JPH0726061U - Dummy tip for welding robot teaching - Google Patents

Abstract

(57) [Abstract] [Purpose] In a welding robot that performs arc welding with the electrode wire protruding from the tip of the contact tip by a certain protrusion size, the teaching work man-hours of the torch path are reduced to improve teaching efficiency and accuracy. Improve. [Structure] A tip body 54 having the same shape as the contact tip and attached to the torch instead of the contact tip has substantially the same diameter as the electrode wire, and even if it is elastically deformed by an external force, the original force is released by the external force. The spring-shaped wire 56 that returns to the shape of
Teaching is performed using the dummy tip 10 for welding robot teaching, which is attached so that the tip portion 62 protrudes from the tip of the tip body 54 through the insertion hole 50 by the same amount as the protruding dimension of the electrode wire during welding.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to teaching means for a torch path for an arc welding robot, and more particularly to a technique for reducing the number of man-hours required for teaching and improving welding quality.

[0002]

[Prior art]

 At welding sites of various manufacturing plants that carry out mass production of automobiles, machine products, etc., the torch is guided according to the route preset by teaching while supplying the electrode wire so that it projects from the tip of the contact tip by a certain protruding dimension. Welding robots that automatically perform arc welding such as gas shielded arc welding and submerged arc welding by moving the robot are often used. In such an arc welding robot, teaching of the torch path is performed in advance so that the tip of the electrode wire protruding from the contact tip moves along the welding line of the work to be welded and stored. The torch moves exactly as it was taught by the control device. FIG. 7 is a cross-sectional view showing an example of the contact tip. The contact tip 40 attached to the tip body 38 of the torch has an insertion hole 50 formed in the axial center thereof, and the electrode wire 22 is inserted in the insertion hole 50. Is supplied to the front side. During welding, for example, as shown in FIG. 8, the wire feeding speed is controlled so that the tip of the electrode wire 22 coincides with the target position on the welding line of the pair of works A and B. The above-mentioned teaching is performed by tracing the welding lines of the works A and B with the electrode wire 22 protruding from the tip of the contact tip 40 by the same protruding dimension L as during welding.

[0003]

[Problems to be solved by the device]

 However, in such a conventional teaching method, when the electrode wire interferes with a work or a jig and is deformed such as bent, the deformed portion is cut and removed, and the electrode wire is pulled out by inching to make a tip. Since it is necessary to cut the side again so that the protrusion size is constant, this work is repeated each time it is deformed, which is a very inefficient problem. In addition, when the electrode wire is temporarily pulled in by the retract to prevent interference with the work or jig when moving to the welding start position or moving to another welding position, a new welding start position is required. The troublesome work of re-adjusting the wire protrusion size is required. Furthermore, when the electrode wire is pulled out or rewound in this way, the tensile force of the electrode wire fluctuates, leading to a decrease in teaching accuracy, which leads to fluctuations in the welding position and fluctuations in the welding current, which deteriorates the welding quality. There was also.

The present invention has been made in view of the above circumstances. An object of the present invention is to reduce the number of teaching work steps for an arc welding robot to improve the teaching efficiency and improve the teaching accuracy. To obtain excellent welding quality.

[0005]

[Means for Solving the Problems]

 In order to achieve such an object, the gist of the present invention is that a torch for performing arc welding in a state in which an electrode wire is protruded from a tip of a detachably provided contact tip by a predetermined protrusion size is taught in advance by teaching. In a welding robot that moves along a set path, a dampening tip for welding robot teaching that is attached to the torch instead of the contact tip when performing the teaching, and has the same shape as the contact tip. And a tip body detachably attached to the torch instead of the contact tip, and (b) having a diameter dimension substantially the same as that of the electrode wire and having a dimension substantially the same as the protrusion dimension. It is installed on the tip body so that it protrudes from the tip of the Rutotomoni lies in having a resilient body made protruding member to return to its original shape by the release of the external force.

[0006]

[Effect of action and device]

 The welding robot teaching dummy tip has a tip body of substantially the same shape as the contact tip, and the electrode wire protruding from the contact tip has substantially the same thickness and projecting dimensions, and is elastically deformed by an external force and subjected to an external force. It consists of an elastic protruding member that returns to its original shape when released, and it can be attached to the torch instead of the contact tip.Therefore, the elastic protruding member may interfere with the work or jig during teaching. Even if there is any interference, it will return to its original shape due to its elasticity and will not change the size of protrusion from the chip body. For this reason, there is no need to perform complicated dimension adjustment work as in the past, the teaching work is extremely simple and the work efficiency is improved, and the teaching accuracy is higher than when the electrode wire is pulled out or rewound. This improves the welding quality and suppresses variations in welding position and welding current, resulting in excellent welding quality.

[0007]

【Example】

An embodiment of the present invention will be described below in detail with reference to the drawings. The welding robot 12 shown in FIG. 1 has a multi-joint type robot mechanism unit 18 having a torch 16 attached to the tip of a robot arm 14, and a wire reel attached to the torch 16 integrally with the robot mechanism unit 18. 20 is provided with a wire supply unit 24 for supplying the electrode wire 22, a welding power supply 26, a shield gas supply source 28 such as CO ₂ , a controller 30 for controlling them, and the like. This device automatically performs gas shielded arc welding according to the input control contents. The controller 30 is composed of a micro computer having a CPU, a ROM, a RAM, etc., and reads the program stored in advance in the ROM while controlling the movement of the robot arm 14 and the wire according to the contents temporarily stored in the RAM. The wire supply speed of the supply unit 24 is controlled, the welding power source 26 is energized, and the shield gas is supplied.

In the torch 16 shown in detail in FIG. 2, the base end portion 16 a is integrally fixed to the robot arm 14 via a mounting bracket 34, and is connected to the rear end side, that is, the upper end side in the figure. The electrode wire 22 supplied through the power cable 36 is guided along the bent portion 16b provided on the way, and is fed to the tip body 38 on the tip side tilted approximately 45 ° with respect to the main body side and further to the contact tip 40. It is a curved torch configured as follows. A nozzle 42 for shield gas is attached to the outer peripheral side of the contact tip 40, and the shield gas guided from the base end portion 16a is jetted from the opening of the nozzle 42 toward the welding position. FIG. 3 is a perspective view showing each of the components forming the tip portion of the torch 16 in a single-piece state. At the tip side of the tip body 38, in addition to the contact tip 40 and the nozzle 42, the bush 44 and the O-ring 46 are provided. , And a baffle 48 are provided respectively.

As shown in FIG. 7, the contact tip 40 has a gently tapered shape in which the tip side portion has a smaller diameter toward the tip, and is provided with an insertion hole 50 and a screw portion 52. The threaded portion 52 is screwed onto the tip body 38 so as to be integrally attached to the torch 16. In the assembled state, a part of the tip end side projects from the nozzle 42. When the electrode wire 22 is projected from the tip of the contact tip 40 and arc welding is performed while energizing the electrode wire 22, the robot mechanism portion 18 is drive-controlled so that the torch 16 moves according to a path preset by teaching. In addition, the wire supply unit 24 is controlled to perform welding so that the protruding size of the electrode wire 22 becomes the constant protruding size L in FIG. The contact tip 40 is made of a metal material having excellent conductivity such as copper or copper alloy, and a welding current is applied to the electrode wire 22 through the contact tip 40. Further, the contact tip 40 is replaced as necessary when the electrode wire 22 protruding from the tip is displaced due to wear of the insertion hole 50 or the like.

With respect to the welding robot 12 configured as described above, the movement path of the torch 16 is set, that is, the tip of the electrode wire 22 moves along the welding line while maintaining a predetermined positional relationship as shown in FIG. The dummy chip 10 used in place of the contact chip 40 when performing the teaching is shown in FIG. 4 with a part cut away. The dummy tip 10 constitutes an embodiment of a welding robot teaching dummy tip of the present invention. The dummy tip 10 has the same shape as the contact tip 40 and is attached to the tip body 38, and the tip body 54 of the tip body 54. The tip portion 62 is formed of a spring wire 56 that is provided so as to penetrate the center of the shaft and project from the tip of the tip body 54. In this embodiment, the contact chip 40 is used as it is as the chip body 54, and the same reference numerals as those of the contact chip 40 are given to omit detailed description of each part.

The spring wire 56 has a diameter dimension d substantially the same as that of the electrode wire 22 and a length dimension longer than that of the chip body 54, and a cylindrical block 64 is integrally formed at the rear end portion thereof. It is fixed to. This spring-like wire 56 is made by winding a thin spring wire continuously in a coil shape, and is easily elastically deformed by an external force and returns to its original shape when the external force is released. have. The block 64 and the threaded portion 52 of the chip body 54 are brought into contact with each other, and the spring-shaped wire 56 is protruded from the tip of the chip body 54 in a state in which the spring-shaped wire 56 is prevented from further moving toward the tip side of the chip body 54. The length of the spring wire 56 is determined so that the length of the tip portion 62 becomes the above-mentioned constant protrusion size L. The block 64 has a diameter dimension substantially the same as the root diameter of the screw in the threaded portion 52 and a predetermined axial dimension. With this predetermined axial dimension, the contact tip 40 is attached to the chip body 38. The chip size of the spring-like wire 56 when the dummy chip 10 is attached to the chip body 38 has a size equal to the clearance dimension s between the small diameter step portion 38a and the screw portion 52 shown in FIG. By preventing the rearward movement of the main body 54, the protrusion dimension L is maintained. In this embodiment, the tip portion 62 of the spring wire 56 protruding from the tip of the tip body 54 corresponds to an elastic protruding member.

When the teaching of the welding robot 12 is performed by mounting the dummy tip 10 configured as described above, when the tip of the spring-shaped wire 56 is brought close to the aim position on the welding line, as shown in FIG. As shown in the drawing, even if the work-pieces A and B are brought too close to each other and the spring wires 56 interfere with the work-pieces A and B, and the tip portion 62 is deformed, the torch 16 is separated from the work pieces A and B. Then, as shown by the alternate long and short dash line in FIG. 5, the tip portion 62 returns to its original shape, so that the protrusion dimension L from the chip body 54 does not change. For this reason, it is necessary to carry out a troublesome dimensional adjustment each time when the electrode wire 22 is deformed or the like as in the conventional case where the electrode wire 22 is projected from the contact tip 40 to perform teaching as in the actual welding. Without this, teaching work can be performed extremely efficiently. Further, since the teaching accuracy is improved as compared with the case where the electrode wire 22 is pulled out or rewound, variations in welding position and variations in welding current are suppressed, and excellent welding quality can be obtained.

Further, in the dummy chip 10 of this embodiment, since the contact chip 40 is diverted as it is as the chip body 54, the spring wire 56 having a predetermined length dimension in which the block 64 is fixed to the rear end is used. It only needs to be prepared, and has the advantage of being extremely simple and inexpensive to construct. Furthermore, since the spring-like wire 56 is removably attached to the chip body 54, when the spring-like wire 56 is damaged or elastically fatigued, the spring-like wire 56 can be easily replaced.

Next, another embodiment of the present invention will be described. The welding robot teaching dummy tip 70 shown in FIG. 6 is used in the teaching of the welding robot 12 in the same manner as the dummy tip 10 described above. The dummy chip 70 is composed of a main body rod 72 attached to the chip body 38 and an elastic cap 74 integrally connected to the front end side of the main body rod 72. The main body rod 72 is made of metal or synthetic resin, and the shape of its rear end side is substantially the same as that of the contact tip 40 and has a threaded portion 76 formed with a male screw, but has a small diameter on the tip side. The fitting protrusion 78 is provided. The fitting protrusion 78 includes a small-diameter conical portion 78b and a small-diameter cylindrical portion 78c before and after the intermediate large-diameter portion 78a, and the elastic cap 74 can be fitted to the outer peripheral side thereof.

The elastic cap 74 is integrally molded from an elastic body such as rubber, and has a substantially bottomed cylindrical base end portion 80 fitted to the outer peripheral side of the fitting protrusion 78, and a tip end of the base end portion 80. The needle-like projection 82 is integrally formed and has a diameter d substantially the same as that of the electrode wire 22. The base end portion 80 has an inner peripheral surface shape that is expected to be small in advance so that a predetermined fitting force can be obtained at the time of press fitting corresponding to the shape of the fitting protrusion 78, and the tip end side portion thereof is a contact side. The tip 40 has an outer peripheral shape substantially the same as the shape on the tip side, that is, the tapered shape. In the mounted state on the main body rod 72, the length dimension from the rear end side step end surface 72a of the main body rod 72 to the front end of the base end portion 80 in the axial direction corresponds to the corresponding length dimension of the contact tip 40. Are made equal. The needle-shaped projection 82 is formed so as to concentrically project from the distal end of the base end portion 80 by the predetermined projection dimension L, and is elastically deformed by an external force and released by the external force. It is supposed to return to. In this embodiment, the main body rod 72 and the base end portion 80 of the elastic cap 74 form a chip body, and the needle-shaped protrusions 82 of the elastic cap 74 correspond to the elastic member.

Also when the teaching of the welding robot 12 is performed by mounting the dummy tip 70 having the above-described structure, the needle-shaped protrusions interfere with the works A and B as in the first embodiment described above. Even if 82 is temporarily deformed, if it is separated, it returns to its original shape and the protruding dimension L from the base end portion 80 does not change, so the efficiency of teaching work and teaching accuracy are improved.

Further, in the dummy chip 70 of the present embodiment, the main body rod 72 and the elastic cap 74 can be inserted and removed, so that when the needle-shaped projection 82 is damaged or elastically fatigued, a new one is used. The elastic cap 74 can be replaced with one touch.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the present invention can be implemented in other modes.

For example, the tip body 54, the body rod 72, and the base end portion 80 of the elastic cap 74 of the above-described embodiment can be attached in place of the contact tip 40 as long as they do not interfere with the nozzle 42 or the like. The contact tip 40 may be slightly thicker or the outer peripheral shape may be slightly different.

Further, in the first embodiment, the contact tip 40 is used as it is as the tip body 54, but a metal or synthetic resin tip body having substantially the same shape as the contact tip 40 may be used. Of course it is possible.

Further, in the first embodiment, the spring-shaped wire 56 is arranged in the chip body 54 in such a manner that it can be inserted into and removed from the chip body 54. However, the block 64 is omitted and the spring-shaped wire 56 is injected with an adhesive. It may be fixed to the chip body 54 by brazing. When the chip body 54 is made of synthetic resin, the insertion hole 50 may be omitted and the spring wire 56 may be embedded integrally.

Further, in the second embodiment, the needle-shaped projection 82 is integrally provided on the base end portion 80 of the elastic cap 74, but the base end portion 80 is provided with the same spring-like wire as that of the first embodiment. It is also possible to plant them together.

Further, in the above-mentioned embodiment, the case where the dummy chips 10 and 70 are used for teaching the welding robot 12 that performs the gas shield arc welding has been described, but the present invention is also applied to the teaching of other welding robots. Can be applied.

Although not illustrated one by one, the present invention can be implemented in various modified and improved modes based on the knowledge of those skilled in the art.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an example of a welding robot in which teaching is performed by a welding robot teaching dummy tip of the present invention.

FIG. 2 is a diagram showing in detail the torch of the welding robot of FIG.

FIG. 3 is a perspective view showing a plurality of parts constituting the tip side of the torch of FIG. 2 in a single product state.

FIG. 4 is a view showing a dummy tip for welding robot teaching, which is an embodiment of the present invention, and is a front view with a part cut away.

5 is a diagram illustrating a state in which teaching is performed using the welding robot teaching dummy tip of FIG. 4;

FIG. 6 is a view showing another embodiment of the present invention and is a front view with a part cut away.

7 is a cross-sectional view showing a contact tip in the welding robot shown in FIG.

FIG. 8 is a diagram illustrating a teaching method for a conventional welding robot.

[Explanation of symbols]

 10, 70: Dummy tip for welding robot teaching 12: Welding robot 22: Electrode wire 40: Contact tip 54: Tip body 56: Spring wire 62: Tip part (protruding member made of elastic body) 72: Body rod (tip body) 80: Proximal end (chip body) 82: Needle-like projection (elastic member)

Claims (1)

[Scope of utility model registration request] 1. A welding robot in which a torch for performing arc welding in a state in which an electrode wire is protruded by a predetermined protrusion size from a tip of a detachably provided contact tip is moved along a path preset by teaching. A dummy tip for welding robot teaching, which is attached to the torch in place of the contact tip when performing, and which has substantially the same shape as the contact tip and is detachably attached to the torch instead of the contact tip. The tip body is provided on the tip body so as to have a diameter substantially the same as that of the electrode wire and to project from the tip of the tip body by a dimension substantially the same as the protruding dimension, and the tip body is elastically deformed by an external force and Elastic protrusion that returns to its original shape when released Welding robot teaching dummy chip; and a timber.