JPH034446Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Field of Application] The present invention relates to improving the workability of a welding device that welds workpieces transported by a transport robot during the transport.

[Prior art]

Generally, when welding workpieces transported by a transport robot, the welding device is installed so that its welding gun is positioned on the transport path of the workpiece by the transport robot, and the workpiece is welded by the transport robot in line with the welding gun. Welding is performed while changing the position of the machine.

As such welding equipment, conventionally,
As described in Publication No. 133384, a welding device having two spot guns is installed on the line of movement of the workpiece by the transfer robot, and these two spot guns sequentially weld two welding points on the workpiece at the same time. This was something that could improve work efficiency.

However, some workpieces have various shapes, and for example, when welding a workpiece with a curved surface part as shown in FIG. If an attempt is made to do so, the point P3 will be welded at the same time as the adjacent welding point P2 or P4, but since the welding point P3 is a curved surface, such welding cannot be performed. After all, conventionally, welding at the welding point P3 was performed at a separate station.

[Purpose of invention]

The present invention was developed in view of the conventional situation, and provides a welding device for a transport robot that can change the number of welding points to be simultaneously welded depending on the shape of the workpiece, and improve welding work efficiency. is intended to provide.

[Structure of the idea]

The present invention is a welding device for a transfer robot, in which a plurality of welding guns are placed on the transfer trajectory of the workpiece by the transfer robot, and the relative postures of the welding guns are adjusted to simultaneously weld multiple locations on the workpiece being transferred on the transfer trajectory. In addition to providing spot welding devices arranged in a fixed state, some of the spot welding guns are provided with a welding gun moving device that moves the welding guns between the above-mentioned transport path and a position evacuated from there. This makes it possible to switch between simultaneous welding at a plurality of locations and welding at fewer locations depending on the shape of the workpiece.

〔Example〕

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 to 4 show an embodiment of the present invention, and in FIG. 1 showing the arrangement of related devices, 1 is a transfer robot whose base 1a is fixed on the floor; is rotatable around the rear end 1c. A work support member 3 for supporting the work 2 is attached to the tip of the arm 1b of the transfer robot 1, and the transfer robot 1 supports the work 2 by the work support member 3. In this state, the workpiece 2 is conveyed from the carry-in rail 4a at the workpiece carry-in position 4 to the mounting table 5a at the workpiece carry-out position 5 while drawing a substantially arcuate conveyance trajectory A.

A first welding device 6 having the same structure as the conventional one and a second welding device 7 according to an embodiment of the present invention are installed near the transport path A. The first welding device 6 is provided with one welding gun 6a, and the tip portion of the welding gun 6a is located on the transport path A.

Further, the base 8 of the second welding device 7 is fastened to the floor surface with a mounting bolt 8a, and a support 9 is provided upwardly on the base 8. A slide member 11 is fitted into a guide member 10 provided on the front surface of the support column 9 so as to be movable up and down, and a mounting bracket 1 fixed to the slide member 11 is attached.
A fixed welding gun 12 having a U-shaped side surface is fixed to the support 9 at right angles to the front surface of the support 9. Upper and lower tips 13a and 13b are provided at the tip of the horizontal side 12b of the fixed welding gun 12, facing each other, and the upper tip 13a is connected to a gun cylinder 14, thereby allowing it to move up and down. It's getting old.

Upper and lower bearings 12c and 12d are provided at the upper and lower parts of the vertical side portion 12a of the fixed welding gun 12,
Upper and lower moving shafts 15a and 15b are rotatably inserted into the upper and lower bearings 12c and 12d, respectively.

A movable welding gun 16 is attached to the fixed portion 15c formed at the tip of the rotation shafts 15a and 15b.
The upper and lower portions of the vertical sides 16a are fixed. The welding gun 16 has a U-shaped side surface like the fixed welding gun 12, and the tip of the horizontal side 16b has an upper
Lower chips 17a and 17b are provided, and the lower chips 17a and 17b are provided.
7a can be moved up and down by a gun cylinder 18. The upper end of the upper moving shaft 15a is connected to a rotary actuator (welding gun moving device) 19 attached to the fixed welding gun 12, and in this way, the movable welding gun 16
It is rotatable about the rotation shafts 15a and 15b.

Next, the operation will be explained.

Workpiece (side frame) using this example device
To explain the case of welding work 2, work 2
is carried onto the carry-in rail 4a at the carry-in position 4, the transfer robot 1 rotates to the carry-in position 4,
A workpiece 2 is supported by a workpiece support member 3. Then, the transfer robot 1 transfers the workpiece 2 from the carry-in position 4 to the mounting table 5 at the carry-out position 5 by drawing a transfer trajectory A.
During this period, a predetermined portion of the workpiece 2 is welded by the respective welding devices 6 and 7. First, when the workpiece 2 is moved to the position of the first welding device 6, the first welding The device 6 sequentially welds the welding points indicated by crosses in FIG. 3 on the rear portion 2a of the wheel house of the workpiece 2.

Then, the work 2 is further moved to the vicinity of the second welding device 7, and the parts of the work 2 to be welded are welded between the upper and lower chips 13a and 13b and between 17a and 17.
When the welding point is reached between b and 2, the welding points of that part are sequentially welded two at a time at a time. When welding the lower part 2c of the window opening, first weld point P
Weld 1 and P2 at the same time. Then, even if you try to weld the welding points P3 and P4 at the same time,
Since the welding points P3 and P4 are located on a curved surface as shown in FIG. 4, they cannot be welded simultaneously. Furthermore, in the conventional welding apparatus, even if one welding point is to be welded, one of the welding guns interferes with the workpiece 2, so this cannot be done. However, in the device of this embodiment, the rotary actuator 19 rotates the movable welding gun 16 to the position shown by the dashed line in FIGS. The state is the same as that of a type of welding apparatus having only one welding gun by retreating from the transport path A, and in this state, the welding point P3 is welded by the fixed welding gun 12.
After this, the rotary actuator 19
The movable welding gun 16 is rotated to the original position,
In this state, two welding points P4 to P7 are sequentially welded simultaneously by both welding guns 12 and 16.

When welding the front part 2b of the wheel house, the transfer robot 1 is moved so that the workpiece 2 is in the position shown by the two-dot chain line in FIG. 3 with respect to the second welding device 7.
In this state, each welding point is moved by 2
The parts are welded one after another at the same time.

When all the welding is completed, the workpiece 2 is transported by the transport robot 1 to the unloading position 5 and placed on the mounting table 5a.

As described above, in the present embodiment, the two welding guns 12 and 16 are provided, and one of them is made retractable from the transport path A, so that when welding a curved part of the workpiece, one of the welding guns 12 and 16 2 will not interfere with welding of the part, and as a result, the workability and efficiency of the welding work can be improved. In addition, the relative angle between the upper and lower tips of the welding gun of this invention is fixed, which means that the angle between the welding surface and the welding gun remains constant no matter which point is welded, so welding accuracy is high. .

In the above embodiment, the case where two welding guns were provided was explained, but in the present invention, three welding guns are provided.
More than one welding gun may be provided, and in that case, one or more of the welding guns may be constructed to be able to be retracted from the conveyance path. By doing so, work efficiency can be further improved.

[Effect of idea]

As described above, according to the welding device for a transfer robot according to the present invention, a plurality of welding guns are installed on the transfer trajectory of the workpiece by the transfer robot for simultaneously welding multiple locations of the workpiece being transferred on the transfer trajectory. In addition to providing spot welding devices in which the relative positions of the welding guns are fixed, some of the above spot welding guns are equipped with a welding device that moves the welding guns between the above-mentioned transport path and a position evacuated from the above-mentioned transport path. Since the gun moving device is provided, it is possible to switch between simultaneous welding of multiple locations and welding of fewer locations depending on the shape of the workpiece, which has the effect of greatly improving workability and efficiency. Furthermore, since the relative angles between the upper and lower chips of the welding gun are fixed, welding accuracy is high.

[Brief explanation of the drawing]

FIG. 1 is a layout diagram of a welding device and related devices for a transfer robot according to an embodiment of the present invention, FIG. 2 is a perspective view of the device of the above embodiment, and FIGS.
The drawings are for explaining the operation, and FIG. 3 is a plan view of the workpiece and the workpiece support member, and FIG. 4 is a sectional view taken along the line -- in FIG. 3. 1... Transfer robot, 2... Work, 3... Work supporting member, 4... Work loading position, 5... Work carrying out position, 7... Welding device, 12, 16...
Welding gun, 19... rotary actuator (welding gun moving device).

Claims (1)

[Scope of Claim for Utility Model Registration] A transfer robot having a workpiece support member attached to the tip of an arm to support and transfer the workpiece between a workpiece loading position and a carryout position; A spot welding device is provided on the trajectory, in which a plurality of spot welding guns for simultaneously welding multiple locations on the workpiece being conveyed on the transportation trajectory are arranged in a state in which the relative postures of the welding guns are fixed; A welding device for a transport robot, characterized in that the spot welding gun in the part is provided with a welding gun moving device for moving the welding gun between the transport path and a position evacuated from the transport path.