, the sealing member held by the holding member is inserted into the hole by moving the arm to seal the hole, and the sealing is performed by moving the arm. A control unit that performs control to detach the stop member from the holding member and leave it in the hole,
The holding member includes a magnet that attracts and holds the sealing member by magnetic force,
The sealing member includes an insertion portion to be inserted into the hole, a lid portion provided at an end opposite to the insertion direction of the insertion portion and having a larger radial dimension than the hole, and the insertion from the lid portion. A shaft portion extending to the opposite side of the portion and attracted by the magnet of the holding member,
The control unit moves the holding member provided on the arm in a direction perpendicular to the central axis of the hole and opposite to the sealing member when the sealing member is detached from the holding member. Welding equipment using a robot characterized by this.

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