JPH0522391Y2 - - Google Patents

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a positioner tilting device that tilts a positioner that rotatably holds a welding object when the welding object is welded by a welding robot.

(Prior art) Generally, fillet welds in welded structures are
Good welding results can be obtained by positioning it horizontally and welding with a torch in a downward position. This effect is particularly noticeable when the weld leg length or penetration amount is large.
Therefore, when a fillet welded portion of a large welded structure is welded by an automatic welding device such as a welding robot, a positioner is used that can hold and rotate the object to be welded.

However, with conventional positioners, a certain part (parallel to the axis of rotation) of the fillet welding part of the held workpiece can be welded in a downward position, but the remaining welded part can be welded in a downward position. In order to weld with a welding method, the work to be welded must be reattached to the positioner, which is troublesome.

Therefore, the present applicant has previously proposed a positioner tilting device capable of solving this problem (see Japanese Utility Model Application Publication No. 123386/1986).

That is, the proposed positioner tilting device:
For example, as shown in FIG. 4, a tilting platform a is provided which is tiltably supported at its center by a horizontal support shaft b,
Rotating mounting plates c1 _{and c2} are attached to both ends of the tilt table a, forming a positioner d for the workpiece. The rotation axes of the rotating mounting plates _c1 and _c2 are on the same axis, and a servo motor e for rotation drive is attached to one of the rotating mounting plates _c1 . f is
This is a welding robot that can move on a beam g. One end of the tilting table a is screwed to a ball screw i supported on a gate frame h, for example, and by rotating the ball screw i with a motor j or the like, the one end of the tilting table a is raised and lowered, thereby tilting the positioner d about the horizontal support shaft b.

(Problem to be solved by the invention) However, in this product, on the other hand, the tilting table a
In order to tilt the support shaft B around the support shaft B, the support shaft B must be placed at a high position in consideration of the tilting range.
Accordingly, the height of the welding work increases, and the positions for carrying in and taking out the welded objects also become higher, so there is room for improvement.

The purpose of this invention is to eliminate the horizontal support shaft of the above proposal and make the tilting table tiltable, thereby lowering the welding work height and facilitating the horizontal loading and unloading of workpieces. The purpose is to make it possible.

(Means for Solving the Problems) In order to achieve the above object, in the present invention, the rotation axis of a positioner that rotatably holds the workpiece is tilted, so that the welding part of the workpiece is held in a horizontal position. As a positioner tilting device for a welding robot, the positioner is arranged at both ends of a tilting table. Further, a tilting means is provided which is connected to both ends of the tilting table and tilts the tilting table by independently raising and lowering both ends of the tilting table.

(Function) With this configuration, in the present invention, when the tilting table is tilted to tilt the positioner, both ends of the tilting table are independently raised and lowered by the operation of the tilting means, so that the tilting table is tilted, and the positioner is tilted. The desired slope is ensured. Due to the tilting structure of this tilting table,
The lower end of the tilting table always needs to be in almost contact with the floor surface during tilting, and this position can be set extremely low, making it easy to perform welding work with a welding robot, and also allowing for easy loading and unloading of workpieces. This means that it can also be performed at a lower position.

Further, since the workpiece held by the positioner on the tilting table can be rotated and tilted at any angle, the welded part can always be kept in the downward welding position as welding progresses.

(Example) Hereinafter, an example of the present invention will be described based on the drawings.

FIG. 1 shows the overall configuration of a positioner tilting device A according to an embodiment of the present invention, in which 1 is a tiltable tilting table, and frames 2 and 3 are attached to both left and right ends 1a and 1b of the tilting table 1. The frames 2 and 3 are erected.
drive side and driven side positioners 4,
5 is attached. Each positioner 4,
Reference numeral 5 includes pallet chucking jigs 6 and 7 rotatably supported with axes parallel to the tilting table 1, and opposing jigs are provided at the lower ends of the outer peripheries of each of the jigs 6 and 7. Recesses 6a, 7a are formed on the surfaces facing the recesses 7, 6, and left and right end portions of a pallet jig P, which supports a workpiece (not shown) on top, are fitted into the recesses 6a, 7a. A clamp cylinder 8 having a clamp portion 8a that protrudes and retracts into the recessed portions 6a and 7a is attached to the lower end of each pallet chucking jig 6 and 7, and both clamp cylinders 8 and 8 are operated to extend. Thus, the pallet jig P is clamped and held by the pallet chucking jigs 6 and 7. In addition, the drive side positioner 4
is equipped with a motor 9 that rotates the pallet chucking jig 6, and the operation of this motor 9 rotates both pallet chucking jigs 6 and 7 together with the pallet jig P to weld the workpiece. It is configured to rotate. Incidentally, a lock cylinder 10 is attached to the driven side frame 3 to fix and hold the workpiece by restricting the pallet chucking jig 7 so that it cannot rotate when welding the workpiece.

Further, at both ends 1a and 1b of the tilting table 1, a connecting shaft 11 extending horizontally at right angles to the tilting table 1,
12 are integrally attached, and each connecting shaft 11,
The lower ends of links 13 and 14 are swingably connected to 12. At the upper end of each link 13, 14 are tilting cylinders 15, 1 extending substantially in the vertical direction.
The upper ends of the piston rods 15a, 16a of 6 are swingably connected via horizontal connecting pins 17, 18, and the lower ends of the bodies of the tilting cylinders 15, 16 are swingably connected to the floor surface. Due to the telescopic operation of the tilting cylinders 15 and 16, the tilting table 1
The end portions 1a and 1b of are moved up and down via links 13 and 14, respectively. and,
By extending only one of the left and right tilting cylinders 15 and 16, the ends 1a and 1 of the tilting table 1 are
b are raised and lowered independently to tilt the tilting table 1, and for example, as shown in FIG. 2, when only the driven side (right side in the figure) tilting cylinder 16 is extended,
The driven side end 1b of the tilting table 1 is raised, and the driving side end 1a is brought into contact with the floor surface, so that the tilting table 1 is tilted to the left.On the other hand, as shown in FIG. When only the tilting cylinder 15 (on the left side in the figure) is extended, the drive side end 1a of the tilting table 1
The tilting means 19 is configured such that the tilting table 1 is tilted to the right by raising only the tilting table 1 and bringing the driven side end 1b into contact with the floor surface.

Specifically, the tilt angle of the tilting table 1 is set to, for example, a maximum of about 7 degrees with respect to the horizontal plane. Also,
The rotation angle range of the pallet jig P is set to be 200 degrees in each of the forward and backward directions, giving a total rotation angle of 400 degrees.

Although not shown, both the positioners 4 and 5 mentioned above
A welding robot for welding the object to be welded is placed above the gap, and while moving between the positioners 4 and 5, the welding robot welds the fillet welded portion of the object to be welded downward with its torch. .

Furthermore, in the figure, reference numerals 20 and 21 are tilting table fixtures protruding from the floor surface, and a tilting table 1 is attached to the upper end of the fixture.
Engagement recess 2 into which the connecting shafts 11 and 12 at the ends can fit
0a, 21a are formed, and this fixture 2
0 and 21, the tilting table 1 located on the floor surface is immovably supported.

Therefore, in the above embodiment, when welding the workpiece, when keeping the tilting table 1 in a horizontal state without tilting it, both the left and right tilting cylinders 15 and 16 are contracted, as shown in FIG. let In this state, both the left and right ends 1a and 1b of the tilting table 1 do not rise, and the tilting table 1 is in a horizontal state with its bottom surface in contact with the floor surface. At this time, the height of the pallet jig P becomes a height convenient for placing the workpiece to be welded on the pallet jig P, and therefore it is easy to carry the workpiece into and out of the pallet jig P. It can be done easily.

Then, in order to weld the fillet welding portion of the workpiece downward with the torch of the welding robot, the pallet jig P is rotated by the operation of the drive-side positioner 4. That is, when both positioners 4 and 5 are rotated by the required angle, the pallet jig P is rotated around the rotation axes of the positioners 4 and 5, and when the welding part is located at the optimal position relative to the torch, the pallet jig P is fixed. After stopping the rotation of the tool P and fixing the pallet jig P at that rotation position by the lock cylinder 10,
The objects to be welded are welded by a welding robot.

Additionally, as welding progresses, when the torch reaches an inclined fillet welded part of the welded object and it is necessary to tilt the welded object in order to position the inclined fillet welded part horizontally. By extending only one of the left and right tilting cylinders 15 and 16, the ends 1a and 1b of the tilting table 1 are raised and lowered independently, and the tilting table 1 is tilted. For example, when tilting to the left, only the driven side (right side) tilting cylinder 16 is extended as shown in FIG. Due to this extension operation of the cylinder 16, only the driven side end 1b of the tilting table 1 rises, and the driving side end 1a does not rise and comes into contact with the floor surface, thereby causing the tilting table 1 to tilt to the left. Become.

On the other hand, when tilting to the right, the third
As shown in the figure, only the driving-side tilting cylinder 15 is extended. Due to this operation of the cylinder 15, only the driving side end 1a of the tilting table 1 rises, and the driven side end 1b comes into contact with the floor surface, so that the tilting table 1 is tilted to the right.

In this embodiment, the tilting table 1 is tilted by the independent extension operations of the tilting cylinders 15 and 16.
Since the pallet jig P and the workpiece to be welded are inclined, the height of the tilting table 1 at the time of inclination is such that the bottom surface is approximately in contact with the floor surface, and the tilting table 1 and the pallet jig P are
The height position becomes extremely low. Therefore, welding work by the welding robot can be facilitated.

In the above embodiment, the left and right ends 1 of the tilting table 1
Although a and 1b are raised and lowered by the tilting cylinders 15 and 16, respectively, other drive mechanisms such as a motor may be used, and the same effects as in the above embodiment can be achieved.

(Effects of the invention) As described above, according to the positioner tilting device of the present invention, the positioner can be tilted by independently raising and lowering both ends of the tilting table to which the positioner, on which the workpiece to be welded is rotatably held, is attached. This makes it possible to easily position the welding part of the workpiece in a horizontal position and achieve a good welding result while reducing the height of the welding operation, making it easier to transport the workpiece,
This has an excellent practical effect of making it easier to carry out.

[Brief explanation of the drawing]

Figures 1 to 3 show embodiments of the present invention;
The figure is a front view showing the overall structure, FIG. 2 is a front view showing the tilting table tilted to the left, and FIG. 3 is a front view showing the tilting table tilted to the right. FIG. 4 is a perspective view illustrating a conventional example. A...positioner tilting device, 1...tilting table,
4, 5...Positioner, 15, 16...Tilt cylinder, 19...Tilt means, P...Pallet jig.

Claims (1)

[Scope of utility model registration request] A positioner tilting device for a welding robot, which holds the welding part of the workpiece in a horizontal position by tilting the rotation axis of a positioner that rotatably holds the workpiece, the positioner being a tilting table. The welding device is provided with a tilting means that is disposed at both ends of the tilting table, is connected to both ends of the tilting table, and tilts the tilting table by independently raising and lowering both ends of the tilting table. Positioner tilting device for robots.