JPH0686868U - Rotating device for attaching wire feeder - Google Patents

Abstract

(57) [Abstract] [Purpose] The position of the movable table of the rotating device hardly changes regardless of the posture change of the robot, and the position of the movable table can be changed according to the movement of the power cable. Providing a rotating device. In the wire feeding device mounting rotation device 7 for mounting the wire feeding device 5 to the robot body 6b of the welding robot 6, a fixed side frame body 10 supported by the robot body 6b and a wire feeding device. A movable mounting base 13 for mounting, spherical bearings 11 and 12 that connect the frame 10 and the mounting base 13, and a compression spring 16 that abuts on the frame 10 and the mounting base 13 are provided.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention provides a wire feeding device for attaching a wire feeding device to the robot body in order to stably feed the welding wire to the welding torch that is movably instructed at the tip of the robot body of the welding robot. The present invention relates to a rotating device for mounting a device.

[0002]

[Prior art]

 Explaining the configuration of a commonly used welding robot, for example, in FIG. 1, 1 is a welding power source, 2 is a welding wire support base, 3 is a welding wire reel attached to the welding wire support base, and 4 is a welding wire support base. A flexible conduit 6 for guiding the welding wire from the wire reel 3 to the wire feeder 5 is a welding robot, and is a base 6a and is tiltably provided with respect to the base 6a. The robot main body 6b includes an arm 6c rotatably provided at the other end of the robot main body 6b, and a welding torch T rotatably supported by the arm 6c.

The welding wire is welded by the wire feeder 5 while being fed to the welding torch T via the power cable 8. By the way, during welding, the position of the welding robot 6 is appropriately controlled, and in particular, the welding torch T is freely displaced with respect to the robot body 6b. In this case, if the wire feeder 5 is fixedly supported by the robot body 6b, one end side of the power cable 8 connected to the welding torch T is displaced along with the welding torch T, while the wire feeder 5 is fixed. The other end side of the power cable 8 connected to is fixed. In this case, depending on the position displacement of the welding torch T, the power cable 8 may be forcibly pulled or slackened more than necessary, and the welding wire may not be stably fed. To do.

In order to eliminate this state, the wire feeding device 5 is attached to the robot body 6b via the rotating device 7, and when the welding torch T moves, the movement of the end portion of the power cable 8 due to the movement of the welding torch T. It is proposed that the wire feeding device 5 rotates together with the movable table according to the above.

For example, the structure of a conventional rotating device will be described with reference to FIG. 5. Reference numeral 30 is a frame body fixed to one end of the robot body 6b, and 31 is a fixed-side spherical bearing supported by the frame body 30. , 32 are spherical bearings on the rotating side, and the frame 30 and the spherical bearings 31, 32 constitute a fixed-side base 33.

Reference numeral 34 is a shaft body slidably inserted in the spherical bearing 32, 35 is a mount integrally formed on the upper end portion of the shaft body 34, and 36 is fastened to the lower end portion of the shaft body 34. In the rotary bearing, the shaft 34, the mounting base 35, and the bearing 36 constitute a movable base 37. The wire feeding device 5 is integrally attached to the movable base 37. By the way, an inner wall surface 301 having a gap in the radial direction is provided inside the frame body 30 so that the shaft body 34 is constrained by the spherical bearings 31 and 32 while rotating in all directions within the range of the space. You can do it. Therefore, the wire feeding device 5 supported by the mount 35 is rotatably mounted on the base 33, that is, on the robot body 6b in all directions. Furthermore, since the shaft body 34 is slidable with respect to the spherical bearing 32, when an external force in the direction of the mount 35 acts on the shaft body 34, the shaft body 34 moves axially with respect to the spherical bearing 32 1. Can be moved.

[0007]

[Problems to be solved by the device]

 However, in the conventional rotating device, for example, when the free end side of the robot body 6b is in the downward direction as shown in FIG. 6 (A), the movable table 37 of the rotating device 7 is driven by the wire feeding device 5 by its own weight. , The rotation center of the rotating device 7, that is, the front side of the spherical bearing center. That is, the shaft body 34 rotates until the bearing 36 contacts the inner wall surface 301 of the frame body 30. At this time, of course, the wire feeding device 5 is also tilted forward together with the movable base 37, so that the end of the power cable 8 connected to the wire feeding device 5 is also moved diagonally downward and forward. Therefore, as shown in FIG. 6 (A), the power cable 8 causes slack in the vicinity of the connection side with the welding torch T, hinders the feeding of the welding wire, and stabilizes welding to the welding torch T. The wire can no longer be fed.

Further, as shown in FIG. 6B, when the arm 6c and the welding torch T are moved upward from the state shown in FIG. 6A about the point P1, the position is increased. Since the end of the power cable 8 comes closer to the wire feeding device 5 where the position is constant, the slack of the power cable 8 is further increased, and welding is further performed than in the state shown in FIG. 6 (A). The wire feeding condition is hindered.

On the other hand, as shown in FIG. 7A, when the free end side of the robot body 6 b is in an upward state, the movable table 37 of the rotating device 7 is rotated by the weight of the wire feeding device 5 by itself. It rotates rearward of the rotation center of the table 7. At this time, naturally, the wire feeding device 5 also tilts rearward. Therefore, the end portion of the power cable 8 connected to the wire feeding device 5 also tries to move backward, but the other end portion of the power cable 8 is connected to the welding torch T, so that the power cable 8 is connected to the wire. It is in a state of being pulled between the feeding device 5 and the welding torch T. In this case, a local bend occurs at the connection between the wire feeding device 5 and the power cable 8. Therefore, the feeding of the welding wire is hindered, and the welding wire cannot be fed stably to the welding torch T.

Further, as shown in FIG. 7 (B), when the arm 6c and the welding torch T are moved downward about the point P1, the power cable 8 has the shape shown in FIG. 7 (A). Since the wire is pulled further than the state, a local bending occurs at the connecting portion of both the wire feeding device 5 and the welding torch T, and it becomes impossible to stably feed the welding wire to the welding torch T.

The present invention has been made in view of the above-mentioned problems, and an object thereof is to provide a rotating device for mounting a wire feeding device, in which the position of the movable table of the rotating device changes the posture of the robot. Despite the above, it is an object of the present invention to provide a rotating device that hardly changes and the position of the movable table can be changed according to the movement of the power cable.

[0012]

[Means for Solving the Problems]

 INDUSTRIAL APPLICABILITY The present invention is applied to a wire feeding device mounting rotating device for mounting a wire feeding device on a robot body of a welding robot. The features are that the fixed-side frame body supported by the robot body, the movable-side mount base for mounting the wire feeder, the spherical body that connects the frame body and the mount base, and the frame body and And a compression spring that abuts the mounting base.

[0013]

【Example】

 Hereinafter, the present invention will be described in detail with reference to the illustrated embodiments. In FIG. 2, 10 is a frame body fixed to the upper end of the welding robot body 6b, 11 is a fixed-side spherical bearing integrally supported by the frame body 10. For example, this spherical bearing 11 is attached to the frame body 10. In contrast, it is detachably supported. Reference numeral 12 is a spherical bearing on the rotation side, 13 is a mounting base into which the spherical bearing 12 is fitted, 14 is a retaining ring that integrally supports the spherical bearing 12 and the mounting base 13, and the mounting base 13 is a spherical bearing 11 , 12 are mounted on the frame 10 so as to be rotatable in all directions.

Reference numeral 15 is a spring receiving member integrally attached to the lower portion of the mounting base 13, 16 is housed in a circumferential groove 101 provided in the frame 10, and the other end is a spring receiving member. 15 is a compression spring, 17 is a donut-shaped contact plate housed in the bottom of the circumferential groove 101, and 18 is an adjustment bolt that is screwed into a threaded portion of the frame body 10. 3 or 4 in the circumferential direction are used to contact the contact plate 17. With this adjusting bolt 18, the spring force of the compression spring 16 is appropriately adjusted. After the adjustment, the adjusting bolt 18 is supported integrally with the frame body 10 by the lock nut 19. A cushion member 20 is supported on the lower portion of the mount 13, and the cushion member 20 is arranged at three or four positions in the circumferential direction. Reference numeral 21 denotes a cushion member, which is supported by the frame body 10 via a support 22. The mounting base 13 is formed with protrusions 131 and 132 for restricting the amount of movement in the circumferential direction, and the mounting base 13 is located within a section where the protrusions 131 and 132 contact the cushion member 21. It is designed to be movable. The rotating device 7 is configured by the above 10 to 22. The wire feeding device 5 is mounted on the rotating device 7, and the rotating device 7 is attached to the robot body 6b.

By the way, when the posture of the robot changes, the tilt amount of the rotating device 7 due to the change of the center of gravity of the wire feeding device 5 mounted on the rotating device 7 is limited by disposing the compression spring 16. be able to. That is, even if the posture of the robot changes, the weight of the wire feeding device 5 is canceled by the compression spring 16 and the mounting base 13 does not freely tilt. Of course, depending on the adjustment state of the spring force of the compression spring 16, it can be adjusted so as not to tilt almost. Therefore, even if the posture of the robot changes, the power cable 8 between the wire feeding device 5 and the welding torch T is not locally bent, and the welding wire is always stably fed to the welding torch T. Can be paid.

A case where the robot posture changes during welding will be described with reference to FIGS. 3 and 4. FIG. 3 shows that when the position of the center of gravity of the wire feeding device 5 mounted on the mounting base 13 changes due to a change in the posture of the robot, the mounting base 13 rotates clockwise around the point P2 (= the center point of the spherical bearing). It is in a state of being rotated to. For example, when the force to rotate is greater than the restoring force of the compression spring 16, the cushion member 20 provided on the mounting base 13 tilts until it comes into contact with the frame base 10. At this time, the elastic force of the compression spring 16 does not cause the mounting base 13 to suddenly operate. Here, when the spring force of the compression spring 16 is increased to the same extent as the force of the tilting of the mounting base 13 by adjusting the spring force adjusting bolt 18, the mounting base 13 is configured such that the cushion member 20 is the frame base. At the position before it abuts 10, it becomes in a balanced state and stops.

FIG. 4 is a diagram showing a state in which the mounting base 13 is horizontally rotated counterclockwise about the point P3. At this time, due to the spring force of the compression spring 16, an appropriate frictional force acts on the mounting base 13, so that sudden movement is prevented. It should be noted that, as shown in the figure, the protrusion 131 for restricting the rotation range is rotatable until it comes into contact with the cushion member 21. If the cushion members 20 and 21 are made of rubber or a plastic material, the shock when the mounting base 13 abuts can be absorbed. However, the cushion members 20 and 21 can also be made of a metal material.

Further, the spring force of the compression spring 16 changes because the force that tends to tilt when the mass of the wire feeding device 5 and the like changes, so it is convenient to be able to adjust it with an adjusting bolt or the like, but tilting A fixed arrangement can be achieved by selecting a compression spring having a spring force commensurate with the force to be applied.

Furthermore, even if the fixed side and the rotating side of the spherical bearings 11 and 12 are used in reverse, there is no functional problem. For example, the spherical bearing 12 is fitted to the frame body 10 and the spherical bearing 11 is fixed to the mounting base 13, or the mounting base 13 is fixed to the robot body 6b and the wire feeding device is mounted to the frame body 10. be able to.

[0020]

[Effect of device]

 As is apparent from the above description, in the wire feeding device mounting rotating device according to the present invention, the fixed side frame body supported by the robot body and the movable side mounting base on which the wire feeding device is mounted are spherical. Since the compression mechanism is connected via a bearing and a compression spring is installed between the fixed-side frame and the movable-side mounting base, the wire feeding device can maintain its own mass even if the robot posture changes. There is no large displacement. Moreover, since the movable part of the rotating device gently rotates in response to the movement of the power cable, it is possible to prevent local bending of the power cable connecting the wire feeding device and the welding torch, and thus the welding torch. The welding wire can always be stably fed.

Further, by making the spring force of the compression spring adjustable, even if the mass of the wire feeding device changes, the same compression spring can cope with the tilted state of the rotating device.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a welding robot to which the present invention is applied.

FIG. 2 is a vertical sectional view showing an embodiment of the present invention.

FIG. 3 is an explanatory view of a usage state of FIG.

4 is a sectional view taken along the line IV-IV of FIG.

FIG. 5 is a vertical sectional view showing a conventional example.

FIG. 6 is an explanatory view of the usage state of FIG.

FIG. 7 is an explanatory view of the usage state of FIG.

[Explanation of symbols]

 5 Wire Feeding Device 6 Welding Robot 6a Base 6b Robot Main Body 6c Arm T Welding Torch 7 Wire Feeding Device Mounting Rotating Device 8 Power Cable 10 Frame 11, 11 Spherical Bearing 13 Mounting Base 16 Compression Spring 18 For Spring Force Adjustment Bolt 131, 132 Movement amount regulating member

Claims (3)

[Scope of utility model registration request] 1. A wire feeding device mounting rotary device for mounting a wire feeding device to a robot body of a welding robot, wherein a frame on a fixed side supported by the robot body and a movable body for mounting the wire feeding device. Rotating device for attaching the wire feeding device, which comprises a side mounting base, a spherical bearing that connects the frame and the mounting base, and a compression spring that contacts the frame and the mounting base. 2. The wire feeding device mounting rotating device according to claim 1, wherein the compression spring is supported via a spring force adjusting means. 3. The wire feed according to claim 1, wherein an abutting member that regulates a horizontal movement amount of the mounting base is disposed relatively to the frame body and the mounting base. Rotating device for device mounting.