JP2021030263A - Welding robot - Google Patents

Abstract

To provide a welding robot that enables adjustment of an irradiation position of laser light with respect to a position of a tip of a welding wire and adjustment of an optic axis of laser light with respect to an advancing angle of the welding wire to be easily made.SOLUTION: A bracket 10 of a welding robot comprises an irradiation position adjustment part 15 that adjusts an irradiation position F of a welding laser head with respect to a work-piece, and an angle adjustment part 16 that adjusts an advancing angle θ of the welding wire of an arc-welding torch, where the irradiation position adjustment part 15 can make adjustment of the irradiation position F and the angle adjustment part 16 can make adjustment of the advancing angle θ independently from each other.SELECTED DRAWING: Figure 4

Description

The present invention relates to a welding robot using laser light and arc discharge.

Conventionally, as this type of welding apparatus, Patent Document 1 describes a welding laser head that irradiates a work with a laser beam, and a welding wire toward the work at a predetermined feeding angle with respect to the optical axis of the laser beam. A welding device including an arc welding torch that generates an arc between the tip of a welding wire and a work while feeding the wire has been proposed.

In this welding apparatus, the welding laser head is attached to the apparatus main body, and the arc welding torch is attached to the welding laser head via an adjusting mechanism. The relative position adjustment between the laser beam of the welding laser head and the welding wire supplied from the arc welding torch is performed by the adjusting mechanism.

JP-A-2016-30289

However, in the welding apparatus of Patent Document 1, in the adjustment by the adjusting mechanism, the position of the arc welding torch is adjusted with respect to the welding laser head with the welding laser head attached to the apparatus main body as a reference. It will be.

Specifically, the adjustment mechanism of Patent Document 1 has a structure in which the position of the tip of the welding wire is adjusted with respect to the irradiation position of the laser beam, and then the feeding angle of the welding wire is adjusted with respect to the optical axis of the laser beam. It has become.

Therefore, for example, even if only the position of the tip of the welding wire is adjusted with respect to the irradiation position of the welding laser head, the feeding angle of the welding wire may be slightly deviated during this adjustment. As a result, the feed angle of the welding wire with respect to the optical axis of the laser beam must also be readjusted by the adjusting mechanism. In particular, when the structure of such a welding device is mounted on a robot, for example, the work space around the robot is often narrow, and the workability of adjustment becomes more difficult.

The present invention has been made in view of these points, and an object of the present invention is to adjust the irradiation position of the laser beam and the position of the tip of the welding wire, and to send the optical axis of the laser beam and the welding wire. The purpose is to provide a welding robot that can easily adjust the feeding angle.

In view of the above problems, the welding robot according to the present invention connects a welding laser head that irradiates a work with a laser beam and a welding wire from a predetermined feeding angle with respect to the optical axis of the laser beam of the welding laser head. An arc welding torch that generates an arc between the tip of the welding wire and the work while feeding toward the work, and the welding laser head and the arc welding torch are brought to the tip via a bracket. A welding robot including at least a fixed robot body, wherein the bracket includes an irradiation position adjusting portion for adjusting an irradiation position of the welding laser head with respect to the work, and the welding wire of the arc welding torch. It is provided with an angle adjusting unit for adjusting the feeding angle of the above, and the adjustment of the irradiation position by the irradiation position adjusting unit and the adjustment of the feeding angle by the angle adjusting unit can be adjusted independently. It is characterized by being welded.

According to the present invention, the bracket includes an irradiation position adjusting unit and an angle adjusting unit, and the irradiation position adjusting unit adjusts the irradiation position of the laser beam and the angle adjusting unit adjusts the feeding angle of the welding wire. Can be adjusted independently. Therefore, the irradiation position adjusting unit adjusts the irradiation position of the welding laser head with respect to the position of the tip of the welding wire, and the angle adjusting unit adjusts the feeding angle of the arc welding torch with respect to the optical axis of the laser beam. be able to.

In this way, if the irradiation position of the welding laser head is adjusted without directly adjusting the position of the tip of the welding wire of the arc welding torch, as a result, the welding laser head with respect to the position of the tip of the welding wire The irradiation position can be adjusted.

Therefore, according to the present invention, for example, even if the position of the laser beam is adjusted, the feeding angle of the welding wire by the angle adjusting portion does not change. Therefore, until now, the tip of the welding wire by the arc welding torch has been used. If the position of the welding wire is adjusted, the feeding angle of the welding wire must be readjusted. However, according to the present invention, it is not necessary to perform such a complicated adjustment work.

In a more preferred embodiment, the irradiation position adjusting unit is capable of adjusting the irradiation position at least in the first direction along the optical axis of the laser beam, and is moved by the irradiation position adjusting unit for welding. The locus of the irradiation position of the laser head and the locus of the tip of the welding wire moved by the angle adjusting portion are on the same plane. Assuming that these trajectories are on the same plane, in a more preferable embodiment, the irradiation position adjusting unit can further adjust the irradiation position in the second direction orthogonal to the optical axis of the laser beam. It has become.

According to this aspect, since the locus of the irradiation position of the welding laser head moved by the irradiation position adjusting portion and the locus of the tip of the welding wire moved by the angle adjusting portion are on the same plane, these loci are The welding robot can be made more compact than when it exists on different planes. Further, if the irradiation position adjusting unit can further adjust the irradiation position in the second direction orthogonal to the optical axis of the laser beam, the welding robot can be further made compact.

Here, if the adjustment of the irradiation position by the irradiation position adjustment unit of the bracket and the adjustment of the feeding angle by the angle adjustment unit can be adjusted independently, for example, the irradiation position adjustment unit and the angle adjustment can be performed on the robot body. The portions may be attached via one bracket. However, in a more preferred embodiment, the bracket includes a bracket body fixed to the tip of the robot body, and the angle adjusting portion fixes the arc welding torch and is movable to the bracket body. The irradiation position adjusting portion is attached to the bracket body while fixing the welding laser head.

According to this aspect, the welding wire is fed through the angle adjusting portion by moving the angle adjusting portion with respect to the bracket body without directly adjusting the mounting position of the arc welding torch itself with respect to the bracket. The angle can be easily adjusted. Similarly, the irradiation position of the laser beam can be easily adjusted by moving the irradiation position adjusting portion with respect to the bracket body without directly adjusting the mounting state of the welding laser head itself.

In a more preferable embodiment, the angle adjusting unit and the irradiation position adjusting unit are attached to the bracket body with the bracket body sandwiched between them. According to this aspect, since the angle adjusting portion and the irradiation position adjusting portion are attached with the bracket body interposed therebetween, the attachment positions of the welding laser head and the arc welding torch can be separated from each other. As a result, it is possible to avoid mechanical interference between the welding laser head and the arc welding torch, and mechanical interference of cables and the like associated therewith. Further, when the locus of the laser beam irradiation position and the locus of the tip of the welding wire are on the same plane, the angle adjusting portion and the irradiation position adjusting portion are combined with the bracket main body in a place where such mechanical interference is likely to occur. By sandwiching and separating them, such mechanical interference can be avoided.

According to the present invention, it is possible to easily adjust the irradiation position of the laser beam and the position of the tip of the welding wire, and the optical axis of the laser beam and the feeding angle of the welding wire.

It is a perspective view which looked at the welding robot which concerns on embodiment of this invention from the front side. It is a perspective view which looked at the welding robot shown in FIG. 1 from the back side. (A) is a schematic perspective view for explaining a locus of a laser beam irradiation position by a welding robot shown in FIG. 1 and a locus of a position of a tip of a welding wire, and (b) is a plan view of (a). It is a figure. It is a schematic perspective view which looked at the bracket of the welding robot shown in FIG. 1 from the front side. It is a schematic perspective view seen from the back side of the bracket shown in FIG. It is an exploded perspective view of the front side of the bracket shown in FIG. It is an exploded perspective view of the back side of the bracket shown in FIG. FIG. 5 is a perspective view showing a state in which the angle adjusting portion of the bracket shown in FIG. 5 is removed. (A) is a perspective view showing a state in which the first slide member is removed from the bracket main body shown in FIG. 6, and (b) is a perspective view of the first slide member viewed from the back side. (A) is a perspective view showing a state in which the second slide member is removed from the bracket shown in FIG. 4, and (b) is a perspective view of the second slide member viewed from the back side.

Hereinafter, the welding robot 1 (hereinafter referred to as robot 1) according to the embodiment of the present invention will be described in detail with reference to FIGS. 1 to 10.

As shown in FIGS. 1 and 2, the robot 1 is a welding robot in which a welding laser head 4 and an arc welding torch 5 are attached to a tip 20a of a robot body 2 via a bracket 10.

1. 1. About the robot main body 2 The robot main body 2 is a manipulator, and includes a base 21, a link mechanism 20A attached to the base 21, and a wrist assembly 20B attached to the link mechanism 20A. The link mechanism 20A and the wrist assembly 20B of the present embodiment form an articulated arm.

The base 21 is installed on the installation surface, and has a fixed base 21a fixed to the installation surface and a swivel base 21b that swivels around the first axis J1 along a direction orthogonal to the installation surface. I have. An output shaft (not shown) of a motor fixed to the fixed base 21a is connected to the swivel base 21b. Thereby, by driving this motor, the swivel base 21b can be swiveled around the first axis J1 with respect to the fixed base 21a.

The link mechanism 20A is a parallel link mechanism and includes first to third arms 22 to 24. The first arm 22 (lower arm) is rotatably pivotally attached to the swivel base 21b of the base 21 at the connecting portion 28a via the first motor 27a on the front side of the robot 1, that is, on the wrist assembly 20B side. It is worn. In the present embodiment, the first arm 22 is pivotally movable (rotatable) with respect to the base 21 around the second axis J2 orthogonal to the first axis J1.

The second arm 23 and the third arm 24 are auxiliary arms for stabilizing the pivotal movement of the first arm 22. The second arm 23 is pivotally (rotatably) connected to the swivel base 21b of the base 21 at the connecting portion 28b on the rear side of the robot 1. The third arm 24 is pivotally (rotatably) pivotally attached to the tip of the first arm 22 and the tip of the second arm 23 at both ends thereof.

Specifically, the third arm 24 and the first arm 22 are pivotally connected at the connecting portion 28d. On the other hand, the third arm 24 and the second arm 23 are pivotally connected at the connecting portion 28c. As a result, the third arm 24 becomes pivotally movable (rotatable) with respect to the first arm 22 around the third rotating shaft J3 parallel to the second rotating shaft J2, and is pivoted by the first arm 22. Be provided.

In the present embodiment, the wrist assembly 20B is pivotally attached to the link mechanism 20A. Specifically, the wrist assembly 20B includes a fourth arm (upper arm) 25, and the fourth arm 25 is rotatably pivotally attached to the link mechanism 20A. The fourth arm 25 corresponds to the arm portion of the robot 1. The rotation axes of the first arm 22 and the fourth arm 25 with respect to the third arm 24 are the same rotation axes as the third rotation axis J3.

The relative pivot of the fourth arm 25 with respect to the first arm 22 is performed by the second motor 27b (see FIG. 2). The output shaft of the second motor 27b is connected to the first arm 22 so as to pivot around the third rotation shaft J3. As a result, the fourth arm 25 can be rotated with respect to the first arm 22 together with the main body of the second motor 27b.

The base end of the fourth arm 25 is rotatably connected (connected) around the fourth rotating shaft J4 along the axis of the fourth arm 25. A third motor 27c (see FIG. 2) is fixed to the base end of the fourth arm 25, and the output shaft (not shown) of the third motor 27c is attached to the fourth rotation shaft J4 by the fourth arm 25. Is connected to the fourth arm 25 so as to rotate. By driving the third motor 27c, the fourth arm 25 can be rotated around the fourth rotation shaft J4.

Further, the tip of the fourth arm 25 corresponds to the wrist portion of the robot 1, and a support arm 26 for supporting an end effector (not shown) including a welding laser head 4 and an arc welding torch 5 is attached to the tip thereof. It is installed. The support arm 26 swings (rotates) around the swing shaft J5 with respect to the fourth arm 25 by a motor and a power transmission belt built in the fourth arm 25, and an end effector is attached to the support arm 26. The support arm 26 is configured to rotate around the rotation shaft J6. The tip of the support arm 26 corresponds to the tip 20a of the robot body 2. The rotation shaft J6 is orthogonal to the fourth rotation shaft and the swing shaft J5, and the optical axis C of the laser beam L of the welding laser head 4 described later is parallel to the rotation shaft J6.

2. About the welding laser head 4 In the present embodiment, the welding laser head 4 and the arc welding torch 5 are attached to the tip 20a of the robot body 2 via the bracket 10. As shown in FIGS. 3A and 3B, the welding laser head 4 is a device that irradiates the work W with the laser beam L at a predetermined irradiation position F.

The welding laser head 4 is connected to a laser oscillator (not shown) via an optical fiber (not shown). As a result, the laser light transmitted from the laser oscillator can be sent to the welding laser head 4 via the optical fiber. The laser light sent to the welding laser head 4 is focused by a condenser lens (not shown) in the head, and the focused laser light L is irradiated to the work W at a predetermined irradiation position F. ..

Examples of the laser oscillator include a YAG laser oscillator and a CO ₂ laser oscillator, and if a transmission output of several kW can be obtained and the workpiece can be welded with the focused laser light L, the laser oscillator can be used. The type of oscillator is not particularly limited.

3. 3. About the arc welding torch 5 As shown in FIGS. 3A and 3B, the arc welding torch 5 is formed from a predetermined feeding angle θ with respect to the optical axis C of the laser beam L of the welding laser head 4. This is a device that generates an arc between the tip Ma of the welding wire M and the work W while feeding the welding wire M toward the work W.

The arc welding torch 5 is connected to a power supply (not shown) and a wire feeder (not shown). The wire feeding device is a device that feeds the welding wire M connected to the power supply to the arc welding torch 5. In the present embodiment, the welding wire M is used as an electrode wire, and an arc is generated between the tip Ma of the welding wire M and the work W to simultaneously melt the welding wire M and the work W. Gas) welding or MAG (Metal Active Gas) welding is adopted. A shield gas such as an inert gas is supplied to the arc welding torch 5, and the work W is welded in this shield gas atmosphere.

4. Bracket 10 In the present embodiment, as shown in FIGS. 4 and 5, the bracket 10 for attaching the welding laser head 4 and the arc welding torch 5 to the tip 20a of the robot body 2 is the bracket body 11 and the irradiation. A position adjusting unit 15 and an angle adjusting unit 16 are provided.

The irradiation position adjusting portion 15 is a portion that adjusts the irradiation position F of the welding laser head 4 with respect to the work W along the first and second directions A1 and A2 described later, and is a portion that adjusts the irradiation position F from the back side of the bracket 10 to the fixture 41. It is movably (sliding) attached to the bracket main body 11 via. The angle adjusting portion 16 is a portion for adjusting the feeding angle θ of the welding wire M of the arc welding torch 5, and is movable (sliding) from the back side of the bracket 10 to the bracket body 11 via the fixture 42. It is installed.

In the present embodiment, the irradiation position adjusting unit 15 adjusts the irradiation position F of the laser beam L emitted from the welding laser head 4, and the angle adjusting unit 16 adjusts the feeding angle θ of the welding wire M of the arc welding torch 5. And can be adjusted independently. Here, "independently adjustable" means that even if the irradiation position F of the laser beam L is adjusted by the welding laser head 4, the feeding angle θ of the welding wire M by the arc welding torch 5 does not change ( Even if the feed angle θ of the welding wire M is adjusted by the arc welding torch 5, the irradiation position F of the laser beam L by the welding laser head 4 does not change (is not affected). Say that.

The fixtures 41, 42, 44 referred to in the present specification are members having a male screw portion such as a bolt, and as a fixing method by the fixtures 41, 42, 44, the fixtures 41, 42, 44 are used. A plurality of fixed members may be fixed to each other by providing a female screw portion on the fixed member located on the tip side and tightening the male screw portions of the fixtures 41, 42, 44 to the female screw portion. Further, a plurality of fixed members are provided with through holes, and a plurality of fixed members are fastened to the tips of the fixing tools 41, 42, 44 in a state where the fixtures 41, 42, and 44 are inserted into the through holes. The members may be fixed to each other.

The "front side" as used in the present specification means the side where the welding laser head 4 is arranged with respect to the bracket 10, and the "back side" means the welding laser with respect to the bracket main body 11. This refers to the side opposite to the side on which the head 4 is arranged.

4-1. Regarding the bracket main body 11 and the irradiation position adjusting portion 15, as shown in FIGS. 4 to 7, the bracket main body 11 is attached to the connecting portion 10a attached to the tip 20a of the robot main body 2 and to the connecting portion 10a on the back surface side of the bracket 10. It is provided with a support plate portion 11b fixed by welding or the like. A pair of first elongated holes 11d and 11d are formed on both sides of the support plate portion 11b. The first elongated hole 11d is a through hole extending along the first direction A1 and penetrating the support plate portion 11b, and is a through hole for fixing the irradiation position adjusting portion 15 to the bracket main body 11, which will be described later. Fixing tool 41 to be inserted is inserted.

The irradiation position adjusting unit 15 includes a first slide member 13 and a second slide member 14. The first slide member 13 is attached to the bracket main body 11 so as to be slidable along the first direction A1 with respect to the bracket main body 11. The second slide member 14 is attached to the first slide member 13 so as to be slidable along the second direction A2 that intersects the first direction A1 (orthogonally in the present embodiment) with respect to the first slide member 13. ing. In the present embodiment, the first direction A1 is a direction along the optical axis C of the laser beam L, and in the present embodiment, the first direction A1 is a vertical direction as an example thereof. The second direction A2 is a direction intersecting the optical axis C of the laser beam L (a direction orthogonal to the first direction A1, and in the present embodiment, the horizontal direction is an example thereof.

In the present embodiment, as shown in FIGS. 9A and 9B, a first slide member 13 projecting toward the support plate portion 11b of the bracket body 11 on the back surface of the flat plate-shaped body 13b of the first slide member 13. A protruding portion 13f is formed. On the other hand, on the surface of the support plate portion 11b of the bracket main body 11, a first guide groove 11g that engages with the first protruding portion 13f and extends along the first direction A1 is formed. By engaging the first protrusion 13f with the first guide groove 11g, the first slide member 13 can be guided to the bracket main body 11 while sliding along the first direction A1. As a result, as shown in FIGS. 3A and 3B, the irradiation position adjusting unit 15 can adjust the irradiation position F in the first direction A1 along the optical axis C of the laser beam F. As described above, the first guide groove 11g and the first protrusion 13f function as the first guide portion for guiding the welding laser head 4 in the first direction A1.

Further, as shown in FIGS. 10A and 10B, a second protruding portion 14f protruding toward the first slide member 13 is formed on the back surface of the second slide member 14. On the other hand, on the surface of the main body 13b of the first slide member 13, a second guide groove 13g that engages with the second protrusion 14f and extends along the second direction A2 is formed. By engaging the second protrusion 14f with the second guide groove 13g, the second slide member 14 can be guided to the first slide member 13 while sliding along the second direction A2. As a result, as shown in FIG. 2, the irradiation position adjusting unit 15 can adjust the irradiation position F in the second direction A2 (in the present embodiment) intersecting the first direction A1. In this way, the second guide groove 13g and the second protruding portion 14f function as a second guide portion that guides the welding laser head 4 in the second direction A2.

The bracket main body 11 is provided with a first adjusting member 31 that adjusts the position of the first slide member 13 in the first direction A1 while being in contact with the first slide member 13. Specifically, on the front side of the bracket 10, ribs 11c for attaching the first adjusting member 31 are formed on the lower surface of the support plate portion 11b. The rib 11c extends along the second direction A2, and the first adjusting member 31 is screwed into the screw hole in the center of the rib 11c along the second direction A2.

In the present embodiment, the first adjusting member 31 is in contact with the first slide member 13 on the first extension line L1 along the direction in which the first guide groove 11g extends. By providing the first adjusting member 31 on the first extension line L1 of the first guide groove 11g, the first adjusting member 31 is centered on the first protruding portion 13f when the positioning adjustment of the first slide member 13 is performed by the first adjusting member 31. No moment is applied to the slide member 13, and stable adjustment can be performed. In the present embodiment, a positioning member (fastening member) 31a such as a nut is further screwed to the first adjusting member 31, and by tightening the positioning member 31a toward the rib 11c, the first adjusting member 31 The position of is fixed.

Here, in the present embodiment, the first direction A1 is the vertical direction, and the first adjusting member 31 comes into contact with the first slide member 13 from below the first slide member 13 to bring the first slide member 13 into contact with the first slide member 13. The position of 13 is adjusted along the first direction A1. As a result, by utilizing the own weight of the first slide member 13, if the first adjusting member 31 is brought into contact with the first slide member 13 only from below, the first slide member 13 can be adjusted in the vertical direction. As a result, the structure of the bracket 10 can be adopted as a simple structure.

Further, the first slide member 13 is provided with a pair of second adjusting members 32, 32 for adjusting the position of the second slide member 14 in the second direction A2 while being in contact with the second slide member 14. There is. Specifically, on the front side of the bracket 10, ribs 13a and 13a for attaching the second adjusting members 32 are formed on both sides of the first slide member 13. The second slide member 14 is arranged between the ribs 13a and 13a. Each rib 13a extends along the first direction A1, and each second adjusting member 32 is screwed into a screw hole in the center of the rib 13a formed along the first direction A1.

In the present embodiment, the second adjusting member 32 is in contact with the second slide member 14 on the second extension line L2 along the direction in which the second guide groove 13g extends. By providing the second adjusting member 32 on the second extension line L2 of the second guide groove 13g, the second sliding member 14 has a second protruding portion when the second adjusting member 32 adjusts the positioning of the second slide member 14. No moment is applied around 14f, and stable adjustment can be performed. Further, a positioning member 32a such as a nut is further screwed to each second adjusting member 32, and the position of each second adjusting member 32 is fixed by tightening the positioning member 32a toward the rib 13a. To.

The second slide member 14 is formed with four mounting holes 14a, 14a, ... For mounting the welding laser head 4. The optical axis C of the laser beam L of the welding laser head 4 is the same as that of the first direction L1 in a state where the welding laser head 4 is attached to the second slide member 14 via these mounting holes 14a, 14a, ... Oriented in the direction.

The first slide member 13 and the second slide member 14 configured in this way are four fixtures 41, 41, ... For inserting them, and a pair of ends screwed to the tips of the fixtures 41. The plates 18 and 18 are attached to the bracket main body 11. The fixed structures of the first slide member 13 and the second slide member 14 are shown below.

More specifically, a pair of first elongated holes 11d extending along the first direction A1 are formed on both sides of the support plate portion 11b of the bracket main body 11, and the first slide member 13 has a first length. Four through holes 13d are formed at positions corresponding to the holes 11d. Further, the second slide member 14 is formed with four second elongated holes 14d extending along the second direction A2 at positions corresponding to the through holes 13d, and the end plate 18 is formed with each fixture. A screw hole 18d to be screwed to the tip of 41 is formed.

In the present embodiment, the fixture 41 is inserted into the first elongated hole 11d, the through hole 13d, and the second elongated hole 14d, and the fixture 41 is tightened to the end plate 18 to form the fixture 41. The first slide member 13 and the second slide member 14 are fixed to the bracket body 11. In the present embodiment, the end plate 18 is provided with a screw hole 18d and the tip of the fixture 41 is screwed. For example, the end plate 18 is provided with a through hole instead of the screw hole 18d and protrudes from the end plate 18. A fastening member such as a nut may be tightened to the tip of the fixture 41.

In the present embodiment, as described above, the first guide groove 11g and the first protruding portion 13f are engaged with each other, and the second guide groove 13g and the second protruding portion 14f are engaged with each other to be attached to the second slide member 14. The welding laser head 4 is adjusted more accurately and easily along the first and second directions A1 and A2, and the postures of the first slide member 13 and the second slide member 14 before fixing are stable. .. Therefore, in this stable posture, the fixtures 41 can be easily inserted into the first elongated hole 11d, the through hole 13d, and the second elongated hole 14d. Further, in the present embodiment, since the tips of the two fixtures 41 and 41 can be aligned with one end plate 18, it is possible to avoid the misalignment of the fixture 41.

In this way, the first elongated hole 11d and the second elongated hole 14d are not used as reference for alignment, and the first protruding portion 13f is slid into the first guide groove 11g with the fixture 41 inserted therein. The second protrusion 14f is slid into the second guide groove 13g, and the positions of the first slide member 13 and the second slide member 14 (that is, the positions of the first and second directions A1 and A2 of the welding laser head 4). Can be easily adjusted.

At this time, when the first protruding portion 13f is slid into the first guide groove 11g, the irradiation position F of the welding laser head 4 moved by the irradiation position adjusting portion 15 as shown in FIGS. 3A and 3B. The locus Tf1 is a locus along the first direction A1. On the other hand, when the second protrusion 14f is slid into the second guide groove 13g, the locus Tf2 of the irradiation position F of the welding laser head 4 moved by the irradiation position adjusting portion 15 becomes a locus along the second direction A2. ..

Here, the bracket body 11 has a first elongated hole 11d formed along the first direction A1, and the second slide member 14 has a second elongated hole along the second direction A2 orthogonal to the first direction A1. The hole 14d is formed. Therefore, after adjusting the positions of the first slide member 13 and the second slide member 14 with the fixture 41 inserted through these elongated holes, the first slide member 13 and the second slide are inserted into the bracket body 11. The member 14 can be easily fixed with the four fixtures 41, 41, ....

Further, if the through hole 13d of the first slide member 13 is a hole corresponding to the size and shape of the fixture 41, tightening is performed regardless of the size and shape of the first and second elongated holes 11d and 14d. The inserted posture of the front fixture 41 can be stabilized. As a result, the fixing work by the fixture 41 can be performed more easily.

Further, in the present embodiment, if a lubricant such as grease is arranged in at least one of the first guide groove 11 g and the second guide groove 13 g, heat conduction between the bracket main body 11 and the first slide member 13 or It is possible to suppress heat conduction between the first slide member 13 and the second slide member 14.

In addition to this, a gap is formed between the bracket main body 11 and the first slide member 13 by interposing a lubricant between the groove bottom surface of the first guide groove 11g and the first protrusion 13f. May be good. Further, a gap may be formed between the first slide member 13 and the second slide member 14 by interposing a lubricant between the groove bottom surface of the second guide groove 13g and the second protrusion 14f. .. In this way, it is possible to prevent the heat during welding of the work W from being conducted from the second slide member 14 to the robot body 2 via the first slide member 13 and the bracket body 11.

As described above, according to the present embodiment, after the first and second slide members 13 and 14 are individually adjusted by the first and second adjusting members 31 and 32, they are fixed to the bracket body 11 by the fixture 41. Therefore, the position of the welding laser head 4 can be adjusted easily and accurately.

4-2. Bracket body 11 and angle adjusting part 16 The angle adjusting part 16 is a part that adjusts the feeding angle θ of the welding wire M of the arc welding torch 5, and is a part that adjusts the feeding angle θ from the back side of the bracket 10 via the fixture 42. It is attached to 11. As shown in FIGS. 5 and 8, the angle adjusting portion 16 has an arch-shaped (arc-shaped) main body portion 16a, and the main body portion 16a has a main body portion 16a with respect to the bracket main body 11. An arc-shaped guide elongated hole 16b that is relatively rotated is formed. In the present embodiment, the center of the arc formed by the long guide hole 16b and the center of curvature of the inner peripheral surface 16h formed inside the main body portion 16a coincide with each other.

The support plate portion 11b of the bracket main body 11 is formed with an engaging convex portion 11f having a contact surface 11h that abuts on the inner peripheral surface 16h according to the shape of the inner peripheral surface 16h of the arc of the main body portion 16a. ing. The contact surface 11h has the same shape as the outer peripheral surface of a part of the disk having the same radius of curvature as the inner peripheral surface 16h. In this way, the main body portion 16a and the engaging convex portion 11f function as a second guide portion that guides the arc welding torch 5 in the rotational direction that changes the feeding angle θ of the welding wire M.

When adjusting the position of the arc welding torch 5 by the angle adjusting portion 16, the main body portion 16a with respect to the contact surface 11h of the engaging convex portion 11f with the fixture 42 inserted through the guide elongated hole 16b. The inner peripheral surface 16h of the above can be brought into sliding contact. As a result, the locus Tm of the tip Ma of the welding wire M moved by the angle adjusting unit 16 draws an arc (see FIG. 3B).

As shown in FIG. 4, a guide 16c is formed on one end side of the main body portion 16a of the angle adjusting portion 16, and the guide 16c has an engaging groove that engages with the connection block 16e to which the arc welding torch 5 is attached. 16d is formed. The connection block 16e is fixed by the fixture 44 from the back side of the bracket 10 in a state of being engaged with the engagement groove 16d. In the present embodiment, a shim (spacer) 16f for adjusting the position of the tip Ma of the wire M supplied from the arc welding torch 5 in the third direction A3 is arranged in the engaging groove 16d.

Specifically, as shown in FIG. 2, the loci Tf1 and Tf2 of the irradiation position F of the welding laser head 4 moved by the irradiation position adjusting unit 15 by the shim 16f, and the welding wire M moved by the angle adjusting unit 16. The thickness of the shim 16f is set so that the locus Tm of the tip Ma of the above is on the same plane P.

As a result, the loci Tf and Tf2 of the irradiation position F of the welding laser head 4 moved by the irradiation position adjusting unit 15 and the locus Tm of the tip Ma of the welding wire M moved by the angle adjusting unit 16 are on the same plane P. The welding laser head 4 and the arc welding torch 5 move P on the same plane. As a result, the robot 1 can be made more compact than the case where these trajectories exist on different planes.

In this way, with the guide elongated hole 16b of the angle adjusting unit 16 and the through hole 11e of the bracket main body 11 inserted, the angle adjusting unit 16 adjusts the feeding angle θ of the welding wire W, and then adjusts the angle. The portion 16 is fixed to the bracket main body 11. At this time, a fastening member (not shown) such as a nut is tightened from the front side of the bracket 10 to the tip of the fixture 42.

In this way, the angle adjusting unit 16 attaches the angle adjusting unit 16 and the irradiation position adjusting unit 15 to the bracket main body 11 with the bracket main body 11 interposed therebetween. As a result, the mounting positions of the welding laser head 4 and the arc welding torch 5 can be separated from each other, and mechanical interference between the welding laser head 4 and the arc welding torch 5, cables associated therewith, etc. Mechanical interference can be avoided. Further, when the loci Tfl and Rf2 of the irradiation position F of the laser beam L and the locus Tm of the tip Ma of the welding wire M are on the same plane P, such mechanical interference is likely to occur, and the irradiation position is adjusted. By separating the portion 15 and the angle adjusting portion 16 with the bracket main body 11 interposed therebetween, such mechanical interference can be avoided.

In this way, in the present embodiment, the irradiation position adjusting unit 15 adjusts the irradiation position F of the laser beam L emitted from the welding laser head 4, and the angle adjusting unit 16 sends the welding wire M of the arc welding torch 5. The adjustment of the supply angle θ can be adjusted independently.

As shown in FIGS. 3A and 3B, the irradiation position adjusting unit 15 adjusts the irradiation position F of the welding laser head 4 with respect to the position of the tip Ma of the welding wire M, and the angle adjusting unit 16 adjusts the irradiation position F. The feeding angle θ of the arc welding torch 5 with respect to the optical axis C of the laser beam L can be adjusted. As a result, even if the position of the tip Ma of the welding wire M of the arc welding torch 5 is not directly adjusted in the first direction A1, if the irradiation position F of the welding laser head 4 is adjusted, the result is welding. The irradiation position F of the welding laser head 4 can be adjusted with respect to the position of the tip Ma of the wire M.

Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various designs are designed without departing from the spirit of the present invention described in the claims. You can make changes.

In the present embodiment, the bracket main body 11 is detachably attached to the irradiation position adjusting portion 15 and the angle adjusting portion 16, but these may be integrally formed with the bracket main body.

In the present embodiment, the bracket body 11 is provided with the first guide groove 11g, and the first slide member 13 is provided with the first protrusion 13f. However, the first slide member is provided with the first guide groove, and the bracket body is first provided with the first guide groove. A protrusion may be provided. Similarly, the first slide member 13 is provided with the second guide groove 13 g, and the second slide member 14 is provided with the second protrusion 14f. However, the second slide member is provided with the second guide groove, and the first slide member is provided with the second guide groove. A second protrusion may be provided. Further, in the present embodiment, the first and second protrusions and the corresponding first and second guide grooves are provided one by one, but a plurality of sets of these may be provided.

1: Welding robot 2: Robot body 4: Laser head for welding 5: Torch for arc welding 10: Bracket, 11: Bracket body, 11g: 1st guide groove, 13g: 2nd guide groove, 13f: No. 1 protruding part, 14f: second protruding part, 15: irradiation position adjusting part, 16: angle adjusting part, 41: fixture, A1: first direction, A2: second direction, C: optical axis, F: irradiation position , L1: 1st extension line, L2: 2nd extension line, M: welding wire, P: flat surface, Tf1, Tf2: locus of irradiation position, Tm: locus of wire tip, W: work, θ: feeding angle

Claims (5)

A laser head for welding that irradiates the work with laser light,
An arc that generates an arc between the tip of the welding wire and the work while feeding the welding wire toward the work from a predetermined feeding angle with respect to the optical axis of the laser beam of the welding laser head. Welding torch and
A robot body in which the welding laser head and the arc welding torch are fixed to the tip via a bracket,
It is a welding robot equipped with at least
The bracket
An irradiation position adjusting unit that adjusts the irradiation position of the welding laser head with respect to the work,
An angle adjusting unit for adjusting the feeding angle of the welding wire of the arc welding torch, and
Is equipped with
A welding robot characterized in that the adjustment of the irradiation position by the irradiation position adjusting unit and the adjustment of the feeding angle by the angle adjusting unit can be independently adjusted. The irradiation position adjusting unit can adjust the irradiation position at least in the first direction along the optical axis of the laser beam.
The first aspect of the present invention is that the locus of the irradiation position of the welding laser head moved by the irradiation position adjusting unit and the locus of the tip of the welding wire moved by the angle adjusting unit are on the same plane. Described welding robot. The welding robot according to claim 2, wherein the irradiation position adjusting unit can further adjust the irradiation position in a second direction orthogonal to the optical axis of the laser beam. The bracket includes a bracket body fixed to the tip of the robot body, and the angle adjusting portion fixes the arc welding torch and is movably attached to the bracket body to irradiate the irradiation. The welding robot according to any one of claims 1 to 3, wherein the position adjusting unit fixes the welding laser head and is movably attached to the bracket body. The welding robot according to claim 4, wherein the angle adjusting unit and the irradiation position adjusting unit are attached to the bracket body with the bracket body interposed therebetween.