JPH06344154A - Stud welding equipment - Google Patents

Abstract

PURPOSE:To secure rigidity for pressurization reaction and to improve space efficiency by arranging side by side a couple of beam materials at a vertical interval and arranging two driving sources so as to put into a traveling frame. CONSTITUTION:A stud welding gun 4 is fitted on the lower end of an elevating and lowering arm 32 of a rectangular coordinate type robot 31 consisting of the traveling frame 30 provided freely movably in the X-axis direction extending over a guide frame 20, a robot main body 31 supported freely movably in the Y-axis direction on this traveling frame 30 and the elevating and lowering arm 32 longitudinal in the vertical direction supported freely ascendably and descendably on this robot main body 31. The traveling frame 30 is constituted of a frame body having the couple of beam materials 30a arranged side by side at an interval vertically, the robot main body 31 is supported on both beam materials and a first driving source Mx to drive the traveling frame 30 and a second driving source My to drive the robot main body or the elevating and lowering arm are arranged at the interval of both beam materials. Consequently, the supporting rigidity is enhanced and the space efficiency can be improved.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stud welding apparatus using a Cartesian coordinate type robot.

[0002]

2. Description of the Related Art Conventionally, a traveling frame is provided so as to be movable in the X-axis direction by straddling guide frames on both sides in the Y-axis direction with two horizontal directions as the X-axis and the Y-axis, and the traveling frame in the Y-axis direction. Of the robot having a robot body movably supported by the robot body and a vertically elevating arm vertically supported by the robot body, and a stud welding gun attached to the lower end of the robot arm. Welding devices are known (see Japanese Utility Model Laid-Open No. 62-109884).

[0003]

When pressurizing and welding a work with a stud welding gun, the traveling frame is rotated around the Y-axis and X by a reaction force of the pressurizing arm and the robot body.
Rotational moment around the axis acts, so in the above-mentioned conventional technology, the traveling frame is made up of a vertical cross-section rectangular material to increase the rigidity of the traveling frame and the supporting rigidity of the robot body. Each drive source that drives the traveling frame, robot body, and lifting arm must be arranged so as to project from the traveling frame or robot body, and it is necessary to secure a large space for arranging the drive sources, which reduces space efficiency. . The present invention has been made in view of the above points, and an object thereof is to provide a stud welding apparatus capable of securing rigidity against a pressure reaction force and improving space efficiency.

[0004]

[Means for Solving the Problems] In order to achieve the above object,
INDUSTRIAL APPLICABILITY According to the present invention, a traveling frame provided movably in the X-axis direction across two guide frames on both sides in the Y-axis direction with two horizontal directions as the X-axis and the Y-axis, and the traveling frame is movable in the Y-axis direction. In a stud welding apparatus, a stud welding gun is attached to the lower end of an elevating arm of a Cartesian coordinate type robot including a robot main body supported by the robot main body and a vertically elevating elevating arm supported by the robot main body in a vertically movable manner. The traveling frame is composed of a frame body having a pair of girder members arranged in parallel at an interval vertically, and the robot body is supported by the both girder members, and the traveling frames are arranged at the intervals between the both girder members. It is characterized in that a first drive source for driving and a second drive source for driving the robot body or the lifting arm are arranged.

[0005]

[Operation] By arranging a pair of girder members in parallel with a vertical spacing, the bending rigidity and torsional rigidity of the traveling frame are increased, and the girder members allow the robot body to have a vertical span. Since the robot body can be supported, the supporting rigidity of the robot body with respect to the rotational moments about the Y axis and the X axis is increased. Further, the space between the two girder members can be utilized as a space for disposing both the first and second drive sources, so that space efficiency is improved.

[0006]

1 to 3, reference numeral 1 is a jig unit for setting a work, 2 is a ceiling frame installed above an arrangement portion of the jig unit 1, and the ceiling frame 2 has a rectangular coordinate type. A robot 3 is mounted, a stud welding gun 4 is attached to the robot 3, and stud welding of a work is performed.

The jig unit 1 comprises a pair of jigs 11 and 11 mounted on a turntable 10, and the jigs 11 and 11 are brought to the front work set position by rotating the turntable 10 by 180 °. It is possible to rotate alternately to the work welding position on the back side.

The robot 3 has the depth direction of the ceiling frame 2 as the X axis, the width direction as the Y axis direction, and the up and down direction as the Z axis direction.
Guide frames 2 fixed on the beam members on both sides of the ceiling frame 2 in the Y-axis direction
A traveling frame 30 movably provided in the X-axis direction across 0 and 20, a robot main body 31 supported by the traveling frame 30 movably in the Y-axis direction, and a robot main body 31 with respect to the traveling frame 30. Z that is supported forward and downward so as to be spaced forward in the X-axis direction
The stud welding gun 4 is composed of an elevating arm 32 which is long in the axial direction, and a wrist portion 33 having two degrees of freedom of a vertical U axis and a horizontal V axis at the lower end of the elevating arm 32.
The work on the jig 11 located at the welding position can be stud welded from any direction by changing the posture of the stud welding gun 4 by the movement of the wrist 33.

The traveling frame 30 is composed of a rectangular frame body which is long in the Y-axis direction and has a pair of girder members 30a, 30a composed of square pipes vertically arranged side by side with a space therebetween. Brackets 30b that extend forward in the X-axis direction at each end of the
And a pair of linear guides 3 mounted on the bracket 30b.
0c is attached and slidably supported by the guide rail 30d on the guide frame 20, and is further positioned at one end of the traveling frame 30 between the upper and lower beam members 30a, 30a as shown in FIG. Is equipped with a motor Mx for use with a gear train 3
Drive shaft 30f connected via 0e to lower girder member 30
and a pinion 30h meshing with a rack 30g fixed to each guide frame 20 is connected to both ends of the shaft 30f.
Thus, the traveling frame 30 can be driven in the X-axis direction by the X-axis motor Mx.

The robot main body 31 is slidably supported by guide rails 31a fixed to the upper surface of the upper beam member 30a of the traveling frame 30 and the front surface of the lower beam member 30a via linear guides 31b. The pinion 31c connected to the Y-axis motor My mounted on the front surface of the robot body 31 is meshed with the rack 31d fixed to the front surface of the upper beam member 30a of the traveling frame 30 to move the robot body 31 to the Y-axis. In addition, the lifting arm 32 is slidably supported by a linear guide 32b on the front surface of the robot main body 31 by a pair of guide rails 32a fixed to the rear surface thereof, and the Z arm mounted on the robot main body 31 is mounted. The pinion 32c connected to the shaft motor Mz is attached to the lifting arm 3
The lifting arm 32 is driven in the Z-axis direction by meshing with the rack 32d fixed to the back surface of No. 2. Here, the Z-axis motor Mz is mounted on the back surface of the robot body 31 so as to be inserted into the upper and lower beam members 30a, 30a of the traveling frame 30, and thus the distance between the two beam members 30a, 30a is set to the X-axis. The space motor Mx and the Z-axis motor Mz are used in the space for disposing them, and the space efficiency can be improved.

The lifting arm 32 is equipped with a U-axis motor Mu and a V-axis motor Mv for driving the wrist 33 around the U-axis and the V-axis. Further, the transformer 5 is arranged on the side of the jig unit 1, and one output terminal of the transformer 5 is connected to the jig 11 at the welding position via the cable 50 and the energizing joint 51 provided in the jig unit 1. At the same time, the other output terminal of the transformer is connected to a power supply bar 53 fixed to the lower surface of the traveling frame 30 via a cable 52, and the bar 53 is connected to two power supply joints 54 and 55 provided on the robot body 31. Is connected to a power feeding bar 56 on the side surface of the lifting arm 32, and the bar 56 is provided on the wrist 33. The U-axis conducting joint 57 and the V-axis conducting joint 5
8 is connected to the stud welding gun 4 and the work is welded by energizing the work between the gun 4 and the jig 11 while the work is being pressed by the gun 4.

At the time of stud welding, the work is pressed from various directions according to the hitting position of the work, but when the work is pressed from the X-axis direction, the work is applied to the traveling frame 30 via the lifting arm 32 and the robot body 31. A rotational moment about the Y axis due to the pressure reaction force acts, and when the work is pressurized from the Y axis direction, a rotation moment around the Y axis due to the pressure reaction force acts on the traveling frame 30. However, in this embodiment, since the pair of girder members 30a, 30a forming the traveling frame 30 are arranged side by side with an interval vertically, the torsional rigidity and bending rigidity of the traveling frame 30 are sufficiently secured, Further, since the robot main body 31 is supported by the two girder members 30a, 30a with a vertical space therebetween, the supporting rigidity of the robot main body 31 is sufficiently ensured and the work can be surely pressed.

[0013]

As is apparent from the above description, according to the present invention, the rigidity of the traveling frame and the supporting rigidity of the robot body can be increased so that the work can be reliably pressed by the stud welding gun. The drive source can be arranged so as to enter the traveling frame, and space efficiency can be improved to make the device compact.

[Brief description of drawings]

FIG. 1 is a front view of an example of the device of the present invention.

[Figure 2] Plan view

[Figure 3] Side view

FIG. 4 is an enlarged front view of the traveling frame.

[Explanation of symbols]

3 Robot 4 Stud Welding Gun 20 Guide Frame 30 Travel Frame 30a Girder Material 31 Robot Body 32 Lifting Arm Mx X-axis Motor (First Drive Source) Mz Z-axis Motor (Second Drive Source)

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshihiro Egawa 1-10-1 Shin-Sayama, Sayama-shi, Saitama Prefecture Honda Engineering Co., Ltd. (72) Inventor Tomohiko Yashiro 1-10-1 Shin-Sayama, Sayama-shi, Saitama Prefecture Within Da Engineering Co., Ltd.

Claims (1)

[Claims] 1. A traveling frame provided so as to be movable in the X-axis direction while straddling guide frames on both sides in the Y-axis direction with two horizontal directions as the X-axis and the Y-axis, and the traveling frame is moved in the Y-axis direction. A stud welding apparatus in which a stud welding gun is attached to the lower end of an elevating arm of a Cartesian coordinate type robot that includes a robot body that is freely supported and a vertically elevating arm that is vertically supported by the robot body. In the above, the traveling frame is constituted by a frame body having a pair of girder members arranged vertically at intervals, and the robot main body is supported by the both girder members, and the traveling frame is provided at an interval between the both girder members. A stud welding device, wherein a first drive source for driving the robot body and a second drive source for driving the robot body or the elevating arm are arranged.