JPH06246446A - Robot welding equipment - Google Patents

Abstract

PURPOSE:To attain smoothness, certainty and efficiency of work in the equipment where a torch unit is fitted on a robot and members to be welded such as nuts are subjected to spot welding on the work surface. CONSTITUTION:The torch unit 1 connected to the robot via an autohand changer consists of a torch part T and a feeder B of the members to be welded. The torch part T is fitted on a fitting substrate 3 suspended on a fixed supporting plate 2 via a spring 5 with the tips 4a of two torches 4, 4 approached to each other diagonally and made possible to be opened outside in an allowable range with a vertical part base end 4b as a datum point and a pressing-down stroke mechanism 7 of the members to be welded is suspended via a spring 6 downward vertically from the central part of the fitting substrate 3. The feeder B of the members to be welded is provided with a loading magazine 8 of the members to be welded and a segmenting device 9 per piece are arranged in the rear part of the pressing-down stroke mechanism 7 and a means to supply the members to be welded to the loading magazine 8 is provided on a starting base 12 of the torch unit 1.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot welding apparatus, and more particularly to an apparatus for spot welding a welded member such as a nut on a work by mounting a torch unit on the robot.

[0002]

2. Description of the Related Art The above-described robot welding apparatus has the following drawbacks. That is, since the members to be welded such as nuts are fed by the tube connected to the feeder, when the feeding device is moved, the members to be welded may be in the middle due to twisting of the tube. It gets stuck. If a plurality of feeding devices are mixed, the tubes are entangled with each other and the operation is limited. Further, since there is no means for holding the member to be welded on the plate, the welding site is limited to the horizontal plane. Furthermore, since it is a single torch, when there are two welding points of the member to be welded facing each other, double labor is required for movement. In addition, in the general method in which the feeding device is fixed and the work side is moved, when welding the members to be welded to the four corners of the flat plate, a space four times the size of the work is required. It is unreasonable.

[0003]

DISCLOSURE OF THE INVENTION The present invention solves the above-mentioned difficulties and facilitates the work as described below.
It is intended to provide a robot welding device that ensures reliability and efficiency.

[0004]

In order to achieve the above object, the present invention provides a robot with an auto hand changer AH.
The torch unit 1 is connected via C. That is,
Chi unit 1 leaves the starting base 12 by a control command,
It operates according to the set trajectory file and returns to the starting base 12 again. The torch unit 1 has a torch portion T
And a welding target member supply device B. First, the torch section T
Is a mounting substrate 3 suspended from a fixed support plate 2 integrated with the auto hand changer AHC via a spring 5.
The two torches 4 and 4 facing each other are mounted so that the tip end portions 4a are diagonally close to each other and the vertical end base end 4b is used as a base point to allow an outside opening within an allowable range. Also, the mounting board 3
A pressing mechanism 7 for pressing down the member to be welded is vertically suspended from the center of the device, and is hung by a spring 6. On the other hand, the welding target member supply device B is configured by disposing a loading magazine 8 of the welding target member and a cutting-out device 9 for each one in the back of the pressing stroke mechanism 7. The robot welding apparatus is characterized in that the torch unit 1 starting base 12 is provided with means for replenishing the loading magazine 8 with the members to be welded.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A torch unit 1 is shown in FIG. This torch unit 1
Is connected to the robot through an auto hand changer-AHC as shown in FIG. 3, leaves the starting base 12 according to a control command, operates along a set trajectory file, and each motion described below also according to the control command. The operation of the section is performed, and the vehicle returns to the starting base 12 again.

As shown in FIG. 1 again, the torch unit 1 comprises a torch portion T and a welded member supply device B. First, the torch part T has two torches 4 facing each other with respect to a mounting substrate 3 suspended by a fixed support plate 2 integral with the auto hand changer AHC via a spring 5.
4 makes the front end 4a diagonally close to each other and the vertical base 4
The horizontal stroke mechanism 10 mounted directly below the mounting board 3 is connected to and mounted on the mounting board 3 so as to allow an outside opening within an allowable range from the base point b. A pressing stroke mechanism 7 for the member to be welded is suspended vertically downward from the center of the mounting substrate 3 via a spring 6. The pressing stroke mechanism 7 is for holding the member N to be welded arranged on the work 11 during welding, and holds the collet chuck at the tip of the shaft 7b pushed out from the actuator 7a. A member 7c is mounted, and an insulator 7d is interposed in the middle of the shaft 7b.

On the other hand, the apparatus B for supplying the material to be welded is provided with a vertical cylindrical loading magazine 8 for the material to be welded at the back of the pressing stroke mechanism 7, and the tip of the cutting device 9 is attached to the lower end opening thereof. Composed to face.

As shown in FIG. 2, when the torch unit 1 is placed on the starting base 12, the loading magazine 8 is loaded.
A vertical stroke mechanism 13 that pushes up from below is embedded in a corresponding position of the table on which the seat is seated, and a cutout device 15 for supplying the welded member N to the pushup port 14 is provided. Further, a cutout device for that one is provided. Feeding feeder 1 for feeding the member N to be welded to the tray 16 at the tip of 15
It is configured such that the welded members N can be lifted up and loaded into the loading magazine 8 one by one from the bottom with the tip of the device 7 facing.

[0009]

Now, the case of spot welding a nut on the upper surface of a work by the robot welding apparatus having the above-mentioned structure will be described. First, FIG. 5 shows an embodiment of a system process line. That is, in the figure, reference numeral 20 is a U-turn-shaped conveyor, and a work 11 is arranged at the start end side of the conveyer and is fed by an auto hand 19, and a work end 11 is provided at the end side. A work 11 is shown which is equipped with a discharge device and discharged by an auto hand 19. A work positioning device 18 is provided on the way of the conveyor 20, and one robot R is provided on one side of the work positioning device 18 to connect the torch unit 1 according to the present invention.
The starting base 12 of the torch unit 1 and the feeding feeder 17 for feeding the nut N to the torch unit 1 are provided directly above and behind the transport conveyor 20.
Reference numeral 21 in the figure denotes the system and the control command system of each operating unit.

The operation sequence will be described below. The work 11 sent to the conveyor 20 is positioned by the work positioning device 18. B. The robot R grips the torch unit 1 and moves from the starting base 12 to the target welding position of the work 11. C. By the welding target member supply device B of the torch unit 1,
The nut N is supplied to a predetermined position of the work 11. More specifically, one nut N in the loading magazine 8 is cut out to the predetermined position by one-stroke operation of the cutting device 9. D. Attach the torch unit 1 to the two torch parts T.
The nut N is lowered to a position where the nut N is sandwiched by the jaw 4, and the nut N is held by the pressing stroke mechanism 7. More specifically, the holding member 7c at the tip of the shaft 7b pushed out from the actuator 7a is seated on the nut N and pressed to hold it immovably on the surface of the work 11. At this time, in the torches 4 and 4 of the torch portion T, the mounting substrate 3 is suspended from the fixed support plate 2 via the spring 5, and the pressing stroke mechanism 7 is further connected via the spring 6 to the above. Since the springs 5 and 6 are suspended from the mounting substrate 3, the relative positional relationship between the nut N and the torches 4 and 4 is based on the surface of the work 11 by the double floating action of the springs 5 and 6. Is kept constant. More specifically, first, the pressing stroke mechanism 7 follows the surface angle (reference surface) of the work 11 by the holding member 7c of the holding member 7c seating on the nut N and pressing the nut N, and following the torque. -Chi 4 follows. Further, at this time, since the insulator 7d is interposed in the middle of the shaft 7b, the burnout of the signal line and the noise generation accident due to the shunting of the ground current to the electric signal line of the auto hand changer AHC can be prevented. To do. E. Acetylene gas was blown out from the torch 4 crater to start spot welding. F. Upon completion of welding, the torch unit 1 is raised and the robot R returns to the starting base 12. G. The above operation was repeated and all welding was completed.
The work 11 is released from the work positioning device 18 and transferred to the discharge side by the conveyor 20. J. During this period, the welded member supply device B of the torch unit 1
When the loading magazine 8 is empty, the starting base 12
In the above, the one-piece cutting device 15 connected to the feeding feeder 17 is operated to intermittently feed the nuts N directly below the loading magazine 8, and the vertical stroke mechanism 13 operating at the same time raises the nuts N by one. Shall be loaded.
During this time, the robot R can release the torch unit 1 and perform other work.

[0011]

As described above, according to the present invention, in the structure of the torch unit 1, since the tube system is not used for supplying the members to be welded, smooth and reliable supply can be achieved, and a plurality of torches are provided. Chi unit 1 can be crossed. Since the torch side can be moved freely, it is sufficient to have a space to fix the work, and space efficiency is improved. Since the two torches 4 face each other and the welding at the two opposite positions is completed at the same time, the cycle time can be shortened and the risk of floating of the welded member due to thermal strain can be eliminated. Further, since the member to be welded is pressed down and held by the stroke mechanism 7, the welding is possible even on an inclined work surface.
The mounting board 3 is suspended from the fixed support plate 2 via the spring 5, and the pressing stroke mechanism 7 is suspended from the mounting board 3 via the spring 6, so-called double floating. Since the function is fulfilled, the relative positional relationship between the member to be welded N and the torches 4 and 4 is always kept constant with reference to the work 11 surface. Starting base 12 of torch unit 1
In this case, since the welding target member N is replenished, the robot can perform other work during the replenishment to improve the production efficiency as described above. Then, the replenishing means is fed to the feeding feeder 17 to one, and the cutting device 1 is provided.
In the case where the loading magazine 8 is lifted up one by one by the sequential operation of the vertical stroke mechanism 13 to 5, the members to be welded are loaded in an orderly and sure manner, and the work to be welded to the work 11 later is loaded. Cutting and pressing stroke mechanism 7
The holding member 7c can be reliably seated. This is very advantageous because it brings about various effects such as the exchange of each component unit and the improvement of economic efficiency.

[Brief description of drawings]

FIG. 1 shows a torch unit according to the present invention, in which (a) is a front view and (b) is a side view.

FIG. 2 is a partially cutaway side view showing a state in which the torch unit is placed at a starting base.

FIG. 3 is a side view of a state in which the torch unit mounted on the robot is in a state of being moved above the welding portion of the work surface.

FIG. 4 is a schematic plan view showing an example of a system process line for carrying out the device of the present invention.

[Explanation of sign]

 1 torch unit T torch part B welded member supply device R robot AHC auto hand changer 2 fixed support plate 3 mounting substrate 4 torch 4a torch tip part 4b torch vertical part base end 5 Spring 6 Spring 7 Hold-down stroke mechanism 7a Actuator 7b Shaft 7c Holding member 7d Insulator 8 Loading magazine 9 Cutting out device for one piece 10 Horizontal stroke mechanism 11 Start 12 Start base 13 Vertical stroke mechanism 14 Push up Port 15 Cutting device for one piece 16 Tray 17 Feeding feeder N Welding member (nut) 18 Work positioning device 19 Auto hand 20 Conveyor conveyor 21 Control command system

[Procedure amendment]

[Submission date] March 29, 1991

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction method] Change

[Correction content]

[Document name] Statement

Title of invention Robot welding device

[Claims]

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot welding apparatus, and more particularly to an apparatus for arc welding a workpiece to be welded such as a nut on a work by mounting a torch unit on the robot.

[0002]

2. Description of the Related Art The above-described robot welding apparatus has the following drawbacks. That is, since the welding target member such as a nut is fed by the tube connected to the feeder, when the feeding device moves, the welding target member is clogged on the way due to the twisting of the tube. If a plurality of feeding devices are mixed, the tubes are entangled with each other and the operation is limited. Further, since there is no means for holding the member to be welded on the plate, the welding site is limited to the horizontal plane. Furthermore, since it is a single torch, when there are two facing welding points on the member to be welded, double labor is required for movement. In addition, in the general method where the feeding device is fixed and the work side is moved, when welding the members to be welded to the four corners of the flat plate, a space four times the work size is required, which is irrational. is there.

[0003]

DISCLOSURE OF THE INVENTION The present invention solves the above-mentioned difficulties and facilitates the work as described below.
It is intended to provide a robot welding device that ensures reliability and efficiency.

[0004]

To achieve the above object, the present invention provides a robot with an automatic hand changer AH.
The torch unit 1 is connected via C. That is, the torch unit 1 leaves the stand 12 according to the control command, operates along the set trajectory file, and returns to the stand 12 again. The torch unit 1 includes a torch portion T and a welding target member supply device B. First, in the torch portion T, two torches 4, 4 facing each other are mounted on a fixed support plate 2 integral with the automatic hand changer AHC via a spring 5, and two torches 4, 4 facing each other diagonally cross the tip 4a. Are mounted in such a manner that they are close to each other and can be opened outside within an allowable range with the base end 4b of the vertical portion as a base point. Further, a pressing stroke mechanism 7 for the member to be welded is vertically suspended from the central portion of the mounting substrate 3 via a spring 6 so as to be suspended. On the other hand, the welding target member supply device B is configured by disposing a loading magazine 8 for the welding target member and a cutting-out device 9 for one piece behind the pressing stroke mechanism 7. The robot welding apparatus is characterized in that the torch unit 1 mounting table 12 is provided with means for replenishing the loading magazine 8 with the members to be welded.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A torch unit 1 is shown in FIG. This torch unit 1
Is connected via the automatic hand changer AHC the robot as shown in FIG. 3, table 12 by the control command
, And operates according to the set trajectory file, similarly activates each operation part described below according to the control command, and resets it again.
Return to stand 12 .

As shown in FIG. 1 again, the torch unit 1 comprises a torch portion T and a welded member supply device B. First, the torch unit T has two torches 4 facing each other with respect to a mounting substrate 3 suspended by a fixed support plate 2 integrated with the automatic hand changer AHC via a spring 5.
4 makes the front end 4a diagonally close to each other and the vertical base 4
The horizontal stroke mechanism 10 mounted directly below the mounting board 3 is connected to and mounted on the mounting board 3 so as to allow an outside opening within an allowable range from the base point b. Further, a pressing stroke mechanism 7 of the member to be welded is suspended vertically downward from the central portion of the mounting substrate 3 via a spring 6. The pressing stroke mechanism 7 is for holding the member to be welded N arranged on the work 11 during welding, and a holding member 7c of a collet chuck is attached to the tip of the shaft 7b pushed out from the actuator 7a. Further, an insulator 7d is interposed in the middle of the shaft 7b.

On the other hand, the welded member supply device B is provided with a vertical cylindrical loading magazine 8 for the welded member behind the pressing stroke mechanism 7 and the tip of the cutting device 9 is directed to the lower end opening thereof. Consists of

As shown in FIG. 2, when the torch unit 1 is placed on the mounting table 12 , a vertical stroke mechanism 13 that pushes up from below is embedded in the corresponding position of the table on which the loading magazine 8 is seated, and the push-up opening 14 thereof. A cutting device 15 for supplying a member N to be welded to
Further, the front end of the feeding feeder 17 for feeding the welded members N to the tray 16 at the tip end of the cutting device 15 is faced, and the welded members N are inserted one by one into the loading magazine 8 from below. It is designed to be loaded up.

[0009]

Now, the case of arc welding a nut on the upper surface of a work with the robot welding apparatus having the above-described structure will be described . First, FIG. 4 shows an embodiment of a system process line. That is, in the figure, numeral 20 is a U-turn type conveyer conveyor, and a pallet for stock material stock is provided on the starting end side thereof.
Place and load and palletizing robot 19
The workpiece 11 sent by is completed on the end side again.
Arrange the work stock pallet to the robot 19
Therefore, the discharged work 11 is shown. That is, Palais
The robot is moved by the robot 19, and
It eliminates the need for moving devices and simplifies accordingly. Then, a work positioning device 18 is provided on the way of the transfer conveyor 20, two robots R for connecting the torch unit 1 according to the present invention are provided on one side thereof, and the transfer conveyors in front of and behind the work positioning device 18 are provided. 20 The table 12 of the torch unit 1 and its torch unit 1 are located directly above 20.
Feeding feeders 17 for feeding nuts N are provided respectively. Reference numeral 21 in the figure denotes the system and the control command system of each operating unit.

The operation sequence will be described below. The work positioning device 18 positions the work 11 sent onto the conveyor 20. B. Start the robot R and make a hand change.
Perform various tasks. Meanwhile, the torch unit 1 is shown in FIG.
It is set on the stand 12 and the nut N is loaded.
The magazine 8 is replenished. And robot R is empty
It is positioned at the position of the table 12. C. The torch unit 1 is gripped by the robot R, and the stand 1
Move from 2 to the target welding position of work 11. D. By the welding target member supply device B of the torch unit 1,
The nut N is supplied to a predetermined position on the work 11. More specifically, one nut N in the loading magazine 8 is cut out by one-stroke operation of the cutting device 9, and the nut N is held by the pressing stroke mechanism 7. More specifically, the shaft 7b pushed out from the actuator 7a.
The holding member 7c at the tip end of the seat is seated on the nut N and pressed down to hold it immovably on the surface of the work 11.
At this time, the torches 4 and 4 of the torch portion T are attached to the mounting substrate 3
Is hung from the fixed support plate 2 via the spring 5, and the pressing stroke mechanism 7 is hung from the mounting substrate 3 via the spring 6, so that the double floating of the springs 5 and 6 is achieved. By the action, the relative positional relationship between the nut N and the torches 4 and 4 is kept constant with the surface of the work 11 as a reference. More specifically, first, in the pressing stroke mechanism 7, the holding member 7c has the nut N.
By sitting on and pressing down, the surface angle (reference surface) of the work 11 is followed, and the torch 4 follows this. Moreover this time, bake loss and Bruno signal lines by shunting middle ground current of from are interposed insulator 7d to the electric signal line of the automatic hand changer AHC shaft 7b
Prevent accidents caused by Izu. E. The cutting device 9 is returned after confirming the seating of the nut N.
At the same time, a welding start signal is sent and the torches 4 and 4
Shield gas is blown from the crater and arc welding starts
To be done. F. When the welding is completed, the pressing stroke mechanism 7 returns.
Then, the robot R moves to the next target position after the confirmation.
It G. The above (d) to (f) operations are repeated and all welding is performed.
And the robot R moves the torch unit 1 to the stand 1.
2 and the workpiece 11 on the other hand is the workpiece positioning device 18
And is transferred to the discharge side by the conveyor 20.
Be done. J. The replenishment of the nut N to the loading magazine 8 is performed by the feeding fee.
The slicing device 15 connected to one of the da
Intermittently sends the set N directly below the loading magazine 8 and
One by one by the vertical stroke mechanism 13 that operates simultaneously
It shall be lifted up and loaded. During this time, robot R
Can release the torch unit 1 and do other work.
Wear.

[0011]

As described above, according to the present invention, in the structure of the torch unit 1, since the tube system is not adopted for supplying the members to be welded, smooth and reliable supply is possible, and a plurality of torch units 1 are crossed. To be made. Since the torch side can be moved freely, it suffices to have a space to fix the work, and space efficiency is improved. Since the two torches 4 face each other and the welding at the two opposite positions is completed at the same time, the cycle time can be shortened and the risk of floating of the welded member due to thermal strain can be eliminated. Further, since the member to be welded is welded while being held by the pressing stroke mechanism 7, it is possible to weld even on an inclined work surface.
The mounting board 3 is hung from the fixed support plate 2 via the spring 5, and the pressing stroke mechanism 7 is hung from the mounting board 3 via the spring 6 to perform a so-called double floating function. The relative positional relationship between the member to be welded N and the torches 4 and 4 is always kept constant with reference to the surface of the workpiece 11. Since the welding target member N is replenished on the mounting table 12 of the torch unit 1,
As described above, during the replenishment, the robot can perform other work to improve the production efficiency. Then, the replenishing means is fed to the feeding feeder 17 to one cutting device 15 to
In the embodiment in which the vertical stroke mechanism 13 is sequentially lifted into the loading magazine 8 one by one, the members to be welded are loaded in an orderly and reliable manner, and the work 11 is cut out to the welding portion and the pressing stroke mechanism 7 is pressed. The holding member 7c can be reliably seated. A number of effects are brought about, such as replacement of each component unit and improved economic efficiency.
It's a real advantage.

[Brief description of drawings]

FIG. 1 shows a torch unit according to the present invention, in which (a) is a front view and (b) is a side view.

FIG. 2 is a partially cutaway side view of the same torch unit placed on a stand.

FIG. 3 is a side view of a use state in which a torch unit mounted on the robot is moved above a welding portion on a work surface.

FIG. 4 is a schematic plan view showing an example of a system process line for carrying out the device of the present invention.

[Explanation of References] 1 torch unit T torch part B welded material supply device R robot AHC auto hand changer 2 fixed support plate 3 mounting substrate 4 torch 4a torch tip 4b torch vertical part base 5 spring 6 spring 7 pressing stroke mechanism 7a Same as above Actuator 7b Shaft 7c Holding member 7d Insulator 8 Loading magazine 9 Cutting device for one piece 10 Horizontal stroke mechanism 11 Work piece 12 Torch unit stand 13 Vertical stroke mechanism 14 Push-up port 15 Cutting device for one piece 16 Tray 17 Feeding feeder N Welding Members (nuts) 18 Work positioning device 19 Loading and palletizing robot 20 Conveyor 21 Control command system

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 1 (a)

[Correction method] Change

[Correction content]

[Figure 1]

[Procedure 3]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 4

[Correction method] Change

[Correction content]

[Figure 4] ─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] June 30, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Brief description of the drawing

[Correction method] Change

[Correction content]

[Brief description of drawings]

Shown to a front view of the torch unit according to the present invention; FIG.

FIG. 2 is a side view showing a torch unit according to the present invention.

[Fig. 3] Same as above with the torch unit placed on a stand.
FIG.

[Figure 4] The torch unit attached to the robot is the work
FIG. 3 is a side view of a state of use in a state in which the surface is moved above the welding portion.

FIG. 5: One of system process lines for implementing the device of the present invention
The schematic plan view showing an example.

[Explanation of References] 1 torch unit T torch part B welded member supply device R robot AHC auto hand changer 2 fixed support plate 3 mounting substrate 4 torch 4a torch tip 4b torch vertical part base 5 spring 6 spring 7 pressing stroke mechanism 7a Actuator 7b Shaft 7c Holding member 7d Insulator 8 Loading magazine 9 Cutting device for one piece 10 Horizontal stroke mechanism 11 Work 12 Torch unit stand 13 Vertical stroke mechanism 14 Push-up port 15 Cutting device for one piece 16 Tray 17 Feeding feeder N N Welding member (Nut) 18 Work positioning device 19 Loading and palletizing robot 20 Conveyor 21 Control command system

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Correction target item name] All drawings

[Correction method] Change

[Correction content]

[Figure 1]

[Fig. 2]

[Figure 3]

[Figure 4]

[Figure 5] ─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] March 17, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction content]

[Document name] Statement

Title of invention Robot welding device

[Claims]

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot welding apparatus, and more particularly, to an apparatus for arc welding a workpiece to be welded such as a nut on a work by providing a robot with a torch unit.

[0002]

2. Description of the Related Art The above-described robot welding apparatus has the following drawbacks. That is, since the welding target member such as a nut is fed by the tube connected to the feeder, when the feeding device moves, the welding target member is clogged on the way due to the twisting of the tube. If a plurality of feeding devices are mixed, the tubes are entangled with each other and the operation is limited. Further, since there is no means for holding the member to be welded on the plate, the welding site is limited to the horizontal plane. Furthermore, since it is a single torch, when there are two facing welding points on the member to be welded, double labor is required for movement. Incidentally, in a general method in which the feeding device is fixed and the work side is moved, when welding the members to be welded to the four corners of the flat plate, a space four times the size of the work is required, which is irrational.

[0003]

DISCLOSURE OF THE INVENTION The present invention solves the above-mentioned difficulties and facilitates the work as described below.
It is intended to provide a robot welding device that ensures reliability and efficiency.

[0004]

To achieve the above object, the present invention provides a robot with an automatic hand changer AH.
The torch unit 1 is connected via C. That is, the torch unit 1 leaves the stand 12 according to the control command, operates along the set trajectory file, and returns to the stand 12 again. The torch unit 1 includes a torch portion T and a welding target member supply device B. First, in the torch portion T, two torches 4, 4 facing each other are mounted on a fixed support plate 2 integral with the automatic hand changer AHC via a spring 5, and two torches 4, 4 facing each other diagonally cross the tip 4a. Are mounted in such a manner that they are close to each other and can be opened outside within an allowable range with the base end 4b of the vertical portion as a base point. Further, a pressing stroke mechanism 7 for the member to be welded is vertically suspended from the central portion of the mounting substrate 3 via a spring 6 so as to be suspended. On the other hand, the welding target member supply device B is configured by disposing a loading magazine 8 for the welding target member and a cutting-out device 9 for one piece behind the pressing stroke mechanism 7. The robot welding apparatus is characterized in that the torch unit 1 mounting table 12 is provided with means for replenishing the loading magazine 8 with the members to be welded.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A torch unit 1 is shown in FIG.
Is connected via the automatic hand changer AHC the robot as shown in FIG. 3, table 12 by the control command
, And operates according to the set trajectory file, similarly activates each operation part described below according to the control command, and resets it again.
Return to stand 12 .

As shown in FIG. 1 again, the torch unit 1 comprises a torch portion T and a welded member supply device B. First, the torch unit T has two torches 4 facing each other with respect to a mounting substrate 3 suspended by a fixed support plate 2 integrated with the automatic hand changer AHC via a spring 5.
4 makes the front end 4a diagonally close to each other and the vertical base 4
It is attached to the horizontal stroke mechanism 10 installed directly below the mounting substrate 3 so as to be opened outside within an allowable range from the base point b. Further, a pressing stroke mechanism 7 for the member to be welded is suspended vertically downward from the central portion of the mounting board 3 via a sprinkle 6. The pressing stroke mechanism 7 is for holding the member to be welded N arranged on the work 11 during welding, and a holding member 7c of a collet chuck is attached to the tip of the shaft 7b pushed out from the actuator 7a. Further, an insulator 7d is interposed in the middle of the shaft 7b.

On the other hand, the welded member supply device B is provided with a vertical cylindrical loading magazine 8 for the welded member behind the pressing stroke mechanism 7 and the tip of the cutting device 9 is directed to the lower end opening thereof. Consists of

As shown in FIG. 2, when the torch unit 1 is placed on the mounting table 12 , a vertical stroke mechanism 13 that pushes up from below is embedded in the corresponding position of the table on which the loading magazine 8 is seated, and the push-up opening 14 thereof. Cutout device 15 for supplying the welding member N to
Further, the front end of the feeding feeder 17 for feeding the welded members N to the tray 16 at the tip end of the cutting device 15 is faced, and the welded members N are inserted one by one into the loading magazine 8 from below. It is designed so that it can be raised.

[0009]

Now, the case of arc welding a nut on the upper surface of a work with the robot welding apparatus having the above-described structure will be described . First, FIG. 4 shows an embodiment of a system process line. That is, in the figure, numeral 20 is a U-turn type conveyer conveyor, and a pallet for stock material stock is provided on the starting end side thereof
Distributing and loading and valetizing robot 19
The workpiece 11 sent by is completed on the end side again.
Arrange the work stock pallet to the robot 19
Therefore, the discharged work 11 is shown. That is, Palais
The robot is moved by the robot 19, and
It eliminates the need for moving devices and simplifies accordingly. Then, a work positioning device 18 is provided on the way of the transfer conveyor 20, two robots R for connecting the torch unit 1 according to the present invention are provided on one side thereof, and the transfer conveyors in front of and behind the work positioning device 18 are provided. 20 The table 12 of the torch unit 1 and the torch unit 1 therefor are located directly above
Feeding feeders 17 for feeding nuts N are provided respectively. Reference numeral 21 in the figure denotes the system and the control command system of each operating unit.

The operation sequence will be described below. The workpiece 11 sent onto the conveyor 20 by the workpiece positioning device 18 is set in a crying state. B. Activate the robot R and perform various tasks while changing hands. Meanwhile, the torch unit 1 is shown in FIG.
, And the nut N is supplied to the loading magazine 8. Then, the robot R is positioned at the position of the stand 12 with no load. C. The torch unit 1 is gripped by the robot R, and the stand 1
Move from 2 to the target welding position of work 11. D. By the welding target member supply device B of the torch unit 1,
The nut N is placed at a predetermined position on the work 11. More specifically, one nut N in the loading magazine 8 is cut out by one-stroke operation of the cutting device 9, and the nut N is held by the pressing stroke mechanism 7. More specifically, the shaft 7b pushed out from the actuator 7a.
The holding member 7c at the tip end of the seat is seated on the nut N and pressed down to hold it immovably on the surface of the work 11.
At this time, the torches 4 and 4 of the torch portion T are attached to the mounting substrate 3
Is hung from the fixed support plate 2 via the spring 5, and the holding stork mechanism 7 is hung from the mounting board 3 via the spring 6, so that the double floating of the springs 5 and 6 is achieved. By the action, the relative positional relationship between the nut N and the torches 4 and 4 is kept constant with the surface of the work 11 as a reference. More specifically, first, in the pressing stroke mechanism 7, the holding member 7c has the nut N.
By sitting on and pressing down, the surface angle (reference surface) of the work 11 is followed, and the torch 4 follows this. Moreover this time, bake loss and Bruno signal lines by shunting middle ground current of from are interposed insulator 7d to the electric signal line of the automatic hand changer AHC shaft 7b
Prevent accidents caused by noise. E. The cutting device 9 is returned after confirming the seating of the nut N.
At the same time, a welding start signal is sent and the torches 4 and 4
Shield gas is blown from the crater and arc welding starts
To be done. F. When the welding is completed, the pressing stroke mechanism 7 returns.
Then, the robot R moves to the next target position after the confirmation.
It G. The above (d) to (f) operations are repeated and all welding is performed.
And the robot R moves the torch unit 1 to the stand 1.
2 and the workpiece 11 on the other hand is the workpiece positioning device 18
And is transferred to the discharge side by the conveyor 20.
Be done. J. The replenishment of the nut N to the loading magazine 8 is performed by the feeding fee.
The slicing device 15 connected to one of the da
Intermittently sends the set N directly below the loading magazine 8 and
One by one by the vertical slot talk mechanism 13 operating at the same time
It shall be lifted up and loaded. During this time, robot R
Can release the torch unit 1 and do other work.
Wear.

[0011]

As described above, according to the present invention, in the structure of the torch unit 1, since the tube system is not adopted for supplying the members to be welded, smooth and reliable supply is possible, and a plurality of torch units 1 are crossed. To be made. Since the torch side can be moved freely, it suffices to have a space to fix the work, and space efficiency is improved. Since the two torches 4 face each other and the welding at the two opposite positions is completed at the same time, the cycle time can be shortened and the risk of floating of the welded member due to thermal strain can be eliminated. Further, since the member to be welded is welded while being held by the pressing stroke mechanism 7, it is possible to weld even on an inclined work surface.
The mounting board 3 is hung from the fixed support plate 2 via the spring 5, and the pressing stroke mechanism 7 is hung from the mounting board 3 via the spring 6 to perform a so-called double floating function. The relative positional relationship between the member to be welded N and the torches 4 and 4 is always kept constant with reference to the surface of the workpiece 11. Since the welding target member N is replenished on the mounting table 12 of the torch unit 1,
As described above, during the replenishment, the robot can perform other work to improve the production efficiency. Then, the replenishing means is fed to the feeding feeder 17 to one cutting device 15 to
In the embodiment in which the vertical stroke mechanism 13 is sequentially lifted into the loading magazine 8 one by one, the members to be welded are loaded in an orderly and reliable manner, and the work 11 is cut out to the welding portion and the pressing stroke mechanism 7 is pressed. The holding member 7c can be reliably seated. A number of effects such as improving the economic efficiency by replacing each part unit
It's a real advantage.

[Brief description of drawings]

FIG. 1 shows a torch unit according to the present invention, in which (a) is a front view and (b) is a side view.

FIG. 2 is a partially cutaway side view of the same torch unit placed on a stand .

FIG. 3 is a side view of a use state in which a torch unit mounted on the robot is moved above a welding portion on a work surface.

FIG. 4 is a schematic plan view showing an example of a system process line for carrying out the device of the present invention.

[Explanation of References] 1 torch unit T torch part B welded material supply device R robot AHC auto hand changer 2 fixed support plate 3 mounting substrate 4 torch 4a torch tip 4b torch vertical part base 5 spring 6 spring 7 pressing stroke mechanism 7a Actuator 7b Shaft 7c Holding member 7d Insulator 8 Loading magazine 9 One-piece cutting device 10 Horizontal stroke mechanism 11 Work 12 Torch unit stand 13 Vertical stroke mechanism 14 Push-up port 15 One-piece cutting device 16 Tray 17 Feed feeder N Welding member (Nut) 18 Work positioning device 19 Rodink and palletizing robot 20 Conveyor 21 Control command system

Claims (7)

[Claims] 1. An automatic hand changer A for a robot.
The torch unit 1 connected via the HC has a torch portion T
And to-be-welded member supply device B, and the torch portion T faces a mounting substrate 3 suspended by a fixed support plate 2 integral with the auto hand changer AHC via a spring 5. The two torches 4 and 4 are mounted so that the tip end portions 4a are diagonally adjacent to each other and the vertical end base end 4b is used as a base point to allow an outward opening within a permissible range. The pressing stroke mechanism 7 for pressing the welding target member more vertically downward is suspended by the spring 6 while the welding target member supplying device B includes a welding target member on the rear side of the pressing stroke mechanism 7. Robot welding, characterized in that the loading magazine 8 and the one-piece cutting device 9 are provided, and the starting base 12 of the torch unit 1 is provided with means for replenishing the loading magazine 8 with the members to be welded. apparatus. 2. A horizontal stroke mechanism 10 in which the outer opening of the torches 4 and 4 within an allowable range is provided directly below the mounting substrate 3.
The robot welding apparatus according to claim 1, wherein 3. A stroking mechanism 7 for pressing down a member to be welded.
The holding member 7c is attached to the tip of a shaft 7b pushed out from the actuator 7a.
Robot welding equipment. 4. The robot welding apparatus according to claim 3, wherein the holding member 7c is a collet chuck. 5. The robot welding apparatus according to claim 3, wherein an insulator 7d is interposed in the middle of the shaft 7b. 6. The robot welding apparatus according to claim 1, wherein the starting base 12 of the torch unit 1 is provided with a means for replenishing the loading magazine 8 with a member to be welded. 7. A means for replenishing a member to be welded embeds a vertical stroke mechanism 13 which pushes up from below to a position corresponding to a table on which a loading magazine 8 is seated, and supplies the member to be welded to a push-up opening 14 thereof. 7. The robot welding device according to claim 6, further comprising a cutting device 15 for one unit, and a feed feeder 17 for feeding the member to be welded is exposed to a tray 16 of the cutting device 15 for one unit.