JP5184956B2 - Electrode tip removal device, electrode tip exchange device, electrode tip removal system, and electrode tip exchange system - Google Patents

Description

  The present invention relates to an electrode tip detachment device, an electrode tip replacement device, an electrode tip detachment system, and an electrode tip detachment device for removing an electrode tip attached to a spot welding shank or removing an electrode tip and attaching a new electrode tip. The present invention relates to an electrode tip exchange system.

  Conventionally, electrode tips mounted in a press-fit state by taper fitting at the tip of a spot welding shank are deformed and worn as the number of welding increases, so the tip is ground continuously at an appropriate time. It is used, but when it reaches the limit of use, it must be replaced with a new electrode tip. When replacing the electrode tip, as a means for removing the electrode tip at the limit of use from the shank, for example, a removal tool that allows the bifurcated tip claw portion formed at the tip portion to advance and retreat into the gap between the shank and the electrode tip ( The pair of cam holes are provided so that the lever lever is tilted, and the detaching device is provided with a tip detaching device provided with two pairs of cam engaging projections engaging with the two pairs of cam holes. The tool was advanced to allow the tip claw to enter the gap between the shank and the electrode tip, and the removal tool was tilted by the action of the cam hole, and the electrode tip was removed from the shank by lever movement of the tip claw ( Patent Document 1).

  However, in this apparatus, in order to remove the electrode tip from the shank by the lever movement of the tip claw, a bending moment is applied to the shank, and the shank is deformed by the repetition of this lever movement, so the shank needs to be replaced. There was a problem. In addition, it is possible to remove the electrode tip from the shank by tilting or swinging the shank without tilting the removal tool, and to apply a bending moment to the shank. There was a problem that the tip removal device could not be installed when the momentum of the gun increased and the welding location was narrow.

Therefore, as a means for avoiding the deformation of the shank due to the use of the above-mentioned bifurcated removal tool, for example, by positioning the electrode tip mounted on the mounting portion (shank) in the guide portion (insertion space), the tooth-shaped uneven surface The cam member (clamping member) having an outer diameter is externally contacted, and the clamping member is rotated together with the electrode tip by rotation of the shank to lock (stop rotation) the electrode tip and the clamping member (inside the clamping member and the insertion space). The electrode tip is sandwiched between the electrode and the peripheral surface so that it cannot move. The shank is further rotated from this locked state, and the shank is lifted in the pulling direction to pull out the shank from the electrode tip. An invention relating to a method and apparatus for replacing an electrode tip that is rotated to release the locked state between the electrode tip and the clamping member has been proposed. That (see Patent Document 2).
JP 2002-079382 A JP 2004-114109 A

  However, in the invention disclosed in Patent Document 2, the shank is further rotated from the locked state of the electrode tip and the holding member, and the shank is lifted in the pulling direction to pull out the shank from the electrode tip, and then the holding member is reversed. Even if the electrode chip and the holding member are released from the locked state by being rotated, there is a problem that the electrode chip is not separated from the uneven surface of the holding member. That is, when loosening the taper fitting between the press-fitted shank and the electrode tip by rotating the shank while the electrode tip is stopped, a large gap is formed between the electrode tip and the uneven surface of the clamping member. Since the surface pressure is applied and the electrode tip material is copper or copper alloy that is softer than the sandwiching member, the electrode tip is not spaced apart from the tooth-shaped uneven surface of the sandwiching member.

  In addition, for example, an inclined surface is formed on the bifurcated tip claw portion of the removal tool disclosed in Patent Document 1, and the electrode tip and the clamping member are urged by the inclined surface toward the tip side of the shank. Even when the shank is rotated from the locked state, the force that separates the electrode tip from the concave / convex surface of the holding member by urging the electrode tip from the direction perpendicular to the axis does not act, so the electrode tip bites into the concave / convex surface of the holding member. This state is maintained, and the electrode tip cannot be dropped and discharged from the insertion space by its own weight.

  Therefore, the present invention has been proposed in order to solve the above-described problems of the conventional invention, and is a novel device that can easily discharge an electrode chip bitten into a holding member from an insertion space by its own weight. An object of the present invention is to provide an electrode tip detaching device, an electrode tip exchanging device, an electrode tip detaching system, and an electrode tip exchanging system.

  The present invention has been proposed in order to solve the above-described problems, and the first invention (the invention according to claim 1) is an electrode chip detaching device, which is formed in the middle part on the front end side. An insertion space into which the electrode tip attached to the tip of the shank for spot welding having a small diameter through the stepped portion is inserted, and a gap between the back surface of the electrode tip inserted into the insertion space and the stepped portion. A press-fitting member that is press-fitted into the shank and urges the electrode tip toward the tip of the shank; a first drive device that moves the press-fitting member forward and backward in the direction of the insertion space and vice versa; and insertion into the insertion space One and the other clamping members that are sandwiched between the electrode tips and rotatable about the axis of the electrode tip as a rotation axis, and at least one clamping surface of the one and the other clamping members are inserted into the insertion space. Inserted A second driving device that drives in a direction to contact and separate from the pole tip and rotates the one and the other clamping members; and the one and the other clamping members are driven by the second driving device to Chip separation means for urging the electrode chip so that the outer circumferential surface of the electrode chip and the clamping surface of one or the other clamping member are spaced apart from the electrode chip inserted into the insertion space. It is characterized by.

  In the first aspect of the invention, the electrode tip mounted on the tip of the shank for spot welding and inserted into the insertion space is urged toward the tip of the shank by the press-fitting member, and is urged toward the tip of the shank. The electrode tip is clamped by the one and the other clamping members, and the fitting between the electrode tip and the shank is loosened by rotating the axis of the electrode tip around the axis of rotation, and the fitting is loosened. The shank is extracted from the electrode tip, and the holding of the electrode tip by the one and the other holding members is released, and the outer peripheral surface of the electrode tip that has been released is separated from the holding surface of the one or the other holding member. Thus, the electrode tip can be urged by the tip separation means so that the electrode tip can be discharged from the insertion space.

  Since the press-fitting member is press-fitted between the back surface of the electrode tip inserted into the insertion space and the stepped portion and urges the electrode tip toward the tip end side of the shank, The biasing force can be easily loosened when the electrode tip is rotated by being clamped by one and the other clamping members to loosen the fitting between the electrode tip and the shank. That is, the electrode tip is press-fitted with the shank by taper fitting, and the press-fitting state is not released only by rotating the electrode tip without being able to move the tip of the shank. Although it can be rotated automatically, the press-fitted state is maintained when the rotation is stopped. In contrast, in the first aspect of the invention, the electrode tip can be rotated while urging the electrode tip toward the tip end of the shank. Therefore, when the fitting between the electrode tip and the shank is loosened, it is easily press-fitted. The state can be released.

  In the first aspect of the invention, the electrode tip can be rotated with respect to the shank while the electrode tip is held between the one and the other holding member, and the fitting between the electrode tip and the shank can be loosened. Therefore, since the shank is not rotated around the axis of the shank with respect to the sandwiched electrode tip, the gun of the welding robot is maintained stationary when the electrode tip is removed, and rotates. Therefore, there is no restriction that the chip removal device cannot be installed when the periphery of the chip removal device is narrow, as in the case where the shank is rotated with respect to the sandwiched electrode tip.

  Further, in the present invention, since the chip separating means is a constituent element, when one and the other clamping members move in the direction opposite to the center direction of the chip insertion space by driving the second driving device, the electrode chip Is biased in a direction away from the clamping surface of the clamping member by the tip separating means. Therefore, according to the first invention, when the electrode chip is clamped by the one and other clamping members, the outer peripheral surface of the electrode chip is deformed by the irregularities formed on the clamping surface of the clamping member, Even when the electrode tip bites into one of the other clamping members, the tip tip separating means urges the tip tip away from the electrode tip so that the electrode tip is securely inserted. It can be dropped downward from the space.

  Further, in a second invention (invention according to claim 2), in the first invention, the insertion space is for spot welding in which the insertion space has a small diameter through a step portion formed in a middle portion on the tip side. One side insertion port into which one electrode tip attached to the tip of one shank is inserted, and formed on the side opposite to the one side insertion port, communicated with the one side insertion port, The other side insertion port into which the other electrode tip attached to the tip of the other shank for spot welding, which has a small diameter via a stepped portion formed in the portion, is inserted, and the press-fitting member includes: It is press-fitted between the back surface of the one electrode tip inserted from the one side insertion port of the insertion space and the step portion of the one shank, and biases the one electrode tip toward the tip end side of the one shank. One press-fitting member and the other side of the insertion space The other press-fitting member that is press-fitted between the back surface of the other electrode tip inserted from the inlet and the step portion of the other shank and biases the other electrode tip toward the tip side of the other shank; It is characterized by comprising.

  In the second invention, the press-fitting member includes one press-fitting member that urges the one electrode tip inserted from the one-side insertion port of the insertion space toward the distal end side of the one shank, and the insertion space. And the other press-fitting member that urges the other electrode chip inserted from the other insertion port to the tip end side of the other shank, and is inserted from the one insertion port or the other insertion port of the insertion space. In addition, since it can correspond to either the one or the other electrode chip, it is possible to insert the electrode chip mounted on either one of the opposing shank and the other shank into the insertion space. In addition, the electrode tip insertion operation by the welding robot is simplified, the working time can be shortened, and the operation space of the welding robot can be reduced.

According to a third invention (invention according to claim 3), in the second invention, the insertion space is formed from the one electrode tip inserted from the one side insertion port and the other side insertion port. A space capable of simultaneously receiving both the inserted electrode tip and the other electrode tip;
The one and the other clamping members are formed so as to be capable of simultaneously clamping the one and the other electrode tips inserted into the insertion space and to be rotatable about the axis of the one and the other electrode tips. It is characterized by.

  In the third invention, the insertion space can simultaneously receive both the one electrode tip inserted from the one side insertion port and the other electrode tip inserted from the other side insertion port. The one and the other clamping members are configured to be spaces, and the one and the other electrode chips inserted into the insertion space can be clamped at the same time, and the axes of the one and the other electrode chips are rotational axes. Since one electrode tip attached to one opposing shank and the other electrode tip attached to the other shank are simultaneously inserted into the insertion space, the insertion space The one and the other electrode tips inserted into the inside can be sandwiched and rotated simultaneously, and the working time can be further shortened.

  According to a fourth invention (invention according to claim 4), in any one of the first, second and third inventions, the chip separating means is disposed in the insertion space, and the electrode chip is inserted inside. And a resilient member that urges the ring member in a direction away from the one or the other clamping member via the ring member. is there.

  In the fourth aspect of the invention, the tip separating means includes a ring member that is disposed in the insertion space and into which the electrode tip is inserted, and the one or other clamping member that sandwiches the electrode tip via the ring member. An elastic material that urges the ring member in a direction away from the electrode member, and the electrode tip is separated from one or the other holding member by the ring member urged by the elastic material (that is, the holding member). Is biased in the direction perpendicular to the clamping surface of the member), it is reliably separated from the clamping surface of one or the other clamping member, and can be dropped and discharged from the insertion space by its own weight. .

  According to a fifth invention (invention of claim 5), in the fourth invention, the ring member is formed in a cylindrical shape, and the one and the other clamping members are inserted 1 or A plurality of through holes are formed, and the ring member is supported by the one and other clamping members.

  In the fifth aspect of the invention, since the ring member has one and the other holding members inserted into one or a plurality of through holes and is supported by the one and the other holding members, the electrode chip removing device is provided. The directionality and the inclination angle are not limited. Therefore, even if the shank is inserted into the insertion space from any direction, the ring member does not fall off, and the electrode tip can be reliably removed. Become.

  According to a sixth invention (invention of claim 6), in any one of the first to fifth inventions, the clamping surface of the one or the other clamping member is formed in a substantially V shape. It is characterized by.

  In the sixth aspect of the invention, the clamping surface of the one or the other clamping member is formed in a substantially V shape, and even when the outer diameter of the electrode tip is different, it is always clamped at at least three points. Can be held between. It should be noted that the electrode tip can be more securely held by forming a sharp concavity and convexity on the holding surface of one and / or the other holding member to prevent slippage with the electrode tip.

  The seventh invention (the invention according to claim 7) is disposed in the vicinity of the electrode chip removing device of any of the first to sixth inventions and the electrode chip removing device, and is newly attached. An electrode chip exchanging device comprising a chip mounting device for storing a plurality of electrode chips, wherein the chip mounting device is formed on a side of the storage unit for storing the electrode chip. And an opening formed in the electrode tip through which a recess into which the tip of the shank fits is exposed, and a contact wall formed on the opposite side of the opening and in contact with the tip of the electrode tip. The chip mounting chamber is formed above the chip mounting chamber and communicates with the space in the housing portion formed in the chip mounting chamber. The plurality of electrode chips are orthogonal to the length direction of the electrode chip. Side by side A storage unit which is accommodated, is to the chip accommodating chamber there a supply opening for supplying the electrode tip to the housing portion, characterized in that it comprises a.

  According to the seventh aspect of the present invention, the electrode tip detaching device according to any one of claims 1 to 6 and a tip mounting in which a plurality of newly installed electrode tips are housed in the vicinity of the electrode tip detaching device. An electrode tip exchange device that consistently performs removal of the electrode tip attached to the tip of the shank and attachment of a new electrode tip to the shank after the electrode tip is removed. Therefore, the apparatus can be simplified and the electrode chip replacement time can be shortened.

  An eighth invention (invention according to claim 8) is an electrode tip removal system according to any one of claims 1 to 6, wherein the electrode tip is used for spot welding. Control means connected to the welding robot mounted on the shank, the first drive device and the second drive device constituting the electrode tip detaching device, and the welding robot, and connected to the control means Any of the counting means for counting the number of times of welding by the welding robot or the wear detecting means for detecting the wear value of the tip of the electrode tip, and either the number of welding times or the limit value of the wear value connected to the control means Storage means for storing such information, and by the control means, the number of weldings by the counting means or the wear value by the wear detection means. On the condition that any one has reached the limit value stored in the storage means, the step of stopping the welding operation performed by the welding robot, and the tip of the stopped shank of the welding robot stopped. Inserting the attached electrode chip into the insertion space formed in the electrode chip removal device or from the one insertion port and / or the other insertion port into the insertion space; And driving the second driving device by driving the pressing member or the one pressing member and / or the other pressing member between the back surface of the electrode chip and the stepped portion. The one and / or the other clamping member is moved, the electrode chip is clamped by the one and the other clamping member, and the one and the other clamping member are rotated. Driving the welding robot to extract the tip of the shank from the insertion space; returning the first driving means to the initial position; and returning the second driving device to the initial position. And releasing the clamping state of the electrode tip by the one and the other clamping members.

  In the eighth invention, after the welding operation of the welding robot is stopped on the condition that it is determined that the number of times of welding or the wear value of the electrode tip has reached the limit value stored in the storage means, the welding robot The electrode chip mounted on the shank is inserted into the insertion space or into the insertion space from the one insertion port and / or the other insertion port, and the back surface of the electrode chip and the step in the insertion space The press-fitting member or the one press-fitting member and / or the other press-fitting member is press-fitted between the electrode part and the electrode tip is urged toward the tip of the shank, and the one and / or the other clamping member is moved. The electrode chip is clamped and rotated by the one and other clamping members, and the tip of the shank is extracted from the insertion space, and then the electrode chip is clamped by the one and other clamping members. To release the state, dismounting of the electrode tip of the electrode tip and discharging is dropped from the insertion space it can be related to automatic welding operation of the welding robot by the control unit. And while having the effect which the said electrode tip removal apparatus has, there is no misoperation like manual operation and working time can be shortened.

A ninth invention (invention according to claim 9) is an electrode tip replacement system, wherein the electrode tip removal device according to any one of claims 1 to 4 and the electrode tip are for spot welding. Control means connected to the welding robot mounted on the shank, the first drive device and the second drive device constituting the electrode tip detaching device, and the welding robot, and connected to the control means Any of the counting means for counting the number of times of welding by the welding robot or the wear detecting means for detecting the wear value of the tip of the electrode tip, and either the number of welding times or the limit value of the wear value connected to the control means and comprising storage means to store or, and a chip mounting apparatus which constitutes the switching device of the electrode tip of claim 7, wherein, by said control means Welding operation by the welding robot performed so far, on the condition that either the number of welding by the counting means or the wear value by the wear detecting means has reached the limit value stored in the storage means And stopping the electrode tip attached to the tip of the shank of the stopped welding robot into the insertion space formed in the electrode tip removal device, or inserting the one insertion port and / or the other. A step of inserting into the insertion space from the mouth, and driving the first driving device, the press-fitting member or the one press-fitting member and / or the other press-fitting member between the back surface of the electrode chip and the stepped portion. Press-fitting and driving the second driving device to move the one and / or the other clamping member, and the one and the other clamping member A step of rotating the one and the other clamping members, a step of driving the welding robot, extracting a tip of the shank from the insertion space, and returning the first driving means to the initial position. A step of returning the second driving device to an initial position and releasing the clamping state of the electrode tip by the one and the other clamping members, and a welding robot in which the tip of the shank is extracted from the insertion space And a step of inserting the tip of the shank into an electrode chip accommodated in a mounting chamber constituting the chip mounting apparatus.

  In the ninth aspect of the invention, after the welding operation of the welding robot is stopped on the condition that the number of weldings or the wear value of the electrode tip has reached the limit value stored in the storage means, the welding robot The electrode chip mounted on the shank is inserted into the insertion space or into the insertion space from the one insertion port and / or the other insertion port, and the back surface of the electrode chip and the step in the insertion space The press-fitting member or the one press-fitting member and / or the other press-fitting member is press-fitted between the electrode part and the electrode tip is urged toward the tip of the shank, and the one and / or the other clamping member is moved. The electrode chip is clamped and rotated by the one and other clamping members, and the tip of the shank is extracted from the insertion space, and then the electrode chip is clamped by the one and other clamping members. The state is released, the electrode tip is dropped from the insertion space and discharged, and the tip of the shank extracted from the insertion space is inserted into the electrode tip accommodated in the mounting chamber of the tip mounting device. The electrode tip replacement operation can be automatically performed in association with the welding operation of the welding robot by the control means. And while having the effect which the said electrode chip replacement | exchange apparatus has, there is no misoperation like manual operation and working time can be shortened.

  In the first invention (the invention described in claim 1), when the electrode chip is clamped by one and the other clamping member, the outer peripheral surface of the electrode chip is deformed by the irregularities formed on the clamping surface of the clamping member. By this, even if the electrode tip bites into either one of the other clamping members, it is biased in the electrode tip separation direction by the tip separation means that is a component of the present invention and separated from each other, Since the electrode tip can be reliably dropped downward from the insertion space, an abnormal phenomenon or failure due to the electrode tip remaining in the insertion space can be prevented, and the electrode tip remaining in the insertion space can be manually handled. The useless work which is removed by the work becomes unnecessary.

  In the second invention (the invention according to claim 2), the press-fitting member biases the one electrode tip inserted from the one-side insertion port of the insertion space toward the tip side of the one shank. One press-fitting member, and the other press-fitting member for urging the other electrode chip inserted from the other-side insertion port of the insertion space toward the tip side of the other shank, Since it can correspond to either the one or the other electrode chip inserted from the mouth or the other side insertion opening, the electrode chip mounted on either side of the opposite one shank and the other shank The insertion operation of the electrode tip by the welding robot can be simplified, the working time can be shortened, and the operation space of the welding robot can be reduced. That. In particular, in the second invention, one and the other electrode tips are surely dropped by the tip separating means constituting the first invention, and either one shank or the other shank is inserted in the dropping direction. Therefore, according to the second aspect of the present invention, when one or the other shank is inserted from the direction in which one or the other electrode tip falls, It can be effectively prevented that the electrode tip mounted on one or the other shank interferes to cause an abnormal phenomenon or failure.

  In the third invention (the invention described in claim 3), the insertion space includes the one electrode chip inserted from the one side insertion port and the other electrode inserted from the other side insertion port. The one and the other clamping members are capable of simultaneously clamping the one and the other electrode tips inserted into the insertion space and the one and the other. The electrode tip is formed so as to be rotatable with the axis of the electrode tip as the rotation axis, so that the one electrode tip attached to one opposing shank and the other electrode tip attached to the other shank are simultaneously Inserting into the insertion space, the one and the other electrode chips inserted into the insertion space can be sandwiched and rotated simultaneously, further reducing the work time Kill.

  In the fourth invention (the invention according to claim 4), the tip separating means includes a ring member that is disposed in the insertion space and into which the electrode tip is inserted, and the electrode is interposed via the ring member. An elastic material that urges the ring member in a direction separating the tip from the one or the other clamping member, and the electrode tip is one or the other clamping member by a ring member that is urged by the elastic material. Is biased in a direction away from the holding member (that is, a direction orthogonal to the holding surface of the holding member), and is reliably separated from the holding surface of one or the other holding member, and the insertion space is caused by the weight of the electrode chip. Can be dropped and discharged. As a result, an abnormal phenomenon or failure due to the electrode tip remaining in the insertion space can be prevented, and a wasteful operation of manually removing the electrode tip remaining in the insertion space is not required.

  In the fifth invention (the invention described in claim 5), the ring member is supported by one or the other clamping member by inserting one or the other clamping member into one or a plurality of through holes. Therefore, the directionality and the inclination angle of the electrode tip removal device is not limited, and therefore the ring member does not fall off even if the shank is arranged from any direction into the insertion space. The electrode tip can be reliably removed.

  In the sixth invention (the invention described in claim 6), the clamping surface of the one or the other clamping member is formed in a substantially V shape, and even when the outer diameter of the electrode tip is different, it is always at least. Since it is clamped at three points, it can be securely clamped.

  In the seventh invention (the invention according to claim 7), the electrode tip detaching device according to any one of the first to sixth aspects, and a plurality of newly installed electrodes disposed in the vicinity of the electrode tip detaching device. A tip mounting device for storing the electrode tip, and removing the electrode tip attached to the tip of the shank and attaching a new electrode tip to the shank after the electrode tip is removed. Since it is possible to construct a consistent electrode tip replacement device, the device can be simplified and the electrode tip replacement time can be shortened.

  In the eighth invention (the invention described in claim 8), the welding operation of the welding robot is performed on the condition that the number of welding times or the wear value of the electrode tip has reached the limit value stored in the storage means. Then, the electrode tip attached to the shank of this welding robot is inserted into the insertion space or from the one insertion port and / or the other insertion port into the insertion space. The press-fitting member or the one press-fitting member and / or the other press-fitting member is press-fitted between the back surface of the inner electrode tip and the stepped portion, and the electrode tip is urged toward the front end side of the shank. After the other clamping member is moved and the electrode chip is clamped and rotated by the one and the other clamping member, the tip of the shank is extracted from the insertion space, and then the one and the other clamping part According to release the holding state of the electrode tip, the electrode tip detaching the electrode chip to be discharged by dropping from the insertion space can be related to automatic welding operation of the welding robot by the control unit. And while having the effect which the said electrode tip removal apparatus has, there is no misoperation like manual operation and working time can be shortened.

  In the ninth invention (the invention described in claim 9), the welding operation of the welding robot is performed on the condition that the number of welding times or the wear value of the electrode tip has reached the limit value stored in the storage means. Then, the electrode tip attached to the shank of this welding robot is inserted into the insertion space or from the one insertion port and / or the other insertion port into the insertion space. The press-fitting member or the one press-fitting member and / or the other press-fitting member is press-fitted between the back surface of the inner electrode tip and the stepped portion, and the electrode tip is urged toward the front end side of the shank. After the other clamping member is moved and the electrode chip is clamped and rotated by the one and the other clamping member, the tip of the shank is extracted from the insertion space, and then the one and the other clamping part The electrode chip is released from the insertion space by being released from the insertion space, and the tip of the shank extracted from the insertion space is housed in the mounting chamber of the chip mounting device. The replacement operation of the electrode tip inserted into the tip can be automatically performed in association with the welding operation of the welding robot by the control means. And while having the effect which the said electrode chip replacement | exchange apparatus has, there is no misoperation like manual operation and working time can be shortened.

  Hereinafter, as an embodiment for carrying out the present invention, an electrode tip exchanging device and an electrode tip exchanging system using the exchanging device as a component will be described. The electrode tip replacement device includes an electrode tip removal device and a tip mounting device. The electrode tip replacement system includes an electrode tip removal system including the electrode tip removal device as a constituent element. First, an embodiment of an electrode tip removal apparatus will be described.

  The electrode tip removal apparatus 1 according to the embodiment of the present invention is an apparatus for removing the electrode tips W, W mounted on the spot welding shanks 103, 104 shown in FIG. As shown, the insertion space 20 into which the electrode chips W, W mounted on the shanks 103, 104 are inserted facing each other, and the electrode chip W, W inserted against the insertion space 20, are inserted into the shank 103, A press-fit portion 30 that is urged toward the tip side of each of 104 and the electrode tips W and W that are urged by the press-fit portion 30 are sandwiched and the shaft centers of the electrode tips W and W are rotated about the axis of rotation. Part 40 and a tip separation part 60 that urges each of the electrode chips W, W to separate from the clamping surface of the clamping part 40 when the clamping of the electrode chips W, W by the clamping part 40 is released. , Provided with, attached to mounting structure 2 arranged on the removal position of the electrode tip (not shown).

  The electrode tips W, W to be removed by the electrode tip removal device 1 according to this embodiment are mounted on a welding robot 101 having a multi-joint arm as shown in FIG. A pair of shanks 103, 104 made of copper or a copper alloy are placed opposite to a gun 102 of 101, and tapered shaft portions 103c, 104c shown in FIG. The electrode tips W, W are attached to the respective taper shaft portions 103c, 104c by taper fitting. Further, the material of the electrode tips W, W is formed into a hollow shape with the back surface Wa, Wa side opened by copper or copper alloy that is softer than each clamping surface of the clamping part 40 described later, and the hollow hole is formed in the shank 103. , 104 are formed in tapered holes Wb, Wb that are in close contact with the tapered shaft portions 103c, 104c.

  As shown in FIG. 1, the mounting structure 2 to which the electrode tip detaching device 1 is attached includes a leg plate 3 fixed at the electrode tip detaching position, and a support column erected at the center of the leg plate 3. 4 and a pair of fixing plates 5 and 6 fixed to the upper end portion of the support column 4. As shown in FIG. 2 or FIG. 3, a pair of sliding guide plates 13 and 14 that slide and guide a slider 33, which will be described later, are provided on the pair of fixed plates 5 and 6 with the left side shown in FIG. It is inclined by 45 degrees and fixed by two bolts (reference numerals are omitted) facing each other. These sliding guide plates 13 and 14 have both side surfaces (reference numerals omitted) of the guide plate 12 for guiding one and the other press-fitting members 31 and 32, which will be described later, on the inner side of the tip side. Both side surfaces (reference numerals are omitted) of the mounting plate 15 that fixes a first air cylinder 36 (described later) inside the rear end side are fixed to each other by two bolts (reference numerals are omitted). ) And a support guide key 16 that supports the slider 33 so as to be movable back and forth inside the rear end side of one sliding guide plate 13 is fixed by a bolt (not shown). Further, on the front surface of the guide plate 12, a holding body 11 that rotatably holds a pair of rotating plates 21 and 22 described later is fixed by a bolt (not shown).

  As shown in FIG. 4 or FIG. 5, the holding body 11 has a pair of rotary plates 21 and 22 rotatably inserted into the inner periphery formed between the cut-out surfaces 11d and 11e in a substantially horseshoe shape. A holding hole 11a is formed. The pair of rotating plates 21 are fixed to the holding hole 11a by three fixing pins 24 which are opposed to each other with a substantially C-shaped spacer 23 interposed therebetween. , 22 are inserted so that the end surfaces 23a, 23b of the spacer 23 are on the notch surfaces 11d, 11e side so as to be able to rotate forward and backward. The pair of rotary plates 21 and 22 inserted into the holding hole 11a of the holding body 11 is arranged outside the holding hole 11a by three retaining plates 25 on one side of the upper surface 11b and the lower surface 11c of the holding body 11. Escape to is suppressed. The pair of rotating plates 21 and 22 are formed in substantially the same shape, and are attached to the shank 104 at the center portion, and an insertion hole 21a into which one electrode tip W attached to the spot welding shank 103 can be inserted. An insertion hole 22a into which the other electrode tip W thus formed can be inserted is formed.

  In addition, positioning pins 26 are welded to the outer peripheral surfaces 21b and 22b of the pair of rotating plates 21 and 22 in the vicinity of the side surface 42c of the rotation-side clamping member 42, respectively. The positioning pin 26 regulates the rotation position where the rotation side clamping member 42 is rotated most counterclockwise, and the rotation side clamping member 42 is rotated most counterclockwise. Then, as shown in FIG. 4, the positioning pin 26 comes into contact with the notch surface 11d of the holding body 11 to stop the rotation of the pair of rotating plates 21 and 22 in the counterclockwise direction, and the rotating side clamping member. The side surface 42c of 42 contacts the positioning pin 26 and stops the rotation of the rotation side clamping member 42 in the counterclockwise direction. When the rotation-side clamping member 42 is continuously rotated clockwise from this state, the side surface 42c of the rotation-side clamping member 42 is separated from the positioning pin 26 (see FIG. 7D), and the electrode tip W Since the pair of rotary plates 21 and 22 rotate counterclockwise together with the rotation-side clamping member 42 after the sandwiched W is sandwiched, the positioning pin 26 is separated from the notch surface 11d of the holding body 11 (FIG. 7 (f)).

  Next, as shown in FIG. 4 or FIG. 5, the press-fit portion 30 that biases the electrode tips W, W toward the tip end side of the shank is arranged with one and the other press-fit members 31, 32 sandwiching the holding body 11. The one press-fitting member 31 is formed with a top surface 11b of the holding body 11 and a sliding surface 31a that slides with the one rotary plate 21, and the other press-fitting member 32 has a lower surface 11c of the holding body 11 and the other side. A sliding surface 32a that slides on the rotating plate 222 is formed, and the one and the other press-fitting members 31, 32 are guide grooves 12c formed on both upper and lower sides of the guide plate 12 (the right side of FIG. 5 is the upper side). , 12d and is arranged so as to be able to move forward and backward by driving a first air cylinder 36 described later. Then, at the front end portions of the one and the other press-fitting members 31 and 32, the mounting shaft portions 103a and 104a of the shanks 103 and 104 to which the electrode tips W and W are mounted are inserted into a substantially U shape with an inner width that can be respectively inserted. The recesses 31b and 32b are respectively formed, and forks 31c projecting on both sides sandwiching one recess 31b and forks 32c projecting on both sides sandwiching the other recess 32b are formed. The forks 31c and 32c are respectively formed with inclined surfaces 31d and 32d that are pressed against the back surfaces Wa and Wa of the electrode tips W and W, respectively (see FIG. 7C). It is formed in the inclined surface where thickness becomes thick from the front end side to the base end side. That is, the thicknesses of the tips of the forks 31c and 32c are respectively inserted between the stepped portions 103b and 104b of the shanks 103 and 104 and the back surfaces Wa and Wa of the electrode chips W and W attached to the shanks 103 and 104, respectively. The thickness of the thickest inclined portion on the base end side is such that it cannot be inserted between the stepped portions 103b and 104b of the shanks 103 and 104 and the back surfaces Wa and Wa of the electrode tips W and W, respectively. Is formed.

  Further, as shown in FIG. 3, a slider 33 is disposed between the pair of sliding guide plates 13 and 14 so as to be slidable by the inner side surfaces (reference numerals are omitted) of the sliding guide plates 13 and 14. The slider 33 has a key groove (reference numeral omitted) in which a support guide key 16 fixed to one sliding guide plate 13 is slidably inserted. The slider 33 is supported by the support guide key 16 in the vertical direction (front and back direction in FIG. 3) and is moved forward and backward. Further, the base end portions of the one and the other press-fitting members 31 and 32 are integrally fixed to the upper and lower surfaces of the slider 33 by two bolts 34 on one side of the upper and lower surfaces. A first air cylinder (first drive unit of the present invention) 36 is fixed to the mounting plate 15, and a joint 17 is fixed to the tip of a rod 36 a that moves forward and backward by the air pressure of the first air cylinder 36. The joint 17 is fixed to the rear end surface of the slider 33.

  Therefore, the one and the other press-fitting members 31 and 32 are guided by the guide plate 12 and are also guided by the slide guide plates 13 and 14 and the support guide key 16 via the slider 33, so that the first air cylinder It is moved forward and backward by driving 36. When the electrode tips W, W are removed, the forks 31c, 32c of the one and the other press-fitting members 31, 32 are moved forward by driving the first air cylinder 36 forward. The step portions 103b and 104b of the shanks 103 and 104 shown in FIG. 5 inserted facing the both sides of the insertion holes 21a and 22a of the rotary plates 21 and 22, and the electrode tips W and W mounted on the shanks 103 and 104. Are press-fitted between the rear surfaces Wa and Wa (see FIGS. 7C and 7D). Due to the press-fitting of these forks 31c and 32c, a wedge action is caused by the inclined surfaces 31d and 32d pressed against the back surfaces Wa and Wa of the electrode tips W and W, and the electrode tips W and W are attached to the front ends of the shanks 103 and 104. Since the taper fitting is loosened and rotated while being held by a clamping portion 40 described later in a biased state, and continuously biased by the forks 31c and 32c, the taper fitting is loosened. The electrode tips W and W are reliably separated from the shanks 103 and 104 (see FIGS. 7E and 7F). In the present embodiment, the inclined surfaces 31d and 32d of the one and the other press-fitting members 31 and 32 are configured to press the inclined surfaces 31d and 32d against the back surfaces Wa and Wa of the electrode chips W and W, respectively. However, the inclined surfaces 31d and 32d may be pressed against the step portions 103b and 104b of the shanks 103 and 104, respectively. However, since the inclined surfaces 31d and 32d are pressed against the stepped portions 103b and 104b of the shanks 103 and 104, the stepped portions 103b and 104b are indented (wrinkles). It is preferable to press-contact the back surfaces Wa and Wa of W and W.

  Next, as shown in FIG. 4, FIG. 5, or FIG. 6, the clamping part 40 that clamps and rotates the electrode tips W, W is near the insertion holes 21 a, 22 a formed in the pair of rotating plates 21, 22. On the opposite side of the end faces 23a, 23b of the spacer 23, there is a pair of fixed-side clamping members 41 for clamping the electrode chips W, W inserted facing from both sides of the insertion holes 21a, 22a. Are fixed by fixing pins 43 and 43 so as to be sandwiched between the rotating plates 21 and 22. The fixed-side clamping member 41 is inserted from both sides of the insertion holes 21a and 22a of the pair of rotating plates 21 and 22, and each of the electrode chips W and W pressed to the center side by a rotation-side clamping member 42 described later. V-shaped holding surfaces 41a and 41b having a width capable of contacting the outer periphery are formed (see FIG. 4B), and these holding surfaces 41a and 41b are provided for preventing slippage with the electrode tip W. A sharp irregularity at the tip is formed. A concave portion 41c is formed in the valley portions of the sandwiching surfaces 41a and 41b, and an elastic material 62 described later is inserted into the concave portion 41c to urge a ring member 61 described later.

  The other side of the pair of rotating plates 21 and 22 is the opposite side of the fixed side clamping member 41 and sandwiches the electrode chips W and W inserted oppositely from both sides of the insertion holes 21a and 22a. The rotating side clamping member 42 is rotatably supported by the support pin 45. The rotation-side clamping member 42 is formed with a clamping surface 42a having a width capable of contacting the outer periphery of each of the electrode tips W, W at a position facing the clamping surfaces 41a, 41b of the fixed-side clamping member 41 ( As shown in FIG. 4 (b), the clamping surface 42a is formed with sharp irregularities at the tip for preventing slipping with the electrode chips W, W. Then, the rotation-side clamping member 42 is rotated clockwise around the support pin 45 by driving the second air cylinder 54, which will be described later, to the retreat side, whereby the clamping surface 42a becomes the electrode chip. The gripping surface 42a eventually comes into contact with and presses the electrode tips W and W (see FIGS. 7 (c) and 7 (d)), and the rotation-side clamping member 42 is rotated clockwise. When rotated, the electrode chips W, W are held by the cooperation of the holding surface 42a of the rotating side holding member 42 and the holding surfaces 41a, 41b of the fixed side holding member 41, while the shank 103, It is rotated in the clockwise direction with respect to 104 (see FIGS. 7E and 7F). Accordingly, the electrode tips W, W are rotated with respect to the shanks 103, 104 and are urged toward the front ends of the shanks 103, 104 by the forks 31c, 32c of the one and the other press-fitting members 31, 32. As a result, the taper fitting between the taper holes Wb, Wb of the electrode tips W, W and the taper shaft portions 103 c, 104 c of the shanks 103, 104 is loosened, and they are reliably separated from the shanks 103, 104.

  Further, as shown in FIGS. 2 and 3, a spring hanging bolt 47 is erected on the other rotating plate 22, and a spring hanging bolt 48 is erected on the one sliding guide plate 13. The spring hanging bolt 47 and the spring hanging bolt 48 include the other rotating plate 22, the spacer 23 attached directly or indirectly to the other rotating plate 22, the one rotating plate 21, and the rotating side clamping member. A tension spring 49, which is an elastic body that biases 42 and the like counterclockwise, is stretched. Accordingly, when the other rotating plate 22 and the spacer 23 attached directly or indirectly to the other rotating plate 22, the one rotating plate 21, the rotating side holding member 42, etc. are rotated in the clockwise direction, pulling is required. The spring 49 is rotated against the tension of the spring 49. A bracket 53 is erected on the other sliding guide plate 14, and the rear portion of the second air cylinder (second driving device of the present invention) 54 is swung by a swing pin 55. A joint 57 that is supported freely and fixed to the tip of a rod 54 a that moves forward and backward by the air pressure of the second air cylinder 54 is swingably supported by a swing pin 58. Therefore, the rotation-side clamping member 42 is rotated clockwise by driving the second air cylinder 54 backward with the support pin 45 as the rotation center. 4 is approached to the electrode tips W, W, and is rotated counterclockwise by driving the second air cylinder 54 forward, whereby the clamping surface 42a of the rotating side clamping member 42 is rotated. Is separated from the electrode tips W, W.

  In FIG. 3 or FIG. 4, when the rotation-side clamping member 42 is rotated in the clockwise direction by driving the second air cylinder 54 backward, the clamping surface 42 a of the rotation-side clamping member 42. Approaches the electrode tips W and W, and the sandwiching surface 42a eventually comes into contact with the electrode tips W and W, respectively. When the rotation-side clamping member 42 is further rotated clockwise from the state in which the clamping surface 42a of the rotation-side clamping member 42 is in contact with each of the electrode chips W, W, the rotation-side clamping member Since 42 rotates against the tension of the tension spring 49, the electrode tips W, W are pushed by the clamping surfaces 41a, 41b of the fixed-side clamping member 41 and the clamping surface 42a of the rotation-side clamping member 42. Clamped by pressure. When the rotation side holding member 42 is further rotated in the clockwise direction while maintaining the state in which the electrode chips W and W are held, the electrode chips W and W attached to the shanks 103 and 104 are The pair of rotating plates 21 and 22 are also rotated in the clockwise direction by being guided by the holding holes 11 a of the holding body 11.

  Therefore, according to the press-fitting part 30 and the clamping part 40 having the above-described configuration, the electrode chips W, W are provided on the back surfaces Wa of the electrode chips W, W as shown in FIGS. 7 (c) and 7 (d). Wa and the respective forks 31c and 32c of the one and the other press-fitting members 31 and 32 press-fitted between the step portions 103b and 104b of the shanks 103 and 104, respectively, toward the tip side of the shanks 103 and 104. While maintaining the biased state, the outer circumferences of the electrode tips W and W are always held at three points by the holding surfaces 41a and 41b of the fixed-side holding member 41 and the holding surface 42a of the rotating-side holding member 42. Therefore, the electrode tips W and W rotate with respect to the shanks 103 and 104 while being securely clamped, and the respective taper fitting with the shanks 103 and 104 is performed. Indeed with loosened, is reliably separated from each of the distal end side of the shank 103, 104 from becoming continually being urged by one and the other of the press members 31, 32.

  In order to separate the electrode tips W, W from the tips of the shanks 103, 104 by the press-fitting of the respective forks 31c, 32c of the one and the other press-fitting members 31, 32, the electrode tips W, W are connected to the shank. The electrode tips W and W are clamped between the clamping surfaces 41a and 41b of the fixed-side clamping member 41 and the clamping surface 42a of the rotating-side clamping member 42, respectively. Since it cannot move, as shown in FIG. 7E, the shanks 103 and 104 move in directions away from the electrode tips W and W, respectively. These shanks 103 and 104 are installed on the gun 102 of the welding robot 101 shown in FIG. 1, and when a load is applied in the axial direction, the elastic deformation of the mounting members (reference numerals are omitted) of the shanks 103 and 104. It is moved by. In order to separate the electrode tips W, W from the shanks 103, 104, the electrode tips W, W are fixed if the shanks 103, 104 move in the axial direction even with a minute amount of about 0.01 mm, for example. Since the taper shafts 103c and 104c of the shanks 103 and 104 rotate while being sandwiched between the clamping surfaces 41a and 41b of the side clamping member 41 and the clamping surface 42a of the rotating side clamping member 42, The crimping of the W taper holes Wb and Wb is released, and the taper is reliably separated. However, the display in FIG. 7E is illustrated with an excessive amount of movement in order to clarify the form of movement.

  Next, the tip separation portion 60 that separates the electrode tips W, W from the fixed-side holding member 41 is disposed in the insertion space 20 (see FIG. 2), and the fixed-side holding member 41 and the rotation shown in FIGS. The ring member 61 is supported by being engaged with the moving-side clamping member 42, and an elastic member 62 that biases the ring member 61. Among these, as shown in FIG. 4, the ring member 61 is formed so that the inner diameter of the ring member 61 can be inserted into the electrode tips W and W, and the outer diameter of the ring member 61 is rotated most counterclockwise by the rotating side clamping member 42. A cylindrical shape formed in a size exceeding an inscribed circle (not shown) inscribed in the clamping surfaces 41a and 41b of the fixed-side clamping member 41 and the clamping surface 42a of the rotation-side clamping member 42 in the moved state. It is molded into. As shown in FIG. 4B or 6, the ring member 61 has a through hole 61 a into which an end 41 d including the clamping surface 41 a of the fixed-side clamping member 41 is inserted, and a fixed-side clamping member, as shown in FIG. A through hole 61b into which the end portion 41e including the clamping surface 41b of 41 is inserted and a through hole 61c into which the end portion 42b including the clamping surface 42a of the rotating side clamping member 42 is inserted are formed. Accordingly, the end portions 41d and 41e of the fixed-side clamping member 41 and the end portion 42b of the rotating-side clamping member 42 are respectively inserted into the through holes 61a, 61b and 61c of the ring member 61, whereby the ring member 61 does not fall out from the insertion space 20.

  As shown in FIGS. 4A and 4B, the elastic member 62 is inserted into the concave portion 41c of the fixed-side holding member 41 using polyurethane as a raw material, and the elastic member 62 has an elastic repulsive force. The side wall 61d is urged toward the center side of the electrode tips W, W. When the rotation-side clamping member 42 is rotated counterclockwise to release the respective electrode tips W, W from the clamping state, the clamping surface 42a of the rotation-side clamping member 42 has the respective electrode tips W, Even if the electrode tips W and W are biting into the clamping surfaces 41 a and 41 b of the fixed-side clamping member 41 after being separated from the W, the electrode tips W and W are interposed through the side wall 61 d of the ring member 61. The elastic member 62 is biased to move away from the clamping surfaces 41a and 41b of the fixed clamping member 41 and the biting state is released, so that the respective electrode tips W and W are surely dropped and discharged by their own weight. The

  In this tip separation portion 60, the electrode tips W, W are urged so as to separate from the state where the electrode tips W, W are caught in the holding surfaces 41a, 41b of the fixed side holding member 41. It is not necessary to energize from the state where it has bitten into the clamping surface 42a. In other words, in a state where the electrode tips W, W are sandwiched, the electrode tips W, W bite into the sandwiching surfaces 41a, 41b of the fixed-side sandwiching member 41 and / or the sandwiching surface 42a of the rotating-side sandwiching member 42. However, when the biting surface 42a of the rotating side holding member 42 is bitten, if the rotating side holding member 42 is rotated counterclockwise in order to unlock the holding side, the rotating side holding member The electrode tips W and W that have bitten and followed the clamping surface 42a of the 42 are in contact with and separated from the inner periphery of the ring member 61.

  Next, a tip mounting device 71 constituting an electrode tip exchange device (reference numerals are omitted) will be described in detail with reference to FIGS. 9 and 10 respectively. This electrode tip exchange device is disposed at the electrode tip removal device 1 and the electrode tip attachment position (not shown) in the vicinity of the electrode tip removal device 1 and accommodates a plurality of electrode tips W to be newly attached. The chip mounting device 71 shown in FIG. 9 is provided with a leg plate 72 fixed in the vicinity of the electrode chip removal device 1 and standing at the center of the leg plate 72. A mounting housing portion 74 for housing new electrode chips W and W to be mounted on the shanks 103 and 104 and a pair of housings for storing a plurality of electrode chips W and W. It is comprised from the part 75,76. Among these, as shown in FIG. 9 or FIG. 10, the mounting housing portion 74 includes shanks 103 and 104 inserted on both sides of the mounting housing portion 74 and rear surfaces Wa and Wa of new electrode chips W and W. The openings 74a and 74b opened so as to be exposed, the accommodating chambers 74c and 74d in which the new electrode chips W and W are respectively accommodated, and the tips Wc and Wc of the new electrode chips W and W are in contact with each other. Contact walls 74e and 74f, and storage spaces 75c and 76c of a pair of storage portions 75 and 76, which will be described later, which are side portions of the storage chambers 74c and 74d and can be inserted into the electrode chips W and W in a lateral state, respectively. An electrode chip mounting chamber (reference numeral is omitted) composed of communication passages 74g and 74h formed in communication is provided.

  The pair of storage portions 75 and 76 includes a bottom portion (a reference numeral is omitted) on which the plurality of electrode chips W and W are respectively placed in parallel, and an upright portion that regulates the back surfaces Wa and Wa of the electrode chips W and W. The reference members 75a and 76a whose base ends are fixed to the mounting housing 74 and the tips Wc and Wc of the electrode tips W and W are regulated. In addition, the guide member 75b is formed in a substantially V-shape that can guide the electrode tips W and W so as to face the standing portions of the receiving members 75a and 76a, and is fixed to the lower part of the receiving members 75a and 76a. , 76b. Among these, a plurality of electrode chips W, W are housed in parallel in housing spaces 75c, 76c formed by the rising portions of the receiving members 75a, 76a and the guide members 75b, 76b facing each other. Then, when the plurality of electrode chips W, W are inserted into the storage spaces 75c, 76c from the front ends of the pair of storage portions 75, 76 in a posture in which they are arranged in parallel, the plurality of electrode chips W, W are caused by their own weight. The leading electrode tips W and W move downward and are accommodated in the accommodating chambers 74c and 74d of the mounting accommodating portion 74 that communicate with the accommodating spaces 75c and 76c, respectively. The posture in which the plurality of electrode chips W, W are housed in the housing spaces 75c, 76c is parallel depending on the posture in which the back surfaces Wa, Wa of the electrode tips W, W are opposite to each other (the posture in which the tips Wc, Wc face each other). It is stored in.

  Therefore, after the electrode tips W and W of the limit of use are removed from the shanks 103 and 104 by the electrode tip detaching device 1, the shanks 103 and 104 are operated as shown in FIG. As shown in the figure, in the vicinity of the openings 74a and 74b of the mounting housing part 74 constituting the chip mounting device 71, the electrode chips W and W housed in the housing chambers 74c and 74d are coaxial with each other. The housing chambers 74c and 74d are positioned by facing a mounting standby position (not shown) and advancing the tapered shaft portions 103c and 104c of the shanks 103 and 104 to face each other as shown in FIG. 11B. The taper shaft portion into the taper holes Wb and Wb from the back surfaces Wa and Wa sides of the electrode tips W and W accommodated therein. 03c and 104c are inserted, and the tips Wc and Wc of the electrode tips W and W are brought into contact with the contact wall portions 74e and 74f, respectively. Therefore, the shank 103 and the tapered holes Wb and Wb of the electrode tips W and W are inserted. The taper shaft portions 103c and 104c of 104 are respectively crimped and taper-fitted. That is, according to this electrode tip exchange device, since the tip mounting device 71 is provided, the used electrode tips W, W that have reached the use limit by the electrode tip removal device 1 are replaced with a pair of shanks 103, 104. In addition, each of the shanks 103 and 104 can be replaced with new electrode tips W and W, respectively.

  Next, an electrode chip replacement system including the above-described electrode chip replacement apparatus as a constituent element will be described in detail. This electrode tip replacement system includes the electrode tip detachment device 1 and the tip mounting device 71 (that is, the electrode tip replacement device), the welding robot 101, and the electrode tip detachment device 1 and the welding robot 101. The control means shown in FIG. 12 to be related to control, the wear detecting unit 84 for detecting the wear value of the tip of the electrode tip, the storage unit 85 for storing the limit value of the wear value, the tip mounting device 71, It is configured with. Among these, as shown in FIG. 12, the control means is provided with a CPU (control unit) 81 that performs overall electrical control. The CPU 81 includes an input unit 82 for inputting various data, and various types of data. A display unit 83 for displaying data, the wear detection unit 84, the storage unit 85, a robot control circuit 86 for operating the welding robot 101, and a first air cylinder for operating the first air cylinder 36. A control circuit 87, a second air cylinder control circuit 88 for operating the second air cylinder 54, and a pair of photoelectric sensors for detecting whether or not the electrode tips W, W are mounted on the shanks 103, 104 91 and 92 are connected.

  Among these, the wear detector 84 is a movement amount detector (not shown) that outputs the movement amount of the shank 103 provided in the gun 102 of the welding robot 101 shown in FIG. 1 by an electrical signal. This movement amount detector (abrasion detection unit 84) can detect the movement amount of the shank 103 each time the tip Wc of the electrode tip W attached to the shank 103 contacts a welding object not shown. Then, the detection position when the tip Wc of the electrode tip W immediately after being newly attached comes into contact with the object to be welded is stored in the storage means 85 as the original position, and from this original position, The wear value at which the tip Wc side of the electrode tip W is worn can be calculated from the amount of movement to the current position detected each time the tip Wc of the electrode tip W comes into contact with the object to be welded by the welding operation. Therefore, the limit value of the wear value of the electrode tip W is stored in the storage unit 85, and the use of the electrode tip W is determined by comparing the limit value with the measured value by the movement amount detector (wear detection unit 84). Limits can be detected. The means for detecting the usage limit of the electrode tip W is not limited to the movement amount detector (abrasion detection unit 84) that outputs the movement amount of the shank 103 by an electrical signal. It replaces with the counter (counter) which counts the frequency | count of welding by W, and memorize | stores the limit value of the frequency | count of welding corresponding to the use limit of the electrode tip W in the said memory | storage means 85, and also by this limit value and the said counter The use limit of the electrode tip W can be detected by comparison with the measured value.

  The pair of photoelectric sensors 91 and 92 detects whether or not the electrode chips W and W are left in the shanks 103 and 104 after the electrode chips W and W are removed. After the shanks 103, 104 after the electrode tips W, W are removed are extracted from the insertion space 20, and the shanks 103, 104 after the electrode tips W, W are mounted are the tip mounting device 71. After being extracted from the storage chambers 74c and 74d, they are arranged at the electrode chip presence / absence confirmation position (not shown), and as shown in FIG. 8 (e), the light emitting sides 91a and 92a and the light receiving sides 91b and 92b are respectively connected. In addition, it is possible to detect the presence or absence of the electrode chips W and W based on an electrical signal indicating whether or not the light receiving sides 91b and 92b have received optical signals from the light emitting sides 91a and 92a.

  Next, the operation of the electrode tip replacement system configured as described above will be described with reference to the flowcharts shown in FIGS. First, in St1, it is determined whether or not the wear value on the tip Wc, Wc side of the electrode tips W, W detected by the wear detection unit 84 has reached the limit value stored in the storage unit 85, and wear. If it is determined that the value has reached the limit value (Y), the welding operation by the welding robot 101 is stopped to remove the electrode tips W and W currently in use at the next St2, and the limit value has been reached. When it is determined that there is no (N), the process returns to St1 and the welding operation is continued. Then, after the welding operation of the welding robot 101 is stopped at St2, the shanks 103 and 104 are moved to the vicinity of the insertion space 20 of the electrode tip removal apparatus 1 by the operation of the welding robot 101 at the next St3 ( 7 (a) and 7 (b)), the wear limit electrode tips W and W mounted on the shanks 103 and 104 are inserted into the insertion hole 21a side of one rotary plate 21 and the insertion holes of the other rotary plate 22, respectively. It is made to insert in the insertion space 20 facing 22a side (refer FIG.7 (c), (d)). After the electrode tips W, W are inserted into the insertion space 20, the forks 31c, 32c of the one and the other press-fitting members 31, 32 are driven by driving the first air cylinder 36 forward in the next St4. It is made to advance, and it press-fits between the level | step-difference part 103b, 104b of the shank 103,104, and each back surface Wa, Wa of the electrode chip W, W mounted | worn to this shank 103,104 (FIG.7 (c), ( d)). By this press-fitting, the electrode tips W, W are urged toward the front ends of the shanks 103, 104.

  After the electrode tips W, W are urged toward the front ends of the shanks 103, 104 by this St4, in the next St5, the rotation side clamping member 42 is moved by driving the second air cylinder 54 backward. By rotating clockwise, the holding surface 42a of the rotating side holding member 42 is pressed against the electrode chips W, W, respectively, and the electrode chips W, W are pressed by the holding surfaces 41a, 41a of the fixed side holding member 41. 41b and the clamping surface 42a of the rotation side clamping member 42 are respectively clamped (refer FIG.7 (c), (d)). If the rotation-side clamping member 42 is further rotated clockwise while maintaining this clamped state, the electrode tips W, W attached to the shanks 103, 104 rotate with respect to the shanks 103, 104, respectively. In addition, since the one and the other press-fitting members 31 and 32 are urged toward the front end side of the shanks 103 and 104, the electrode tips W and W are taper fitted with the shanks 103 and 104, respectively. It is loosened and separated from the shanks 103 and 104 (see FIGS. 7E and 7F). After these electrode tips W, W are separated, in the next St6, the shanks 103, 104 are respectively extracted from the insertion space 20 by the operation of the welding robot 101 (see FIGS. 8A and 8B). Wait for the electrode tip presence / absence confirmation position.

  After these shanks 103, 104 are extracted, in the next St7, the forks 31c, 32c of the one and the other press-fitting members 31, 32 are moved to the initial positions by driving the first air cylinder 36 backward. Retreat. After this backward movement, in the next St8, when the second holding member 42 is rotated counterclockwise by driving the second air cylinder 54 forward, the electrode tips W, W Are released from the holding state by the fixed-side holding member 41 and the rotating-side holding member 42, and are reliably dropped downward and discharged by their own weights of the electrode tips W and W (FIG. 8C). (See (d)). Even when the electrode chips W, W released from the clamping state by the fixed-side clamping member 41 and the rotating-side clamping member 42 are biting into the clamping surfaces 41a, 41b of the fixed-side clamping member 41, respectively, The electrode tips W, W are urged by the elastic material 62 via the ring member 61 shown in FIG. 4, are separated from the clamping surfaces 41a, 41b of the fixed-side clamping member 41, and reliably fall downward due to their own weights. Then discharged. When the electrode tip removal system according to the present invention is operated, the tip mounting device 71 constituting the electrode tip replacement system is not necessary, and one cycle of the program is completed at St1 to St8. By doing so, the electrode tips W, W can be removed.

  After the electrode chips W, W are released by St8 and discharged, in the next St9, the signals from the photoelectric sensors 91, 92 are sent to the shanks 103, 104 waiting at the electrode chip presence / absence confirmation position. It is determined whether or not the electrode tips W, W are left (see FIG. 8E). If it is determined that they are not left (Y), the operation of the welding robot 101 is performed in the next St10. The shanks 103 and 104 are moved to the vicinity of the mounting housing portion 74 constituting the chip mounting device 71 disposed at the mounting position of the electrode chip (see FIG. 11A), and in the respective storage chambers 74c and 74d. The electrode chips W, W are inserted so as to face each other (see FIG. 11B), and the shanks 103, 1 are inserted into the tapered holes Wb, Wb of the electrode chips W, W, respectively. 4 of the tapered shaft portion 103c, 104c and by crimping respectively mounted. On the other hand, if it is determined in St9 that the electrode tips W, W are not left in the shanks 103, 104 (N), the process proceeds to St11 to stop the welding robot 101, and in the next St12, the buzzer After issuing an abnormality warning by a warning light or the like, the electrode tip replacement system program is terminated.

  Then, after the electrode tips W and W are mounted on the shanks 103 and 104 by St10, the shanks 103 and 104 to which the electrode tips W and W are mounted by the operation of the welding robot 101 are placed in the storage chamber in the next step 13. 74c and 74d are extracted (FIG. 11 (c)), and are put on standby at an electrode tip presence / absence confirmation position (not shown). At the next St14, it is determined whether or not the electrode tips W and W are attached to the shanks 103 and 104 waiting at the electrode tip presence / absence confirmation position based on signals from the photoelectric sensors 91 and 92 (FIG. 8 (e)). If it is determined that it is mounted, the shanks 103 and 104 are returned to the welding restart position by the operation of the welding robot 101 in the next St15. By returning the shanks 103 and 104 to the welding resuming position, one cycle of the program is completed. On the other hand, if it is determined at St14 that the electrode tips W, W are not attached to the shanks 103, 104 based on signals from the photoelectric sensors 91, 92, the process proceeds to St16 to stop the welding robot 101, In the next St17, after issuing an abnormality warning by a buzzer, a warning lamp, etc., the program of the electrode tip replacement system is terminated.

  The electrode tip detaching device 1 can detach a pair of electrode tips W and W attached to a pair of spot shanks 103 and 104 at the same time (see FIGS. 7 and 8). 1) The electrode tip removal device 1 having the above-described configuration is used to sequentially change one electrode tip W attached to one shank 103 and the other electrode tip W attached to the other shank 104 to 1 at different times. It can also be removed one by one. In the case of removing one by one at different times in the insertion space 20 in which only one of the pair of electrode chips W, W can be inserted, the clamping surfaces 41a, 41b of the fixed-side clamping member 41 and the rotation side Each of the clamping surfaces 42a of the clamping member 42 may be formed to have a width capable of clamping only one electrode chip W. Further, when inserting the pair of shanks 103, 104 into the insertion space 20 by the welding robot from only one side of the insertion holes 21a or 22a of the pair of rotating plates 21, 22, one and the other press-fitting members Only one of 31 and 32 may be installed on the insertion side.

It is a side view of the removal device of an electrode tip concerning an embodiment of the invention. It is an enlarged view of the apparatus shown in FIG. It is an A arrow top view of the apparatus shown in FIG. 3 shows a main part of the apparatus shown in FIG. 3, wherein (a) is a plan view showing a state where one rotating plate is removed, and (b) is a partially enlarged view of (a). FIG. It is a BB arrow sectional view of the device shown in FIG. FIG. 5 is a perspective view showing a main part of the apparatus shown in FIG. 4 and disassembling each component. FIG. 3 is a simplified diagram showing an operation sequence for removing an electrode tip, in which (a) and (b) are diagrams in which a use limit electrode tip is moved near the insertion space, and (c) and (d) are use limit electrode tips. FIG. 8E is a diagram in which the electrode tip is inserted into the insertion space and biased toward the tip end side of the shank, and FIGS. 7A and 7B are views of the shank extracted from the insertion space, and FIGS. 7C and 7D are diagrams in which one and the other press-fitting members are retracted to the initial position, and the electrode tip is moved. FIG. 8E is a diagram illustrating a photoelectric sensor that detects the presence or absence of an electrode chip, and illustrates a photoelectric sensor that detects the presence or absence of an electrode chip. It is a perspective view which shows a chip | tip mounting apparatus. The chip | tip mounting apparatus is shown, (a) is an upper side view, (b) is a front view, (c) is a right view. It is the schematic which shows the operation | movement order which mounts an electrode tip, Comprising: (a) is the figure which moved the shank to the attachment accommodating part vicinity, (b) is the figure which attached the electrode tip to the shank, (c) is a shank. It is the figure extracted from the mounting | wearing accommodating part. It is a block which shows the control means which controls an electrode tip removal apparatus and a welding robot in relation. It is a flowchart which shows the flow of removal and mounting | wearing of an electrode tip. It is a continuation leaf of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Electrode chip removal apparatus 20 Insertion space 21, 22 A pair of rotary plates 31, 32 One and the other press-fitting members 31d, 32d Inclined surface 36 First air cylinder 41 Fixed side clamping member 41a, 41b Holding surface 42 Rotating side Clamping member 42a Clamping surface 54 Second air cylinder 61 Ring member 71 Chip mounting device 74 Mounting housing portion 74c, 74d Storage chamber 75, 76 A pair of storage portions 103, 104 Shank 103b, 104b Stepped portion 103c, 104c Taper shaft portion W Electrode tip Wa Back Wb Taper hole

Claims (9)

An insertion space into which an electrode tip attached to the tip of a spot welding shank having a small diameter through a step formed in the leading end side middle portion is inserted;
A press-fitting member that is press-fitted between the back surface of the electrode tip inserted into the insertion space and the stepped portion, and biases the electrode tip toward the tip side of the shank;
A first driving device for moving the press-fitting member forward and backward in the insertion space direction and the opposite direction;
One and the other clamping member that sandwiches the electrode chip inserted into the insertion space and is rotatable about the axis of the electrode chip as a rotation axis;
A second rotating member that drives at least one of the clamping surfaces of the one and the other clamping members in a direction contacting and separating from the electrode chip inserted into the insertion space, and rotating the one and the other clamping members; A driving device;
When the one and other clamping members are separated from the electrode chip inserted into the insertion space by driving the second driving device, the outer peripheral surface of the electrode chip and the clamping surface of the one or other clamping member are Chip separating means for urging the electrode chip to separate; and
A device for removing an electrode tip, comprising: The insertion space has a one-side insertion opening into which one electrode tip mounted at the tip of one shank for spot welding having a small diameter through a step formed in the middle of the tip side is inserted; The other shank for spot welding is formed on the opposite side of the one-side insertion port in communication with the one-side insertion port, and has a small diameter through a stepped portion formed in the middle portion on the tip side. And the other side insertion port into which the other electrode tip attached to the tip is inserted,
The press-fitting member is press-fitted between the back surface of the one electrode tip inserted from the one-side insertion opening of the insertion space and the step portion of the one shank, and the one electrode tip is inserted into the tip of the one shank. One press-fitting member that is biased to the side, and the other electrode tip that is press-fitted between the back surface of the other electrode chip inserted from the other-side insertion port of the insertion space and the step portion of the other shank. 2. The electrode tip detaching device according to claim 1, further comprising: the other press-fitting member that urges the tip end of the other shank. The insertion space is a space that can simultaneously receive both the one electrode chip inserted from the one side insertion port and the other electrode chip inserted from the other side insertion port,
The one and the other clamping members are formed so as to be capable of simultaneously clamping the one and the other electrode tips inserted into the insertion space and to be rotatable about the axis of the one and the other electrode tips. The electrode tip detaching device according to claim 2, wherein The chip separating means is
A ring member that is disposed in the insertion space and into which the electrode tip is inserted;
The elastic member which urges | biases this ring member in the direction spaced apart from the said one or other clamping member through this ring member is provided, The claim 1, 2, or 3 characterized by the above-mentioned. The electrode tip removing device according to any of the above.   The ring member is formed in a cylindrical shape, and is formed with one or a plurality of through holes into which the one and other clamping members are inserted, and the ring member is formed on the one and other clamping members. 5. The electrode tip removing device according to claim 4, wherein the electrode tip removing device is supported.   6. The electrode tip detaching device according to claim 1, wherein a clamping surface of the one or the other clamping member is formed in a substantially V shape. 7. A device for removing an electrode tip according to any one of claims 1 to 6, and a tip mounting device that is disposed in the vicinity of the electrode tip removing device and stores a plurality of newly mounted electrode tips. An electrode tip exchange device,
The chip mounting device is
A housing part for housing the electrode tip, an opening formed on one side of the housing part and exposing a recess formed on the electrode chip and fitted with the tip of the shank, and the side opposite to the opening A tip mounting chamber having a contact wall portion that is formed at
It is formed above the chip mounting chamber, communicates with the space in the housing portion formed in the chip mounting chamber, and stores a plurality of electrode chips side by side in a direction perpendicular to the length direction of the electrode chip. A chip storage chamber having a storage portion to be supplied and an opening for supplying the electrode chip in the storage portion;
An electrode tip exchange device comprising: 7. The electrode tip detaching device according to claim 1, a welding robot having the electrode tip mounted on a spot welding shank, a first drive device constituting the electrode tip detaching device, and a first driving device. Control means connected to each of the driving device 2 and the welding robot, and wear means for detecting the wear value of the tip of the electrode tip or counting means connected to the control means and counting the number of times of welding by the welding robot One of the detection means, and a storage means connected to the control means and storing either the number of weldings or the limit value of the wear value,
By the above control means,
Welding operation by the welding robot performed so far, on the condition that either the number of welding by the counting means or the wear value by the wear detecting means has reached the limit value stored in the storage means Step to stop and
An electrode tip attached to the tip of the shank of the stopped welding robot is inserted into the insertion space formed in the electrode tip removal device or from the one insertion port and / or the other insertion port into the insertion space. Step to insert into,
Driving the first driving device to press-fit the press-fitting member or the one press-fitting member and / or the other press-fitting member between the back surface of the electrode chip and the stepped portion;
Driving the second driving device, moving the one and / or the other clamping member to clamp the electrode chip by the one and the other clamping member, and rotating the one and the other clamping member;
Driving the welding robot and extracting the tip of the shank from the insertion space;
Returning the first driving means to the initial position;
Returning the second driving device to the initial position and releasing the clamping state of the electrode tip by the one and the other clamping members;
An electrode tip removal system comprising: 5. The electrode tip detaching device according to claim 1, a welding robot having the electrode tip mounted on a spot welding shank, a first driving device constituting the electrode tip detaching device, and a first driving device. Control means connected to each of the driving device 2 and the welding robot, and wear means for detecting the wear value of the tip of the electrode tip or counting means connected to the control means and counting the number of times of welding by the welding robot 8. A tip constituting the electrode tip changer according to claim 7 , wherein the tip is connected to the control means and stores either the number of times of welding or the limit value of the wear value. A mounting device,
By the above control means,
Welding operation by the welding robot performed so far, on the condition that either the number of welding by the counting means or the wear value by the wear detecting means has reached the limit value stored in the storage means Step to stop and
An electrode tip attached to the tip of the shank of the stopped welding robot is inserted into the insertion space formed in the electrode tip removal device or from the one insertion port and / or the other insertion port into the insertion space. Step to insert into,
Driving the first driving device to press-fit the press-fitting member or the one press-fitting member and / or the other press-fitting member between the back surface of the electrode chip and the stepped portion;
Driving the second driving device, moving the one and / or the other clamping member to clamp the electrode chip by the one and the other clamping member, and rotating the one and the other clamping member;
Driving the welding robot and extracting the tip of the shank from the insertion space;
Returning the first driving means to the initial position;
Returning the second driving device to the initial position and releasing the clamping state of the electrode tip by the one and the other clamping members;
Driving the welding robot with the tip of the shank extracted from the insertion space, and inserting the tip of the shank into an electrode tip housed in a mounting chamber constituting the tip mounting device;
An electrode tip replacement system comprising: