JPH0231632B2 - - Google Patents

Description

Detailed Description of the Invention (Field of Industrial Application) The present invention relates to a torch support device used in an automatic welding machine generally called a welding robot, and in particular, to a torch support device used in an automatic welding machine generally called a welding robot. The present invention relates to a double torch support device capable of supporting two torches for the purpose of supporting two torches.

(Prior art and its problems) Conventional double torch support devices of this type are known as those described in Japanese Patent Application Laid-Open No. 53-64643 and Japanese Patent Application Laid-Open No. 56-30076, etc. , these conventional double torch support devices require two torch supports to be provided for each torch support when changing the distance between the two torch supports that separately support two torches.
Each torch support must be moved separately by two drive means. In other words, since both torch supports can be moved separately by the two drive means, there is an advantage that the distance between both torches can be adjusted arbitrarily, but parallel fillet welding in which two torches are used simultaneously for welding If there are only two types of intervals, large and small, it is necessary to accurately control the two driving means to move both torch supports symmetrically by the same distance, and two driving means are required. This combined with the drawback that the entire device was expensive.

(Means for Solving the Problems) Therefore, the present invention can be used extremely effectively when there are only two types of intervals, large and small, between parallel fillet welds that are simultaneously welded with two torches, as described above. , we propose a double torch support device that can be implemented at a very low cost, and its features include supporting a pair of movable bodies on a mounting base so that they can move freely in the far and near directions; An inner stopper that regulates the closest position and an outer stopper that regulates the farthest position of both movable bodies are provided, and the main body of one linear reciprocating actuator parallel to the moving direction of both movable bodies is set to one of the movable bodies. At the same time, the driven part of the actuator is connected to the other movable body, and a torch support is attached to each movable body so as to be movable in the distance direction with respect to the workpiece, and each of the torch supports is attached to each movable body. The point is that a means to move it is provided.

(Embodiment) Hereinafter, an embodiment of the present invention will be described based on the attached illustrative drawings. Reference numeral 1 denotes the tip of a robot hand of an automatic welding machine, and the robot hand 1 is arranged in the X-axis direction and the Y-axis direction, which are horizontal and perpendicular to each other. , is movable in the vertical Z-axis direction. Reference numeral 2 denotes an attachment base, which is attached to the distal end portion 1 of the robot hand. Reference numeral 3 denotes an upper guide rod, and both ends of the rod are supported by a pair of brackets 4 which are connected from the mounting base 2. 5 is a lower guide rod, and a bracket 6 is connected from the center of the mounting base 2.
supports the central part. Reference numerals 7 and 8 denote a pair of left and right movable bodies, whose upper end portions are movably supported by the upper guide rod 3, respectively, and whose lower end portions are movably supported by the lower guide rod 5 on both left and right sides of the central bracket 6. ing.

9 is a cylinder/piston unit,
The cylinder body 10 is fixed to one movable body 7, and the tip of the piston rod 11 is connected to the other movable body 8. 12 and 13 are each movable body 7,
8, a bearing part 7a is connected diagonally forward from the lower end of the bearing part 7a,
The torch support is pivotally supported on support shafts 8a via support shafts 14 and 15 so as to be vertically movable, and holds welding torches 16 and 17 at the tips thereof, respectively. 18,
Reference numeral 19 denotes a cylinder/piston unit that swings the torch supports 12 and 13 separately, and the cylinder bodies 20 and 21 are connected to the bearing portions 7 which are connected diagonally forward from the upper ends of the movable bodies 7 and 8.
b, 8b via support shafts 22, 23, and the tips of the piston rods 24, 25 are pivotally supported by the torch supports 12, 13 via support shafts 26, 27.

As shown in phantom lines in Figures 2 and 3, when welding fillet welds a and b between plate-shaped workpieces A and B that are butted against each other in a T-shape, the cylinder-piston unit is The piston rod 11 at step 9 is contracted, and both movable bodies 7 and 8 are moved close to each other to the approach limit position where they abut against the center bracket 6, and fixed, and the distance between the two movable bodies 7 and 8 is set to the distance between the two fillets. At the same time, the piston rods 24 and 25 of both cylinder/piston units 18 and 19 are contracted to rotate both torch supports 12 and 13 upward, and both of the torch supports 12 and 13 are rotated upward. The robot hand 1 is moved to a predetermined position relative to the works A and B while the torches 16 and 17 are retracted obliquely upward and away from each other. And both cylinder piston unit 1
By extending the piston rods 24, 25 of 8, 19 and rotating both torch supports 12, 13 to the lower limit positions, both torches 16 are ，
The tip of 17 is made to face the welding start position of both fillet welds A and B. In this state, the robot hand 1 is moved so that the tips of the torches 16 and 17 move along the fillet welds A and B,
Both fillet welds A and B can be simultaneously welded by both torches 16 and 17.

As shown by the imaginary lines in Fig. 4, two plate-shaped workpieces B are butted against workpiece A in a T-shape,
a fillet weld c between the outside of C and the workpiece A;
When welding the piston rod 11 of the cylinder/piston unit 9, as shown in FIG.
, and both movable bodies 7 and 8 are attached to the outer bracket 4.
The space between the two movable bodies 7 and 8 is adjusted to the fillet welded portion c,
Switch to the maximum spacing that accommodates the spacing between d. After this, use the same procedure as above.

In addition, in the embodiment, fillet welds a, b or c, d
Although a workpiece is illustrated in which the fillet weld is arranged in a vertical direction, both torches 16 and 17 can also be used in a workpiece in which the fillet weld is arranged in a horizontal direction.
It can be used by changing the angle etc.

Furthermore, by providing a stopper whose fixed position can be freely changed along the guide rod 3 on the inside of both outer brackets 4, the maximum distance between both movable bodies 7 and 8 (at the working position between both torches 16 and 17) can be maintained. (maximum interval) can be changed. Similarly, by providing stoppers on the left and right sides of the central bracket 6 that can change their fixed positions along the guide rod 5, the minimum distance between the movable bodies 7 and 8 (at the operating position between the torches 16 and 17) (minimum interval) can be made changeable.

In the above embodiment, the cylinder/piston unit 9 was used as the linear reciprocating actuator, but a screw type linear reciprocating actuator consisting of a motor-driven screw shaft and a female screw body screwed into this, or a motor-driven It is also possible to use a gear type linear reciprocating actuator consisting of a pinion gear and a rack gear meshing with the pinion gear.

(Operations and Effects of the Invention) As described above, according to the double torch support device of the present invention, two parallel fillet welds can be simultaneously and efficiently welded by a pair of torches supported by two torch supports. However, especially in the device of the present invention, there is an inner stopper (bracket 6 in the embodiment) that restricts the closest position of the two movable bodies each supporting a torch support, and an inner stopper (bracket 6 in the embodiment) that restricts the closest position of the two movable bodies that support the torch support, and a An outer stopper (bracket 4 in the embodiment) for regulating the position is provided, and the main body (cylinder in the embodiment) of one linear reciprocating actuator (cylinder/pinion gear unit 9 in the embodiment) parallel to the direction of movement of both movable bodies is provided. Main body 10)
is attached to one of the movable bodies, and the driven part of the actuator (piston rod 11 in the embodiment) is connected to the other movable body, so that the one linear reciprocating actuator can be moved in the forward direction until it is limited by the stopper. Alternatively, by simply operating in the opposite direction, the pair of torches supported by the movable bodies via torch supports can be instantly moved from the closest position to the farthest position, or vice versa. I can do it.

Therefore, for a workpiece in which the distance between two parallel fillet welds varies between large and small, the distance between the pair of torches can be changed from the state corresponding to one parallel fillet weld to the state corresponding to the other parallel fillet weld. It is possible to instantly switch to the state corresponding to the welding part, and welding work on the workpiece can be performed efficiently. Moreover, since only one linear reciprocating actuator is used, the structure is simple, control is extremely easy, and implementation is possible at a very low cost.

[Brief explanation of drawings]

1 is a side view, FIG. 2 is a cross-sectional plan view, FIG. 3 is a partially omitted front view, and FIG. 4 is a partially omitted front view with the torch interval changed. 1... Robot hand, 2... Mounting base,
3, 5... Guide rod, 4, 6... Bracket,
7, 8... Movable body, 9... Cylinder/piston unit, 12, 13... Torch support, 16, 17...
Welding torch, 18, 19... Cylinder/piston unit, a to c... Fillet welded portion.

Claims (1)

[Claims] 1. A pair of movable bodies are supported on a mounting base so as to be movable in the distance directions, and an inner stopper for regulating the closest position of both movable bodies and an outer stopper for regulating the farthest position of both movable bodies is provided,
The main body of one linear reciprocating actuator parallel to the moving direction of both movable bodies is attached to one of the movable bodies, the driven part of the actuator is connected to the other movable body, and each movable body is provided with a torch support. A double torch support device for an automatic welding machine, comprising: a double torch support device for an automatic welding machine, which is mounted so as to be movable in a distance direction relative to a workpiece, and is provided with means for moving each torch support member relative to each movable body.