JP2575070Y2 - Welding equipment - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding operation apparatus having a traveling robot capable of performing a work transfer operation as well as a work welding operation.

[0002]

2. Description of the Related Art Conventionally, as disclosed in Japanese Utility Model Application Laid-Open No. 60-84278, for example, a welding gun and a work holder are mounted on a robot arm and a work after welding is carried out to a predetermined position. There are known complex working robots.

In the complex working robot described in the above publication, a base is fixed on a base formed on the floor, a robot arm is rotatably provided on the base, and a welding gun is attached to a tip of the robot arm. ing. Further, the work holder is detachably attached to the intermediate portion of the robot arm, and is detached from the robot arm during welding work. After the welding operation is completed, the work holder is mounted on the robot arm, and the work is conveyed by rotating the robot arm.

[0004]

However, the welding gun is provided with a power supply cable, a hose for supplying pressurized air, a pipe for supplying cooling water, and the like. When the base is fixed on the floor, it can be said that the existence of the cables is rarely a problem when transferring the work.However, the robot travels on the floor to transfer the work. In the case of a traveling robot, the cables attached to the welding gun are entangled with the robot, the traveling distance is restricted, and there is a problem that the cables are disconnected or the robot is entangled.

[0005] In view of the above-mentioned circumstances, an object of the present invention is to provide a welding operation apparatus which solves the problem of interference of the cables during traveling for work transfer operation.

[0006]

SUMMARY OF THE INVENTION According to the present invention, there is provided a welding apparatus having a traveling robot capable of performing a transfer operation in addition to a welding operation on a work by mounting a welding gun and a work holder on a robot arm so as to be interchangeable. In working equipment,
A cable attached to the welding gun is provided together with the welding gun when the work holder is mounted, and a means for removing the cable from the robot arm. In this case, it is preferable that holding means for holding the cable is provided in the arm portion of the robot arm, and the holding of the cable by the holding means is released when the work holder is mounted.

[0007]

According to the present invention, the cable attached to the welding gun is detached from the robot arm together with the welding gun when the work holder is mounted. In other words, it is possible to prevent the traveling distance of the traveling robot from being restricted by the cable, and prevent the cable from being broken or entangled. If the arm of the robot arm is provided with holding means for releasing the holding of the cable when the work holder is mounted, the work of replacing the welding gun with the work holder becomes easy.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing a state in which a traveling robot 1 for performing a welding operation and a transfer operation on a work has a welding gun 2 attached thereto.

The traveling robot 1 has a base 3 provided so as to be able to travel with respect to a floor surface 4, and a robot arm 5 is rotatably mounted on the base 3.

The welding gun 2 is detachably attached to the distal end of the robot arm 5 via a chucking unit 6, and a power supply cable is provided between a power transformer 7 provided on the floor 4 and the welding gun 2. 8 are connected.

In the middle of the cable 8, a cable holding member 9 for holding the middle part of the cable 8 and detachably locking it to the robot arm 5 is attached.
The cable holding member 9 is integrally provided with chucked portions 9a and 9b formed of pillars extending upward and downward.

The cable holding member 9 is provided with an air hose 10 and a cooling water pipe 11 for supplying pressurized air and cooling water to the welding gun 2 respectively.
It is supported with.

On the other hand, in the arm portion of the robot arm 5,
A chucking unit 12A for detachably engaging a chucked portion 9a extending upward from the cable holding member 9 is attached.

As shown in FIG. 2, the chucking unit 12A includes a pair of holding members 13, 14 for holding the chucked portion 9a of the cable holding member 9. One holding member 13 is fixed on the robot arm 5, and the other holding member 14 is attached to a tip of a piston rod 16 of a cylinder 15 fixed on the robot arm 5. The holding member 14 advances and retreats with respect to the holding member 13 by the action of the cylinder 15, and the cable holding member 9
The chucked portion 9a of this embodiment can be chucked and unchucked.

On the floor 4, a chucking unit having the same configuration as the chucking unit 12A is provided.
A cable table 17 having 12B is provided. The chucking unit 12B is configured to be able to chuck and unchuck a chucked portion 9b extending downward from the cable holding member 9. Furthermore, on the floor surface 4,
A gun mount 18 for mounting the welding gun 2 when the welding gun 2 is detached from the tip of the robot arm 5.
Is arranged.

FIG. 3 shows a configuration in which the traveling robot 1 can transfer the workpiece W by attaching the workpiece holder 19 to the end of the robot arm 5 via the chucking unit 6 instead of the welding gun 2. FIG.

In this case, the welding gun 2 is mounted on a gun table 18 on the floor 4 and the cable holding member 9 is such that the chucked portion 9a is unchucked from the chucking unit 12A on the robot arm 5 side. Instead, the chucked portion 9b is chucked by the chucking unit 12B on the floor 4 so that it is held by the cable table 17 on the floor 4.

Therefore, in this state, the traveling robot 1 and the cable 8 become irrelevant, and the traveling robot 1
Work holder attached to the tip of the robot arm 5
In a state where the workpiece W is held by using the workpiece 19, the workpiece unloading station 21 from the welding station 20 shown in FIG.
The work W can be conveyed without interference by the cable 8. In FIG. 4, reference numeral 22 denotes a table of the work holder 19 when the work holder 19 is detached from the robot arm 5.

As is apparent from the above description, in this embodiment, the welding gun 2 is detached from the robot arm 5 and placed on the mounting table 18 on the floor 4 during the work transfer operation. The cable 8 and the like that have been removed together with the cable holding member 9 are removed from the chucking unit 12A on the robot arm 5 and are held by the chucking unit 12B provided on the cable table 17 on the floor 4. Even if the distance between the welding station 20 and the work unloading station 21 is long, there is an advantage that the work W can be freely conveyed without being affected by the cable 8 or other interference. Naturally, the disconnection of the cable 8 during the transfer of the work W,
No clinging or the like occurs.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a state in which a traveling robot of a welding work device according to an embodiment of the present invention has a welding gun mounted thereon.

FIG. 2 is a plan view of a chucking unit of the cable holding member.

FIG. 3 is a configuration diagram showing a state in which a traveling robot conveys a work.

FIG. 4 is a plan view schematically showing a working state of the traveling robot.

[Explanation of symbols]

 Reference Signs List 1 traveling robot 2 welding gun 5 robot arm 6 chucking unit 7 power transformer 8 power supply cable 9 cable holding member 9a, 9b chucked parts 12A, 12B chucking unit 15 cylinder 16 piston rod 17 cable holder 18 gun holder 19 work Holding tool

Claims (2)

(57) [Scope of request for utility model registration] 1. A welding operation apparatus having a traveling robot capable of performing a transfer operation in addition to a welding operation on a work by mounting a welding gun and a work holder on a robot arm so as to be interchangeable with each other. A welding operation apparatus comprising: means for removing an associated cable from the robot arm together with the welding gun when the work holder is mounted. 2. A holding means for holding the cable in an arm portion of the robot arm, wherein the holding means releases the holding of the cable when the work holder is mounted. 2. The welding operation device according to 1.