JPH0123232B2 - - Google Patents
Info
- Publication number
- JPH0123232B2 JPH0123232B2 JP57168334A JP16833482A JPH0123232B2 JP H0123232 B2 JPH0123232 B2 JP H0123232B2 JP 57168334 A JP57168334 A JP 57168334A JP 16833482 A JP16833482 A JP 16833482A JP H0123232 B2 JPH0123232 B2 JP H0123232B2
- Authority
- JP
- Japan
- Prior art keywords
- welding
- conduit cable
- elastic body
- holding
- support device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000003466 welding Methods 0.000 claims description 38
- 210000000707 wrist Anatomy 0.000 claims description 17
- 238000005452 bending Methods 0.000 description 7
- 210000000245 forearm Anatomy 0.000 description 6
- 239000011324 bead Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000035553 feeding performance Effects 0.000 description 1
- 230000003938 response to stress Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/122—Devices for guiding electrodes, e.g. guide tubes
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
Description
【発明の詳細な説明】
〔発明の利用分野〕
本発明は溶接用ロボツトの特に溶接ワイヤ供給
装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a welding robot, particularly a welding wire feeding device.
従来、溶接用ロボツトにおける溶接ワイヤ供給
装置は第１図に示す如く、ロボツト１の上腕部２
から突出した前腕部３に固定した長尺体の支持装
置１１でコンジツトケーブル８が保持され、支持
装置１１は基端部１１ａと保持側端１１ｃを有し
ており、この保持側端に設けた金具１１ｅでコン
ジツトケーブル８を保持する構成としていた。こ
のような単純な構造では、ロボツト先端の手首４
を旋回させた場合、前記支持装置１１の保持側端
１１ｃの位置が基端部１１ｃに対して一定である
ため、手首４の姿勢によつては第２図に示す如
く、コンジツトケーブル８の曲げアールがきびし
くなり、溶接作業時に於いてコンジツトケーブル
８内での溶接ワイヤー９の送給が悪くなり、溶接
性に問題を生じ、溶接ビード面が不良となる原因
の一つになつていた。
Conventionally, as shown in FIG. 1, a welding wire supply device for a welding robot has been provided with a
The conduit cable 8 is held by a long support device 11 fixed to the forearm portion 3 protruding from the forearm portion 3, and the support device 11 has a proximal end portion 11a and a holding side end 11c. The conduit cable 8 is held by a metal fitting 11e. With such a simple structure, the wrist 4 at the tip of the robot
When the conduit cable 8 is rotated, the position of the holding end 11c of the support device 11 is constant with respect to the base end 11c, so depending on the posture of the wrist 4, the conduit cable 8 may move as shown in FIG. The bending radius became severe and the feeding of the welding wire 9 within the conduit cable 8 during welding work became poor, causing problems in weldability and becoming one of the causes of defective weld bead surfaces. .
さらに、第２図に示す如くコンジツトケーブル
８の曲げアールがきびしくなると、この曲げアー
ルが溶接ワイヤー９に残留し、トーチ７から送り
出される溶接ワイヤー９もきつい曲げアールを持
つた状態となるため、溶接位置が１mm〜数mm程度
ずれることもあつて、溶接精度の点でも問題が生
じていた。 Furthermore, when the bending radius of the conduit cable 8 becomes severe as shown in FIG. 2, this bending radius remains in the welding wire 9, and the welding wire 9 sent out from the torch 7 also has a tight bending radius. The welding position sometimes deviates by about 1 mm to several mm, causing problems in terms of welding accuracy.
これらの問題は、特に薄板溶接の場合に、その
仕上り状態に大きく影響していた。 These problems greatly affect the finished state of welding, especially in the case of thin plate welding.
本発明の主たる目的は、溶接ワイヤーをスムー
ズに供給することができる溶接ロボツトを提供す
ることにある。
The main object of the present invention is to provide a welding robot that can smoothly supply welding wire.
さらに具体的には、本発明は、ロボツト先端部
の手首を旋回させて溶接作業を行なつた場合、ト
ーチコンジツトケーブル内を通過するワイヤーの
送給をスムーズにして、常に良好な溶接ビード面
を達成し、さらには溶接精度を向上させることが
できる溶接用ロボツトを提供するものである。 More specifically, the present invention makes it possible to smoothly feed the wire passing through the torch conduit cable and always maintain a good weld bead surface when welding work is performed by rotating the wrist of the robot's tip. The purpose of the present invention is to provide a welding robot that can achieve the following and further improve welding accuracy.
上記の目的を達成するために、本発明はコンジ
ツトケーブルの支持装置を、所定の復元力を有す
る弾性体で構成したことを特徴としている。
In order to achieve the above object, the present invention is characterized in that the conduit cable support device is made of an elastic body having a predetermined restoring force.
以下、第３図を参照しながら本発明溶接用ロボ
ツトの実施例について説明する。
Hereinafter, an embodiment of the welding robot of the present invention will be described with reference to FIG.
１はロボツトであつて、これの作動腕３０は旋
回ベース３１の上で水平軸O1を支点にして揺動
できる上腕２と、上腕２の先で、水平軸O2を支
点にして揺動できる前腕３とで構成してある。４
は、前腕３の先端に設けた手首であつて、この手
首４は水平軸O3と、この水平軸O3に直交する軸
O4を中心にして旋回可能に構成してある。５は
手首４に固定したトーチ取付金具である。６はト
ーチ７を取付金具５を介して取付けるトーチ保持
部である。溶接用トーチ７は手首４の中心軸線
O4と異なる方向から手首軸線O4上に向つて延び
ている。 Reference numeral 1 is a robot, and its operating arm 30 includes an upper arm 2 that can swing around a horizontal axis O 1 on a rotating base 31, and an upper arm 2 that can swing around a horizontal axis O 2 at the tip of the upper arm 2. It consists of three forearms that can be used. 4
is a wrist provided at the tip of the forearm 3, and this wrist 4 has a horizontal axis O 3 and an axis orthogonal to this horizontal axis O 3 .
It is configured to be able to rotate around O 4 . 5 is a torch mounting bracket fixed to the wrist 4. Reference numeral 6 denotes a torch holding portion to which the torch 7 is attached via the mounting fitting 5. Welding torch 7 is aligned with the central axis of wrist 4
It extends toward the wrist axis O 4 from a direction different from O 4 .
８はトーチ７の上流側に連結してなるコンジツ
トケーブルで、軸芯部にワイヤー９を通すライナ
ー１０を有している。１１は前記コンジツトケー
ブル８を支持する支持装置で、その基端１１ａは
前腕部３に固定してあり、他端の保持側端１１ｃ
はコンジツトケーブル８を保持している。この支
持装置１１は基端１１ａから保持側端１１ｃまで
の間に、所定の復元力を有する弾性体１１ｂを有
している。この弾性体１１ｂはコンジツトケーブ
ルからかかる応力に依つて、変形し、基端１１ａ
に対する保持側端１１ｃの位置が移動できるよう
に構成してある。前記、保持側端１１ｃに取りつ
けた保持金具１１ｅはコンジツトケーブル８を包
囲しており、コンジツトケーブル８は、この包囲
の中でスライド可能に構成してある。 A conduit cable 8 is connected to the upstream side of the torch 7, and has a liner 10 through which a wire 9 is passed through the shaft core. Reference numeral 11 denotes a support device for supporting the conduit cable 8, the base end 11a of which is fixed to the forearm 3, and the other end 11c on the holding side.
holds the conduit cable 8. This support device 11 has an elastic body 11b having a predetermined restoring force between the base end 11a and the holding side end 11c. This elastic body 11b is deformed by the stress applied from the conduit cable, and the base end 11a
The holding end 11c is configured to be movable relative to the holding end 11c. The holding fitting 11e attached to the holding end 11c surrounds the conduit cable 8, and the conduit cable 8 is configured to be slidable within this surrounding.
かかる構成によれば、手首部４を旋回させて溶
接作業を行なう場合、トーチ取付金具５及びトー
チ７も第５図に示す如く手首部４の旋回に応じて
無理のない姿勢をとる。この時、コンジツトケー
ブル８はトーチ７側へ支持装置１１の保持側端１
１ｃに取りつけた保持金具１１ｅ内をスライドし
て、適宜な曲げアールが形成される。また、反対
方向へ手首部４を旋回させた場合でも前記と同様
にトーチ７側へならつて弾性体１１ｂが曲がるも
のである。 According to this configuration, when welding work is performed by rotating the wrist portion 4, the torch mounting bracket 5 and the torch 7 also assume a natural posture according to the rotation of the wrist portion 4, as shown in FIG. At this time, the conduit cable 8 is connected to the holding side end 1 of the support device 11 toward the torch 7 side.
An appropriate bending radius is formed by sliding inside the holding metal fitting 11e attached to 1c. Further, even when the wrist portion 4 is turned in the opposite direction, the elastic body 11b bends toward the torch 7 side in the same manner as described above.
このため、コンジツトケーブル８に無理なヒネ
リ等の拘束力が加わらない。すなわち、ライナー
１０にも無理な拘束力が加わらないことになり、
ワイヤー９の送給性が良好であるため、常に安定
した溶接ビードを提供できるものである。。 Therefore, no binding force such as unreasonable twisting is applied to the conduit cable 8. In other words, no unreasonable restraining force is applied to the liner 10,
Since the feedability of the wire 9 is good, a stable weld bead can always be provided. .
第６図は本発明の支持装置の拡大詳細図であ
り、基端１１ａはボルト等（図示なし）によつて
前腕部３に固着されている。この固定部１１ａの
中央部付近には円柱状の凸部１１ｄが形成され、
この凸部１１ｄに対してコイルバネ等の弾性体１
１ｂがはめ込まれている。この弾性体１１ｂの保
持側端１１ｃは保持金具１１ｅに形成された凸部
１１ｆが挿入されている。 FIG. 6 is an enlarged detailed view of the support device of the present invention, in which the proximal end 11a is fixed to the forearm portion 3 by bolts or the like (not shown). A cylindrical convex portion 11d is formed near the center of the fixed portion 11a,
An elastic body 1 such as a coil spring is attached to this convex portion 11d.
1b is fitted. A convex portion 11f formed on the holding fitting 11e is inserted into the holding end 11c of the elastic body 11b.
この弾性体は、図示した実施例ではコイルスプ
リングのものが示されているが、要するにコンジ
ツトケーブルを支持するための剛性があり、手首
の旋回によつてコンジツトケーブルが曲げられた
時に、その応力に対応して弾性変形し、その応力
が取り外かれた時には初期の状態に復帰する復元
力を有しているものであれば設計変更が可能なも
のであつて、例えば、図では示さないが、一定の
剛性を有した弾性ゴム製の円柱体あるいは円筒体
を用いても良いし、第７図に示すように、バネ材
で円環部片１５ａ〜１５ｄを形成し、それらを相
互にリベツトによつて90゜づつ角度をずらせて多
段に固着して構成しても良い。この弾性体１１ｂ
の上端部の円環部片１５ａはコンジツトケーブル
を通す保持金具として使用しても良い。さらにこ
の弾性体１１ｂの外周はコンジツトケーブルの邪
魔にならない部分をゴム製チユーブ等の高弾性カ
バー１７で被うことができる。 This elastic body is shown as a coil spring in the illustrated embodiment, but in short, it has the rigidity to support the conduit cable, and when the conduit cable is bent by turning the wrist, the elastic body is stiff enough to support the conduit cable. As long as it has the restoring force to elastically deform in response to stress and return to its initial state when the stress is removed, the design can be changed; for example, it is not shown in the diagram. However, it is also possible to use a cylindrical body made of elastic rubber or a cylindrical body having a certain degree of rigidity, or as shown in FIG. It may also be constructed by fixing in multiple stages with rivets at different angles of 90 degrees. This elastic body 11b
The annular piece 15a at the upper end may be used as a holding fitting for passing a conduit cable. Further, the outer periphery of the elastic body 11b can be covered with a highly elastic cover 17 such as a rubber tube at a portion that does not interfere with the conduit cable.
第９図に示した実施例は弾性体１１ｂの根元付
近を金属性の剛性リング１２で包囲したものが示
されており、これによつて弾性体１１ｂの弾性力
を高め、弾性体１１ｂの過剰な変形を防止するも
のである。 In the embodiment shown in FIG. 9, the vicinity of the root of the elastic body 11b is surrounded by a metallic rigid ring 12, which increases the elastic force of the elastic body 11b and increases the elasticity of the elastic body 11b. This prevents severe deformation.
さらに、第１０図は第９図に示した支持装置の
変形例であつて弾性体１１ｂの下端部を回動可能
に支承したもので、コンジツトケーブルの旋回に
よつて弾性体１１ｂの回動を許容して、弾性体１
１ｂの無理な変形を防止する。その具体的構造は
弾性体の下端部にコア１３を押し込み、そのコア
１３の軸部をベアリング１４によつて固定部１１
ａに回動可能に支承している。第７図に示した支
持装置を回動可能にするには、第８図に示すよう
に、最下端部の円環部片１５ｄをピン１６によつ
て多少の余裕をもつて基端１１ａに支承する。こ
れによつて弾性体１１ｂの回動支持が可能とな
る。 Furthermore, FIG. 10 shows a modified example of the support device shown in FIG. 9, in which the lower end of the elastic body 11b is rotatably supported. The elastic body 1
To prevent unreasonable deformation of 1b. Its specific structure is to push the core 13 into the lower end of the elastic body, and connect the shaft of the core 13 to the fixed part 11 with the bearing 14.
It is rotatably supported on a. In order to make the support device shown in FIG. 7 rotatable, as shown in FIG. Support. This allows rotational support of the elastic body 11b.
本発明は、以上で説明したようにコンジツトケ
ーブルの支持装置が所定の復元力を有した弾性体
で構成されることによつて、溶接作業中において
も支持装置が適度に変形するためにケーブル類に
きつい曲げ力が作用される心配がない。
As explained above, in the present invention, the support device for the conduit cable is made of an elastic body having a predetermined restoring force, so that the support device can be appropriately deformed even during welding work, so that the cable can be There is no need to worry about severe bending force being applied to the product.
さらに本発明の具体的な実施例によれば、手首
部４を旋回させた場合、コンジツトケーブル８は
手首部４に沿つて旋回するが、この時、支持装置
１１の弾性体１１ｂもそれに対応して変形する。
このためコンジツトケーブル８に無理な拘束力が
加わらないため、溶接作業を行なつた場合、ワイ
ヤー９の送給性が良好となり、好適な溶接ビード
を達成することができ、さらに溶接ワイヤー９に
は余分な曲げアールが残留しないために、溶接精
度を向上できる効果を有している。 Further, according to a specific embodiment of the present invention, when the wrist portion 4 is rotated, the conduit cable 8 is rotated along the wrist portion 4, and at this time, the elastic body 11b of the support device 11 is also rotated accordingly. and transform.
For this reason, no unreasonable restraining force is applied to the conduit cable 8, so when welding work is performed, the feeding performance of the wire 9 is good, a suitable weld bead can be achieved, and the welding wire 9 is This has the effect of improving welding accuracy because no excess bending radius remains.
また、支持装置１１を回動可能に支承すれば弾
性体１１ｂにも無理な応力が作用せずに、柔軟な
変形が達成され、溶接ワイヤー９の送給性も向上
する。 Furthermore, if the support device 11 is rotatably supported, flexible deformation can be achieved without unreasonable stress acting on the elastic body 11b, and the feedability of the welding wire 9 can also be improved.
第１図は従来例の溶接ロボツトの例を示す側面
図、第２図は第１図において手首を旋回させた場
合の側面図、第３図は本発明の溶接ロボツトの一
実施例を示す側面図、第４図は第３図に於いて手
首を旋回させた場合の側面図、第５図は第４図の
右方向よりみた側面図、第６図は本発明溶接ロボ
ツトの支持装置の拡大詳細図、第７図は本発明溶
接ロボツトの支持装置の別の実施例を示す一部破
断斜視図、第８図は第７図の支持装置の支承部を
示す断面図、第９図は本発明溶接ロボツトの支持
装置のさらに別の実施例を示す一部断面図、第１
０図は第９図の支持装置の下端部を回動可能に支
承した例の断面部分図である。
１はロボツト、３０は作動腕、７はトーチ、８
はコンジツトケーブル、９はワイヤー、１１は支
持装置、１１ａは基端、１１ｂは弾性体、１１ｃ
は保持側端。
Fig. 1 is a side view showing an example of a conventional welding robot, Fig. 2 is a side view when the wrist is rotated in Fig. 1, and Fig. 3 is a side view showing an embodiment of the welding robot of the present invention. Figure 4 is a side view when the wrist is rotated in Figure 3, Figure 5 is a side view seen from the right side of Figure 4, and Figure 6 is an enlarged view of the support device of the welding robot of the present invention. 7 is a partially cutaway perspective view showing another embodiment of the support device for a welding robot according to the present invention; FIG. 8 is a cross-sectional view showing the support portion of the support device shown in FIG. 7; and FIG. Partial sectional view showing still another embodiment of the support device for the welding robot according to the invention, Part 1
FIG. 0 is a partial cross-sectional view of an example in which the lower end of the support device of FIG. 9 is rotatably supported. 1 is a robot, 30 is an operating arm, 7 is a torch, 8
is a conduit cable, 9 is a wire, 11 is a support device, 11a is a base end, 11b is an elastic body, 11c
is the holding end.
Claims (1)
ーチが固定してあり、この溶接トーチへの溶接ワ
イヤの供給はコンジツトケーブルの中を通して行
なわれ、且つ前記コンジツトケーブルは、基端を
前記作動腕に取りつけた支持具で支持してあるも
のに於いて、前記支持具は前記基端から前記コン
ジツトケーブルを保持している保持側端までの間
に、所定の復元力を有する弾性体を有しており、
前記コンジツトケーブルから前記弾性体にかかる
応力に依つて、前記基端に対する前記保持側端の
位置が移動できるように構成してあることを特徴
とする溶接ロボツト。 ２ 前記弾性体はコイルスプリングによつて構成
してあることを特徴とする特許請求の範囲第１項
記載の溶接ロボツト。[Scope of Claims] 1. A welding torch is fixed to the wrist provided at the end of the operating arm of the robot, and a welding wire is supplied to the welding torch through a conduit cable, and the welding wire is supplied to the welding torch through a conduit cable. In this case, the proximal end is supported by a support attached to the operating arm, and the support has a predetermined length between the proximal end and the holding end holding the conduit cable. It has an elastic body with restoring force,
A welding robot characterized in that the welding robot is configured such that the position of the holding side end relative to the base end can be moved depending on the stress applied to the elastic body from the conduit cable. 2. The welding robot according to claim 1, wherein the elastic body is constituted by a coil spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16833482A JPS5961573A (en) | 1982-09-29 | 1982-09-29 | Cable supporting device in automatic welding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16833482A JPS5961573A (en) | 1982-09-29 | 1982-09-29 | Cable supporting device in automatic welding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5961573A JPS5961573A (en) | 1984-04-07 |
| JPH0123232B2 true JPH0123232B2 (en) | 1989-05-01 |
Family
ID=15866122
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16833482A Granted JPS5961573A (en) | 1982-09-29 | 1982-09-29 | Cable supporting device in automatic welding device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5961573A (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0392943U (en) * | 1990-01-11 | 1991-09-20 | ||
| EP1179397A1 (en) * | 2000-07-14 | 2002-02-13 | Abb Ab | Manipulator with an arrangement for supporting supply cables |
| SE0002654D0 (en) * | 2000-07-14 | 2000-07-14 | Abb Ab | Manipulator |
| KR20030055609A (en) * | 2001-12-27 | 2003-07-04 | 김재열 | cable twist prevent type auto weldign device |
| JP3841757B2 (en) * | 2003-01-23 | 2006-11-01 | ファナック株式会社 | Torch cable processing structure of arc welding robot |
| DE102022123623A1 (en) * | 2022-09-15 | 2024-03-21 | Dürr Systems Ag | Resetting device for resetting at least one line |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5866691A (en) * | 1981-10-07 | 1983-04-20 | 株式会社安川電機 | Supporter for cable of industrial robot |
-
1982
- 1982-09-29 JP JP16833482A patent/JPS5961573A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5866691A (en) * | 1981-10-07 | 1983-04-20 | 株式会社安川電機 | Supporter for cable of industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5961573A (en) | 1984-04-07 |
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