JP2509293Y2 - Robot gun device with equalizer - 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 gun device equipped with a fluid cylinder type equalizer.

[0002]

2. Description of the Related Art A conventional robot gun device equipped with a fluid cylinder type equalizer of this type will be described with reference to FIG.
In the figure, reference numeral 31 is a manipulator arm, and the tip of the manipulator arm is a fluid cylinder 3 for equalizing the gun body 32.
3 is attached and a shaft 3 for guiding the gun body 32
The through hole 35 for 4 is formed. The gun body 32 is provided with a pressurizing cylinder 36 as in a normal gun, and the piston rod 37 of the fluid cylinder 33 and the guide shaft 34 are fixedly attached.

A rear chamber 38 of the fluid cylinder 33 is provided.
To the gun body 32 by supplying pressurized fluid to the manipulator
The manipulator is operated at a position advanced with respect to the arm 31 to position the gun body 32 with respect to the work 39. Then, when the welding pressurizing operation is started by the pressurizing cylinder 36, if the pressure fluid in the rear chamber 38 of the fluid cylinder 33 is removed, the gun main body 32 becomes the floating state, and the original equalizing action is performed. .

[0004]

When the gun body 32 is used in a tilted state as described above, the weight of the gun body 32 affects + or-and a desired equalizing action is not performed. There is a problem that it adversely affects the work.

The present invention has been made in view of the above problems, and an object of the present invention is to control a fluid pressure in a fluid cylinder to cause a work caused by the weight of a gun body. The present invention aims to provide a robot gun device equipped with an equalizer that can cancel the force applied to the work and prevent the work from being deformed.

[0006]

In order to achieve the above object, a robot gun apparatus equipped with an equalizer according to the present invention has a manipulator arm or a gun main body provided with an angle detector for detecting a tilt angle of the gun. However, the fluid supply pressure to the fluid cylinder of the equalizer is adjusted according to the inclination angle of the gun by the angle detector.

[0007]

Since the robot gun device is provided with the equalizer constructed as described above, when the gun body is used while being tilted, the force applied to the work due to the weight of the gun body is It is offset by controlling the fluid pressure.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a side view of a robot gun device equipped with an equalizer according to the present invention. Reference numeral 1 is a manipulator arm, and a fluid cylinder 3 for equalizing a gun body 2 is attached to the tip of the manipulator arm. A through hole 5 for the shaft 4 that guides the gun body 2 is formed.
The gun body 2 is provided with a pressurizing cylinder 6 like a normal gun, and the piston rod 7 of the fluid cylinder 3 and the guide shaft 4 are fixed to the gun body 2.

An angle detector 8 for detecting the inclination angle of the gun is disposed below the pressure cylinder 6 at the rear of the gun body 2. Since the angle detector 8 detects the inclination angle of the gun, the angle detector 8 may be provided, for example, in the manipulator arm 1 as long as it is not limited to this position and does not interfere with the welding operation.

In FIG. 1, 9 is a pressure rod, 1
0 is arm, 11 and 12 are welding electrodes, 13 is work, W
Is the weight of the gun body 2, and θ is the inclination angle of the gun body 2.

Further, in FIG. 2, 14 is an electromagnetic switching valve,
Reference numeral 15 is a fluid pressure control valve, 16 is a fluid pressure source, 17 is a controller, 18 is a rear chamber of the fluid cylinder 3, and 19 is a front chamber of the fluid cylinder 3.

In the embodiment having the above construction, the pressure fluid is supplied to the rear chamber 18 of the fluid cylinder 3 and the manipulator is operated at the position where the gun body 2 is advanced with respect to the manipulator arm 1. Then, the gun body 2 is positioned with respect to the work 13, and the gun body 2 is in the state shown in FIG. At this time, the angle detector 8 detects that the gun body 2 is inclined by θ with respect to the horizontal line.

The tilt angle θ from the angle detector 8 is calculated as WL = Wsinθ in the controller 17, and the fluid pressure control valve 15 is arranged so as to send the fluid pressure corresponding to that value to the front chamber 19 of the fluid cylinder 3. To control. Further, when the tilt angle is positive, the electromagnetic switching valve 14 has a fluid pressure that cancels the force applied to the work 13 due to the weight of the gun body 2 in the front chamber 19 of the fluid cylinder 3 as shown. Control supply,
When the inclination angle is negative, the fluid pressure is switched to the rear chamber 18 of the fluid cylinder 3 in a controlled manner.

Then, as described above, the welding operation is performed in a state where the fluid pressure for canceling the force applied to the work 13 due to the weight of the gun body 2 is controlled and supplied to one chamber of the fluid cylinder 3. Therefore, an external force due to the weight of the gun body 2 is not applied to the work 13 during the welding work.

[0015]

The robot gun device equipped with the equalizer according to the present invention is provided with an angle detector for detecting the inclination angle of the gun in the manipulator arm or the gun body, and the inclination angle of the gun by the angle detector is arranged. Since the fluid supply pressure to the fluid cylinder of the equalizer is adjusted according to the above, even if the gun body is used at any inclination angle, the force due to the weight of the gun body against the work during welding work The work is not deformed and the work is sufficiently prevented from being deformed.

[Brief description of drawings]

FIG. 1 is a side view of a robot gun device including an equalizer according to the present invention.

FIG. 2 is a schematic explanatory diagram of a control system used in the present invention.

FIG. 3 is a side view of a robot gun device including an equalizer of a conventional example.

[Explanation of symbols]

 1 Manipulator arm 2 Gun body 3 Fluid cylinder 8 Angle detector 14 Switching valve 15 Fluid pressure control valve

Claims (1)

(57) [Scope of utility model registration request] 1. A robot gun device equipped with a fluid cylinder type equalizer, wherein an angle detector for detecting a tilt angle of the gun is arranged on a manipulator arm or a gun body,
A robot gun apparatus equipped with an equalizer, characterized in that the fluid supply pressure to the fluid cylinder of the equalizer is adjusted according to the inclination angle of the gun by the angle detector.