JP2506551Y2 - Arc welding robot - Google Patents

Description

[Detailed description of the device]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot for performing arc welding work, and more particularly to an arc welding robot which can be particularly advantageously performed when the shape of a work to be applied is large.

[0002]

2. Description of the Related Art When the size of a work to be applied is large and the welding line is distributed over a wide range, if a fixed type robot welding system is used like a conventional device, the device becomes large and the space occupied by it is large. I have no choice. In addition, it is difficult to respond swiftly when the applicable products change.

A typical prior art is shown in FIG.
When welding the bridge panel 1 which is the target work to be subjected to the stiffener welding, which is a kind of arc welding, by using the welding torch 3 provided at the working end of the robot body 2, the robot body 2 includes the gate-shaped support 4 And is movable in the horizontal X-axis direction 5, and this gate-shaped support is attached to a carriage 8 that is movable along a rail 7 provided on the ground and extending in the Y-axis direction 6.

[0004]

In the prior art shown in FIG. 6, the rail 7 is provided on the ground,
It is a fixed facility, and its occupied area needs to be configured to be larger than the maximum possible shape of the bridge panel 1 that is a work, and for example, requires an area of 20 m × 5 m. Further, in this prior art, when the work 1 to be welded changes significantly, it is necessary to change the gate-shaped support 4, the rail 7, the carriage 8 and the like, and line change cannot be easily performed. There's a problem.

The object of the present invention is that it occupies a small space and can respond quickly to a target work to be arc-welded, and can perform arc welding of works of various sizes. Is to provide an arc welding robot.

[0006]

According to the present invention, a robot main body having a plurality of axes and having a welding torch attached to a working end, a carriage, and a robot main body mounted on the carriage can be changed into a wall hanging posture and a ceiling suspension posture. An arc welding robot characterized by including means for mounting on a trolley, a robot controller mounted on a trolley for controlling operation of a robot body, and a welding power source mounted on the trolley for supplying welding power to a welding torch. .

Further, according to the present invention, a vertical support member is erected and fixed on the carriage, and an elevating body is provided along the vertical support member so as to be vertically displaceable. The elevating body is provided with the mounting means. A single collective lifting connection piece is fixed to the top of the vertical support member, and the robot body, robot controller, welding power source, etc. are set so that the carriage is in a substantially horizontal posture when lifted by the connection piece. It is characterized by the arrangement of and.

[0008]

According to the present invention, a welding torch is attached to the working end of a robot main body having a plurality of axes, for example, 6 axes, and the robot main body can be changed into a wall mounting posture and a ceiling suspension posture. This robot is equipped with a robot controller that controls the operation of the robot body and a welding power supply that supplies welding power to the welding torch.
Therefore, even if the size and shape of the target work differ greatly, using the arc welding robot of the present invention, the trolley must be moved and installed according to the installation position of the work and the welding line to be arc-welded to perform welding work. You can Therefore, the occupied area of the arc welding robot of the present invention can be small, and more welding lines can be targeted for robotization.

Further, according to the present invention, a collective hoisting connecting piece is fixed to the bogie, and when the connecting piece is hoisted by a crane or the like, the bogie has almost the same state as when traveling on the ground. Similarly, so that the posture is almost horizontal,
Since the layout such as the robot body, robot controller, and welding power source is determined, it is possible to quickly move and install the arc welding robot of this case using a crane according to the installation position and welding line of the workpiece. is there.

[0010]

1 is a perspective view of an embodiment of the present invention, FIG. 2 is a side view of the embodiment, FIG. 3 is a plan view of the embodiment, and FIG. 4 is a view of the embodiment. It is a front view. With reference to these drawings, a welding torch 11 for arc welding
Is attached to the working end 13 of the robot body 12,
The robot main body 12 has six axes, and the robot main body 12 is provided with a carriage 15 via a posture changing means 14 and a lateral support member 35 and a vertical support member 41 which constitute an external axis.
Be attached to. The dolly 15 has four wheels 16 and can run on the floor of the factory. On the carriage 15, a robot controller 1 for controlling the operation of the robot body 12
7 and welding power source 1 for supplying welding power to the welding torch 11.
8 is mounted, and electric power is supplied to the robot controller 17 and the welding power source 18 from a connecting means 20 provided on the floor via a flexible wire 19. A flexible tube for supplying compressed air or the like for power is also connected to the carriage 15 from the connecting means 20.

FIG. 5 is a front view of the robot body 12.
In the robot body 12, the moving body 22 is angularly displaced around the axis 23 on the base 21, the first axis JT1, and the arm 2
The second axis JT2 in which 4 is angularly displaced around the axis 25, and the third axis JT3 in which the moving body 26 is angularly displaced around the axis 27.
A fourth axis JT4 in which the arm 28 is angularly displaced around the axis 29, a fifth axis JT5 in which the moving body 30 is angularly displaced around the axis 31, and a working end 13 is angularly displaced around the axis 32. It has a 6-axis JT 6 and the welding torch 11 is attached to the working end 13 as described above.

The base 21 of the robot body 12 is fixed to a mounting member 33, and the mounting member 33 is provided at the end of the lateral support member 35 so as to be angularly displaceable around a horizontal shaft 34. The bracket 3 is attached to the end of the lateral support member 35.
A double-acting hydraulic cylinder 37 is angularly displaceable by means of a horizontal pin 38, and a piston rod 39 of this cylinder 37 is connected to a mounting member 33 by a pin 40. When the piston rod 39 is extended as shown in FIGS. 1 and 2, the axis 23 of the robot body 12 extends in the vertical direction, and the robot body 12 is in a suspended posture. When the piston rod 39 is contracted, the axis line 23 of the robot body 12 becomes horizontal and the wall hanging posture 12a shown by the white line is obtained. Thus, the posture changing means 14 is configured to include the support member 33 and the cylinder 37.

A vertical support member 41 is erected vertically and fixed on the carriage 15, and the lift 42 can be displaced up and down along the vertical support member 41. A horizontal support member 35 is supported on the lifting body 42 by a roller 43 so as to be movable in the left-right direction in FIG. A rack 44 is fixed to the lateral support member 35 and meshes with a pinion 45 provided on the elevating body 42. When the pinion 45 is driven by the motor 46 attached to the lifting body 42, the horizontal support member 35 can be moved in the horizontal direction.

The vertical support member 41 penetrates the lifting body 42,
It is supported by rollers 47 provided on the lifting body 42.
A rack 48 is fixed to the vertical support member 41,
A pinion 49 provided on the elevating body 42 meshes with the rack 48, and the pinion 49 is driven by a motor 50 so that the elevating body 42 can be vertically displaced. Lifting body 42
The state where is at the lower limit position is indicated by reference numeral 51 in FIG.

A mounting base 52 is fixed to the vertical support member 41 mounted on the carriage 15 as described above, and the robot controller 17 and the welding power source 18 are mounted on the mounting base 52.
And are fixed. The vertical support member 41 may be provided on the carriage 15 so as to be angularly displaceable around its vertical axis, and may be configured to be rotated by a drive source including a motor or the like to set the angle.

The wheels 16 of the carriage 15 are driven by a drive source 53 such as a motor and can move by themselves. In this arc welding robot, it is not necessary to lay rails on the floor.

The dolly 15 also has legs 5 that are vertically extendable and retractable.
4 is provided corresponding to each wheel 16, and at the time of welding work,
The legs 54 extend to raise the truck 15 so that the wheels 16 are above the floor, which prevents the truck 15 from undesirably moving during the welding operation.

A single collective lifting connecting piece 55 is fixed to the top of the vertical support member 41, and a connecting hole 56 is formed in the connecting piece 55. 5 pieces connected by crane
The wire can be inserted into the connecting hole 56 of No. 5 or the connecting locking member can be connected to the inserting hole 56 by a crane to suspend the entire arc welding robot of the present invention from the floor.
When the arc welding robot is hoisted and moved by the crane, the lifting body 42 is lowered as indicated by reference numeral 51 in FIG. 2, and the lateral support member 35 is moved from the state shown by the solid line in FIG. It should be in a state of retreating to the right. When the arrangement of the robot body 12, the robot controller 17, the welding power source 18, and other members is appropriately determined, and when the robot body 12 is lifted by the connecting piece 55, the upper surface 15a of the carriage 15
Is kept almost horizontal. In this way, it becomes easy to move the arc welding robot of the present invention by using the crane, and to move and install the robot in accordance with the installation position and the welding line of the work to be welded in a large size. In the state indicated by reference numeral 51, the robot body 12 is in a wall-hanging posture. By setting the robot body 12 in the ceiling suspension posture shown by the solid line in FIG. 2, downward welding can be performed using the welding torch 11, and the cylinder 37 is driven to bring the robot body 12 into the wall-hanging posture. Thus, for example, welding of a welding line extending vertically (in a straight line) can be effectively performed.

By providing the horizontal support member 35 and the vertical support member 41 so that the robot main body 12 can be displaced up and down, the operating range of the welding torch 11 can be widened, and accordingly, the high work provided on the floor. It is also possible to carry out welding. Further, as described above, since the robot body 12 can be changed to the ceiling-suspended posture and the wall-hung posture, the robot main body 12 can be placed in the optimal posture for the target work.

Although the robot main body 12 has six axes in the above-mentioned embodiment, it may have a structure having other plural axes. The posture of the robot body 12 is changed by the posture changing unit 1.
4 is changed by the expansion and contraction displacement of the hydraulic cylinder 37. The hydraulic cylinder 37 is controlled by the output of the robot controller 17, or the handle and the push button switch are manually operated to control the electric motor to change the posture of the robot body 12. You may choose to
In addition to the two wall-hung postures, the posture may be continuously changed so that an intermediate posture between them can be selected.

[0021]

[Effect of the Invention] As described above, according to the present invention, the robot is mounted on the dolly so that the robot can be hung on the wall or suspended from the ceiling, and the trolley is equipped with a robot controller and a welding power source. Since the robot main body has multiple axes, for example, 6 axes, and the welding torch is attached to its working end, the robot is moved and installed according to the installation position of the work and the welding line to perform the welding work. The arc welding robot can occupy a small space, and can respond swiftly even when the work to be arc welded changes, and more welding lines can be robotized. It can be targeted.

Further, according to the present invention, a single collective hoisting connection piece is fixed to the bogie, and when the hoisting piece is hoisted by, for example, a crane, the bogie is almost the same as when traveling on the ground. Since it has a nearly horizontal posture, it is possible to quickly move and install the arc welding robot of this case to a desired position according to the installation position of the workpiece and the welding line using a crane or the like. .

[Brief description of drawings]

FIG. 1 is a perspective view showing an entire embodiment of the present invention.

2 is a side view of the embodiment shown in FIG. 1. FIG.

3 is a plan view of the embodiment shown in FIGS. 1 and 2. FIG.

FIG. 4 is a front view of the embodiment shown in FIGS.

FIG. 5 is a front view of the robot body 12.

FIG. 6 is a perspective view of the prior art.

[Explanation of Codes] 11 Welding torch 12 Robot body 13 Working end 14 Posture changing means 15 Cart 16 Wheel 17 Robot controller 18 Welding power source 35 Horizontal support member 37 Double-acting pneumatic cylinder 41 Vertical support member 55 Collective lifting connection piece

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshiaki Mizuta 8th Niijima, Harima-cho, Kako-gun, Hyogo Prefecture Kawasaki Heavy Industries Ltd. Harima Plant (72) Inventor Mikiharu Matsushima 1-1 Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries Industry Co., Ltd. (56) References JP-A-1-127176 (JP, A) JP-A-61-86077 (JP, A) JP-A-3-8582 (JP, A) Actual Kai-hei 1-159967 (JP, U)

Claims (2)

(57) [Scope of utility model registration request] 1. A robot main body having a plurality of axes, to which a welding torch is attached at a working end, a trolley, a means for mounting the robot main body on the trolley so that the robot main body can be hung on a wall or suspended from a ceiling, and the trolley An arc welding robot, comprising: a robot controller that is mounted and that controls the operation of the robot body; and a welding power source that is mounted on a carriage and that supplies welding power to a welding torch. 2. A vertical support member is erected and fixed to the cart, and an elevating body is provided along the vertical support member so as to be vertically movable. The elevating body is provided with the mounting means, Arrangement of the robot body, robot controller, welding power source, etc. so that a single collective hoisting connection piece is fixed to the top of the support member, so that the cart will be in a substantially horizontal posture when hoisted by the connecting piece. The arc welding robot according to claim 1, wherein: