JPH073866U - Welding robot teaching jig - Google Patents

Abstract

(57) [Abstract] [Purpose] To provide a teaching jig for a welding robot, which can be attached to the tip of the arm of the welding robot to perform accurate teaching extremely easily. [Structure] A support portion 20 that can be mounted on the tip of a welding torch 4 for automatic arc welding provided at the tip of a robot arm 2, and a welding wire 12 protruding from the welding torch 4.
The teaching jig 30 having a small-diameter end portion at a welding position at a predetermined distance from the tip of the torch on the axis extension line, and at least the teaching portion 30 is made of an elastic body.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a teaching jig for a welding robot, and more particularly, to a teaching jig for a welding robot that is easily attached to the tip of the arm of a welding robot to facilitate teaching work of the robot arm.

[0002]

[Prior art]

 In conventional welding robots, teaching work is first required to program the robot arm movement according to the shape and structure of the object to be welded. The purpose of teaching work is to determine the trace trajectory of the wire tip attached to the robot arm tip, torch posture (welding angle), and the distance between the tip of the tip and the base metal when the welding robot is to perform automatic arc welding work. It is to teach accurately.

FIG. 6 is a side view showing a torch body provided on an arm of a conventional welding robot, and FIG. 7 is a cross-sectional view of essential parts showing a tip portion of the torch body. As shown in FIG. 6, in the robot for automatic arc welding, the torch body 4 is attached to the tip of the arm 2. A nozzle 6 is attached to the tip of the torch body 4. During welding, a shielding gas or the like is blown out from the nozzle 6. As shown in FIG. 7, a tip body 8 is mounted inside the nozzle 6, and a tip 10 is attached to the tip of the tip body 8 by screwing. The wire 12 is pulled out from the tip of the tip 10 and cut at a predetermined length L. The predetermined length L may vary depending on the welded portion, but is about 15 mm, for example.

In conventional teaching of a welding robot, a wire 12 similar to the wire used for welding is used, and the wire 12 is projected from the tip 10 by a predetermined length (protruding length) L 1 Teaching for motion programming is performed.

[0005]

[Problems to be solved by the device]

 However, in the conventional teaching of the welding robot, since the teaching is performed using the wire itself used for welding, the protruding length L of the wire 12 may vary depending on the posture of the robot. In addition, since the wire 12 is used by unwinding the wire wound in a hoop shape, the wire tip may be curved due to the winding tendency of the wire. For this reason, the tip of the wire 12 cannot be held constant, and the locus of the wire tip during teaching and the locus of the wire tip during welding may deviate. Further, during the teaching work, the wire 12 may be collided with some object and bent, and in that case, it is necessary to pull out the wire again and cut it to a predetermined length. Therefore, the teaching work is complicated.

The present invention has been made in view of the above circumstances, and provides a teaching jig for a welding robot, which can be attached to the tip of an arm of a welding robot to perform accurate teaching extremely easily. With the goal.

[0007]

[Means for Solving the Problems]

 In order to achieve the above object, a teaching jig of a welding robot of the present invention comprises a support portion which can be attached to a tip of a welding torch for automatic arc welding provided at a tip of a robot arm, and a protruding portion from the welding torch. The teaching portion having a small-diameter end portion at a welding position at a predetermined distance from the torch tip end on the axial extension line of the welding wire to be used, and at least the teaching portion is made of an elastic body.

[0008]

[Action]

 When performing teaching of the welding robot using the teaching jig of the welding robot of the present invention, the tip used for welding is removed, and the tip of the wire, which is an unnecessary part during teaching, is removed. After that, the teaching jig of the present invention is attached to the tip of the welding torch. When teaching is performed using the teaching jig of the present invention, since the teaching portion corresponding to the wire at the time of welding is made of an elastic body, even if the teaching portion collides with an object, the teaching portion will not be plastically deformed. The shape returns to its original shape. This eliminates the need for re-projecting the wire and cutting it, and the teaching work is extremely easy. Also, since the tip position of the teaching part does not change due to the posture of the robot or the winding tendency of the wire, the teaching part trajectory during teaching and the wire tip trajectory during welding almost exactly match, Accurate teaching is possible.

[0009]

【Example】

 Hereinafter, the present invention will be described based on the embodiments shown in the drawings. FIG. 1 is a sectional view of a main part showing a tip portion of a torch body to which a teaching jig of a welding robot according to an embodiment of the present invention is attached, and FIGS. 2 to 5 are related to other embodiments of the present invention. FIG. 4 is a cross-sectional view of a main part showing a tip portion of a torch body to which a teaching jig of a welding robot is attached. The same members as those shown in FIGS. 6 and 7 are designated by the same reference numerals, and the description thereof is partially omitted.

The teaching jig 40 of the embodiment shown in FIG. 1 has a support portion 20 attachable to the tip of a welding torch provided at the tip of a robot arm for performing automatic arc welding, and a teaching portion 30. ing. A male screw is formed on the outer periphery of the support portion 20 and is screwed into a screw hole 16 formed in the tip portion of the teaching chip 14. The teaching tip 14 is screwed and coupled to the tip of the tip body 8 instead of the welding tip.

The teaching portion 30 has, for example, a conical shape as a whole, and a small-diameter end portion of the tip thereof is located at a welding position at a predetermined distance from the torch tip on the axial extension line of the welding wire protruding from the welding torch during welding. Equivalent to. In this embodiment, the supporting portion 20 and the teaching portion 30 of the teaching jig 40 are integrally formed of an elastic body. Examples of the elastic body that can form the teaching unit 30 include materials that can be elastically deformed, and specific examples thereof include synthetic rubber, soft synthetic resin, and foamed resin. In the present invention, at least the teaching portion 30 only needs to be made of an elastic body, the supporting portion 20 is made of metal, and the metallic supporting portion 20 and the teaching portion 30 made of an elastic body are combined to be integrated. It is also possible to convert. In order to perform teaching using the teaching jig 40 of the present embodiment, first, the teaching jig 40 is detached from the torch body 4 attached to the tip of the robot arm, the nozzle 6 is removed, and the tip body 8 is welded. Remove the tip and cut the end of the wire that will be unnecessary during teaching. Next, instead of the welding tip, the teaching tip 14 is attached to the tip body 8. A screw hole 16 is formed at the tip of the chip 14, and the supporting portion 20 of the jig 40 according to the present embodiment is screwed and coupled thereto. The tip of the teaching portion of the jig 40 corresponds to a welding position at a predetermined distance from the tip of the torch on the axial extension line of the welding wire protruding from the welding torch during welding, and is made of an elastic body.

After that, when the nozzle 6 is attached to the torch body 4, the welding robot is ready for teaching work. Then, in order to perform robot motion programming, the robot arm is actually moved by a method similar to the conventional method, and the trace path of the wire tip during welding, the torch posture (welding angle), the tip of the tip and the base metal The distance is accurately simulated by simulating the movement trajectory of the teaching unit 30.

In the present embodiment, since the teaching portion 30 corresponding to the wire at the time of welding is made of an elastic body, even if the teaching portion 30 collides with an object, the teaching portion 30 does not undergo plastic deformation and its shape is based on the original shape. Return. This eliminates the need to re-project the wire and cut the wire, which makes teaching work extremely easy. Further, since the tip position of the teaching section 30 does not change due to the posture of the robot, the winding tendency of the wire, etc., the locus of the teaching section 30 during teaching and the locus of the wire tip during welding are almost accurate. Matches and enables accurate teaching.

Further, when it is desired to change the protruding length of the wire during actual welding depending on the welding site, it is necessary to replace the jig 40 depending on the welding site during teaching as well. In that case, a plurality of types of jigs 40 having teaching portions 30 corresponding to the protruding lengths of several types of wires may be prepared, and the jigs 40 may be exchanged according to the welding site. Since the supporting portion 20 of the jig 40 can be easily attached to the tip of the chip 14 by screwing, the jig 40 can be easily replaced.

It should be noted that the present invention is not limited to the above-described embodiments, but can be variously modified within the scope of the present invention. For example, in the embodiment shown in FIG. 2, as compared with the embodiment shown in FIG. 1, a teaching jig is also integrated to form a teaching jig 40a, and the supporting portion 20a of the jig 40a is directly connected to the screw of the chip body 8. It can also be configured to be screwed and attached to the hole 22. Also in this embodiment, the tip position of the teaching portion 30a corresponds to the welding position at a predetermined distance from the torch tip on the axial extension line of the welding wire protruding from the welding torch during welding. At least the teaching portion 30a is made of an elastic body. This embodiment has the same operation as that of the embodiment shown in FIG. 1, and since the teaching chip is not needed, it contributes to the reduction of the number of parts.

In the embodiment shown in FIG. 3, a fitting hole 16a is provided at the tip of the teaching tip 14a, and the support portion 20b and the teaching portion 20b are integrally formed in the fitting hole 16a by an elastic body. The support portion 20b of the formed teaching jig 40b is adapted to fit. Also in this embodiment, the tip position of the teaching portion 30b corresponds to the welding position at a predetermined distance from the torch tip on the axial extension line of the welding wire protruding from the welding torch during welding. In this embodiment, the same operation as that of the embodiment shown in FIG. 1 is provided, and the jig 40b can be attached to the chip 14a more easily, and the jig 40b can be easily replaced.

In the embodiment shown in FIG. 4, a fitting convex portion 16b is provided at the tip of the teaching tip 14b, and a supporting portion 20c and a teaching portion 30c are provided around the fitting convex portion hole 16b by an elastic body. The support portion 20c of the teaching jig 40c, which is integrally formed with, is fitted. Also in this embodiment, the tip position of the teaching portion 30c corresponds to the welding position at a predetermined distance from the torch tip on the axial extension line of the welding wire protruding from the welding torch during welding. In this embodiment, the same action as that of the embodiment shown in FIG. 1 is obtained, and the jig 40c is more easily attached to the chip 14b, and the jig 40c can be easily replaced.

In the embodiment shown in FIG. 5, the tip of the teaching chip 14c is simply tapered with a tapered tip, and a cylindrical support portion 20d with a bottom formed on the teaching jig 40d is formed on the outer periphery of the taper. It is designed to fit. The supporting portion 20d of the teaching jig 40d and the teaching portion 30d are integrally formed by an elastic body. Also in this embodiment, the tip position of the teaching portion 30d corresponds to the welding position at a predetermined distance from the torch tip on the axial extension line of the welding wire protruding from the welding torch during welding.

In this embodiment, the same action as that of the embodiment shown in FIG. 1 is provided, and the jig 40d can be attached to the chip 14c more easily, and the jig 40d can be easily replaced.

[0020]

[Effect of device]

 As described above, according to the present invention, instead of the wire having the predetermined length used in the teaching of the welding robot in the related art, the teaching portion including the elastic body having the protrusion length corresponding to the wire used in the welding is provided. Even if the teaching part collides with an object, the shape of the jig returns to its original shape, which eliminates the need to re-protrude and cut the wire. Therefore, the teaching work becomes extremely easy. Further, the tip position of the teaching part of the teaching jig according to the present invention corresponds to the wire protruding position at the time of welding, and the position is always constant, and it may change depending on the robot posture or the winding tendency of the wire. Since there is no point, the locus of the teaching portion during teaching and the locus of the wire tip during welding almost exactly match, enabling accurate teaching.

[Brief description of drawings]

FIG. 1 is a cross-sectional view showing a main part of a torch body to which a teaching jig of a welding robot according to an embodiment of the present invention is attached.

FIG. 2 is a cross-sectional view of a main part of a torch body having a teaching jig attached to a welding robot according to another embodiment of the present invention.

FIG. 3 is a cross-sectional view showing a main part of a torch body to which a teaching jig of a welding robot according to still another embodiment of the present invention is attached.

FIG. 4 is a cross-sectional view showing a main part of a torch body to which a teaching jig of a welding robot according to still another embodiment of the present invention is attached.

FIG. 5 is a cross-sectional view of a main part of a torch body to which a teaching jig of a welding robot according to still another embodiment of the present invention is attached.

FIG. 6 is a side view showing a torch body provided on an arm of a conventional welding robot.

FIG. 7 is a cross-sectional view of relevant parts showing a tip portion of the torch body.

[Explanation of symbols]

2 ... Robot arm, 4 ... Torch body, 20 ... Support part, 12 ... Welding wire, 30 ... Teaching part.

Claims (1)

[Scope of utility model registration request] 1. A support part which is provided at the tip of a robot arm and can be mounted on the tip of a welding torch for performing automatic arc welding, and a predetermined distance from the tip of the torch on the axial extension line of the welding wire protruding from the welding torch. A teaching jig for a welding robot, the teaching jig having a small-diameter end portion at a welding position, and at least the teaching portion made of an elastic body.