JPH07132379A - Robot welding gun unit - Google Patents

Abstract

PURPOSE:To prevent the deformation of a work and to surely execute a required welding by pressurizing the work with an electrode at the top of a C-shaped arm. CONSTITUTION:A working holding cylinder unit 3 is driven, a linear arm is advanced and the electrode 5 at the top is abutted on a work 9. In this state, a valve is closed to lock the arm 6 so as not to move. Next, a work pressurizing cylinder unit 4 is driven, a C-shaped arm 8 is moved and the electrode 7 is abutted on the work 9. Further, by continuing driving the unit 4, the work 9 is pressurized in the state it is clamped with the electrodes 5, 7. In such a way, the work 9 is supported with the locked linear arm 6 thereby the deformation of the work 9 is prevented without being remarkably affected on the presurization applied from the electrode 7 of the C-shaped arm 8 to the work 9.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot welding gun unit having a welding gun body attached to the tip of a robot arm.

[0002]

2. Description of the Related Art Conventionally, in a robot welding gun unit having a welding gun body attached to the tip of a robot arm, the electrode at the tip of a C-shaped arm fixed to the welding gun body is a work piece. The linear pressure arm
A welding current is applied while applying pressure to the work with an electrode at the tip of the hole (see, for example, Japanese Patent Application Laid-Open No. 2-179363).

[0003]

By the way, in the above-mentioned prior art, the tip of the linear pressing arm is contacted with the electrode at the tip of the C-shaped arm in contact with the work. When the work is pressurized by the electrode of, the applied pressure is transmitted through the work to the electrode at the tip of the C-shaped arm that is in contact with the work, and the work is applied. There is an excessive possibility that the C-shaped arm will bend due to the reaction force of the pressure, and the deflection causes the electrode at the tip of the C-shaped arm to move, causing the work to deform. The desired welding may not be possible.

The present invention has been made in view of the above problems of the prior art, and its object is to bring an electrode at the tip of a linear arm into contact with a work. By pressing the work with the electrode at the tip of the C-shaped arm in this state, the deflection of the C-shaped arm does not directly affect the work, It is intended to provide a robot welding gun unit capable of surely performing desired welding without deformation of the robot.

[0005]

In order to achieve the above object, a robot welding gun unit according to the present invention includes a work-holding cylinder unit and a work-pressurizing cylinder unit that can be locked in a welding gun body. The work holding cylinder unit is provided with a linear arm having an electrode at the tip, and the work pressing cylinder unit is provided with a C-shaped arm having an electrode at the tip. An arm is provided, and while the work is held by the electrode at the tip of the linear arm, the work is pressed by the electrode at the tip of the C-shaped arm. To do.

Also, a lockable work holding cylinder unit is provided at the tip of the robot arm so that a connecting rod extends toward the main body of the welding gun, and the distal end of the connecting rod is slidably arranged on the main body of the welding gun. And a work pressurizing cylinder unit including a piston formed in the middle of the connecting rod is provided in the welding gun main body, and the work holding cylinder unit has a linear shape with an electrode at the tip. An arm is provided, and a C-shaped arm having an electrode at the tip is provided at the work pressure cylinder unit, and the work is held by the electrode at the tip of the linear arm. While said C
It is characterized in that the work is pressed by the electrode at the tip of the character-shaped arm.

[0007]

Since the robot welding gun unit is constructed as described above, the linear arm is provided with the electrode at the tip of the linear arm in light contact with the work. The cylinder unit for holding the work is locked, and in this state the cylinder unit for pressurizing the work equipped with the C-shaped arm causes the electrode at the tip of the C-shaped arm to work. Operated to pressurize. During this pressurization, a C-shaped arm
Although the work itself may be deflected by the reaction force, the work itself is supported by the linearly locked arm, so the pressure from the C-shaped arm is applied to the work. There is no particular impact on the work and deformation of the work is prevented.

[0008]

Embodiments of the present invention will be described with reference to the accompanying drawings. In FIG. 1, reference numeral 1 is a robot arm, and a welding gun body 2 is attached to the tip of the robot arm 1. The welding gun body 2 is
A work holding cylinder unit 3 and a work pressurizing cylinder unit 4 are arranged.

The work holding cylinder unit 3 is provided with a linear arm 6 having an electrode 5 at its tip, and the work pressure cylinder unit 4 is provided with an electrode 7 at its tip. A C-shaped arm 8 is provided.

In the robot welding gun unit as described above, the welding gun main body 2 is operated by the robot arm 1.
When the work 9 is guided to the vicinity of the work 9 and the work 9 is positioned between the electrodes 5 and 7, the movement of the welding gun body 2 by the robot is stopped.

In this state, the work holding cylinder unit 3 is first driven. In the case of this embodiment, when the pressure oil is supplied from the hydraulic pressure supply port 10 into the cylinder 11, the linear arm 6 advances and the electrode 5 at the tip abuts the work 9 lightly. . In this state, the valve 12 is closed and the arm 6 is locked so as not to move. Therefore, the electrode 5 is locked in a state where it is lightly contacted with the work 9.

Next, the cylinder unit 4 for pressurizing the work
Is driven. In the case of this embodiment, when the pressure fluid is supplied from the pressure fluid supply port 13 into the cylinder 14, the C-shaped arm 8 moves to move the electrode 7 at the tip to the work area.
Abut the KU 9. Further, by continuing to drive the cylinder unit 4 for pressurizing the work, the work 9 moves the electrodes 5, 7
It is pressurized while being sandwiched by. At this time, the C-shaped arm 8 may be bent by the reaction force from the electrode 5 (the arm 6 is linear, so there is no fear of bending).
However, since the work 9 itself is supported by the linearly locked arm 6, the electrode 7 of the C-shaped arm 8 is
There is no particular effect on the pressurization of work 9 from work 9
Is prevented from being deformed.

FIG. 2 shows another embodiment, in which 21 is a robot arm, and a connecting rod 23 extends toward the welding gun main body 22 at the tip of the robot arm 21. A work holding cylinder unit 24 slidably arranged on the welding gun body 22 is fixed to the tip of the connecting rod 23, and the connecting rod 23 is also attached.
A piston 25 is fixed to an intermediate portion of the welding gun, a work pressurizing cylinder unit 26 including the piston 25 is formed in the welding gun body 22, and the welding gun body 22 is provided.
A C-shaped arm 28 having an electrode 27 at the tip is formed on the. Further, the work holding cylinder unit 24 has a linear arm 3 having an electrode 29 at the tip thereof.
0 is provided.

In the above-described embodiment of the robot welding gun unit, the robot arm 21 guides the welding gun main body 22 to the vicinity of the work 31, and the electrodes 27, 29.
The movement of the welding gun body 22 by the robot is stopped while the work 31 is positioned therebetween.

In this state, the work holding cylinder unit 24 is first driven. In the case of this embodiment, pressure oil is supplied from the hydraulic pressure supply port 32 into the cylinder 33, whereby the linear arm 30 moves forward to move the electrode 2 at the tip end.
9 lightly contacts work 31. In this state, the valve 34
Block the arm 30 and lock it so that the arm 30 does not move. Therefore, the electrode 29 is locked in a state in which it is in slight contact with the work 31.

Next, the cylinder unit 2 for pressurizing the work
6 is driven. In the case of this embodiment, when the pressure fluid is supplied from the pressure fluid supply port 35 into the cylinder 36, the C-shaped arm 28 moves together with the welding gun main body 22 to move the electrode 27 at the tip end into a wavy state. -Abut on KU 31. Further, by continuing the driving of the work pressurizing cylinder unit 26, the work 31 is pressurized while being sandwiched by the electrodes 27 and 29. At this time, C-shaped arm 2
8 may be bent by the reaction force from the electrode 29 (the arm 30 is straight, so there is no fear of bending), but the work 31 itself is supported by the linear locked arm 30. Therefore, the electrode 2 of the C-shaped arm 28 is
There is no particular effect on the pressure applied to the work 31 from 7,
The deformation of the hook 31 is prevented.

As described above, in both the embodiments, the work pressurizing cylinder unit is driven by the pressure fluid, and the work holding cylinder unit is driven by the hydraulic pressure. Cylinder units, hydraulic or pneumatic power cylinder units may be used.

[0018]

The robot welding gun unit according to the present invention is provided with a linear arm in a state where the electrode at the tip of the linear arm is in light contact with the work. The work holding cylinder unit is locked, and in this state the work pressure cylinder unit equipped with a C-shaped arm presses the work with the electrode at the tip of the C-shaped arm. Even if the C-shaped arm is bent by the reaction force during this pressurization, the work itself is supported by the linear locked arm. There is no particular effect on the pressurization of the work from the C-shaped arm,
Since the deformation of the hook is prevented, the robot welding gun unit can surely perform desired welding.

[Brief description of drawings]

FIG. 1 is a side sectional view of an essential part of a robot welding gun unit according to the present invention.

FIG. 2 is a side sectional view of a main part of another robot welding gun unit according to the present invention.

[Explanation of symbols]

1, 21 Robot arm 2, 22 Welding gun body 3, 24 Work holding cylinder unit 4, 26 Work pressurizing cylinder unit 5, 7, 27, 29 Electrode 6, 30 Linear arm 8,28 C-shaped arm 9,31 Work 12,34 Locking valve 23 Connecting rod 25 Piston

Claims (2)

[Claims] 1. A robot welding gun unit having a welding gun main body attached to the tip of a robot arm,
A lockable work holding cylinder unit and a work pressurizing cylinder unit are arranged in the welding gun body, and the work holding cylinder unit has a linear arm having an electrode at a tip thereof. A cylinder-shaped arm having a C-shaped arm having an electrode at the tip is provided in the work pressurizing cylinder unit, and the work is held while the work is held by the electrode at the tip of the linear arm. A robot welding gun unit characterized in that the work is pressed by the electrode at the tip of the C-shaped arm. 2. A robot welding gun unit having a welding gun body attached to the tip of a robot arm,
A connecting rod extends toward the welding gun main body at the end of the robot arm, and a lockable work holding cylinder unit slidably arranged on the welding gun main body is fixed to the end of the connecting rod. In addition, a work pressurizing cylinder unit including a piston formed in the middle of the connecting rod is provided in the welding gun body, and the work holding cylinder unit is provided with a linear arm having an electrode at the tip. The work pressure cylinder unit is provided with a C-shaped arm having an electrode at the tip thereof, and the C-shaped arm is held by the electrode at the tip of the linear arm while holding the work. A robot welding gun unit characterized in that the work is pressed by the electrode at the tip of a circular arm.