JPH0337818Y2 - - Google Patents

Description

[Detailed Description of the Invention] Industrial Application Field The present invention relates to a teaching device for a welding robot.

Conventional technology Teaching work for welding robots is
This work is not necessary for a robot that stores the position information of the input teaching point and moves based on that information, that is, a robot that uses the commonly-called teaching playback method. This is an important part.

Conventionally, this teaching work involves making the welding wire a used during welding a certain length and then attaching the tip to the robot b.
The students were taught the positions that should be memorized.

Problems to be Solved by the Invention However, in this method, when the robot b is moved during teaching, the conduit cable c passing through the welding wire a is routed around. This caused the inconvenience of not being able to teach accurately.

Also, instead of using a fixed length welding wire a, the teacher replaced that part with a mechanical one (see Figure 7). d in FIG. 7 is a wire feeding device.

The present invention was devised in view of the above circumstances, and the present invention replaces the conventional welding wire or a mechanical teaching means replacing it with a laser beam to accurately determine the position of the robot's tip. The aim is to reduce damage to the robot, workpiece, jig, etc. due to incorrect operation of the robot, regardless of the movement of the robot, and by using an optical system instead of a mechanical one.

Means and Effects for Solving the Problems The present invention is such that laser beams 4 and 5 intersect with each other at the welding wire length position on the left and right sides of the teaching nozzle 1 which is detachably attached to the tip of the welding torch 2'. It is configured with adjustable laser oscillators 2 and 3, and during teaching work, the laser oscillators 2 and 3 are
The teaching operation is performed by observing the state in which the laser beams 4 and 5 from the workpiece 6 hit the workpiece 6.

Example The present invention will be described below with reference to embodiments.

Reference numeral 1 denotes a cylindrical teaching nozzle that is detachably attached to the tip of the welding torch 2' from which the nozzle 3' is removed. Laser oscillators 2 and 3 are attached to the left and right sides of the teaching nozzle 1.

Note that the laser oscillators 2 and 3 are connected to a power supply device 7. Laser beams 4 and 5 emitted from these laser oscillators 2 and 3 are visible light.

During the teaching work, the nozzle 3' at the tip of the welding torch 2' of the robot is replaced with the teaching nozzle 1 to perform the teaching work.

When the laser oscillators 2 and 3 attached to the teaching nozzle 1 are replaced in advance during the teaching operation, the laser beams 4 and 5 of the two laser oscillators 2 and 3 intersect at the position of the welding wire length during the conventional teaching operation. It has been adjusted as follows.

During teaching work, laser beams 4 and 5 are outputted from laser oscillators 2 and 3.

The operator operates the robot using the teaching box as usual, but at this time, he performs the teaching work by observing the state of the laser beams 4 and 5 hitting the workpiece 6.

For example, when performing teaching work as shown in Figures 4 and 5, if the tip position is not obtained, two laser beams 4 and 5 can be seen as shown in Figure 4, but the tip position cannot be accurately determined. 1 as shown in Figure 5.
The laser beam becomes a point, allowing the operator to easily perform teaching tasks.

Effects of the Invention Since the present invention is as described above, the position of the tip of the robot can be accurately determined by using the conventional welding wire or a mechanical teaching means in place of it using the laser beams 4 and 5.

For this reason, irrespective of the movement of the robot during teaching work, by omitting the mechanical system and using an optical system, damage to the robot, workpiece, jig, etc. caused by erroneous operation of the robot can be reduced.

[Brief explanation of drawings]

Fig. 1 is a side view of one embodiment of the present invention, Fig. 2 is a view taken from the direction of Fig. 1, and Figs. Explanatory diagram, Figure 6 is a side view of the tip of the welding torch,
FIG. 7 is a perspective view of the robot, and FIG. 8 is an explanatory diagram of a fixed length of welding wire. 1 is a teaching nozzle, 2' is a welding torch, 2, 3
is a laser oscillator.

Claims (1)

[Scope of utility model registration request] Adjustable laser oscillators 2 and 3 are provided on the left and right sides of a teaching nozzle 1 that is removably attached to the tip of a welding torch 2' so that the laser beams 4 and 5 intersect with each other at the welding wire length position. A teaching device for a welding robot, which is characterized by: