JPH0790370B2 - Automatically operated stud welding equipment - Google Patents

Description

TECHNICAL FIELD The present invention relates to an automatically operated stud welding apparatus used in combination with an industrial robot.

[Prior Art] Stud welding includes capacitor discharge type stud welding and arc stud welding, which are carried out in various forms and put into practical use.

In recent years, due to the development of industrial robots, for example, in assembly factories and the like, various works are automatically performed one after another on a production line, and industrial robots are also used for stud welding, which is one of the welding methods. It can be operated automatically. This not only promotes full automation of the production line, but is also effective in terms of labor saving and worker safety. As an example of such an automatically operated stud welding apparatus, there can be mentioned the one described in JP-A-60-54279, and the apparatus disclosed in this publication is the base material to be stud welded. A supply unit, a stud welding unit, a stud supply mounting unit, a storage unit for a base material on which stud welding has been completed, and an automatic operating device equipped with an arm that can be sequentially moved to each of these units. The arm is provided with a stud welding gun and a base material transfer mechanism, and is configured as a single device for performing a series of welding operations in a predetermined order.

With such an automatically operated stud welding device, the stud to be welded can be attached to the welding gun attached to the robot arm, and the stud can be welded to the base metal by automatic operation. In welding, the studs to be welded are not always the same size, and often studs of different sizes are welded to the base material in a predetermined order or in some cases randomly. Is required. In such a case, in the above-mentioned automatic operation type stud welding device,
The stud grip chuck in the stud welding gun attached to the arm of the automatic operation device changes its operating state in accordance with the size, especially the thickness of the stud received from the stud supply mounting portion. As a result, the chuck cannot firmly hold the stud, or even if it can be gripped, the stud cannot be centered sufficiently. May be defective. Therefore, despite the automatic operation using the industrial robot, the worker replaces the stud grip chuck in the stud welding gun every time the stud size changes, and the fully automatic operation of the device is possible. Not only could it not be achieved, but it was also a hindrance in terms of efficient welding work. Therefore, in order to eliminate such drawbacks,
First, in Japanese Utility Model Application No. 60-199916, a stud gripping chuck is automatically selected according to the type and size of the stud to be welded, and it can be attached to the stud welding gun to fully automate stud welding. We have proposed an automatic operation type stud welding device which enables the optimum chuck to be attached according to the dimension of the stud in the chuck attachment part before attaching the stud to the stud welding gun.
Therefore, the stud can always be grasped in a reliable and correct state.

[Problems to be solved by the invention] By the way, in the previously proposed automatic operation type stud welding apparatus, a stud gripping chuck is automatically selected according to the size of the stud to be welded and the stud welding gun is selected. The chuck mounting part for the stud welding gun is provided in front of the stud supply mounting part so that it can be mounted. Therefore, before mounting the stud on the stud welding gun, mount the optimum chuck according to the stud size in the chuck mounting part. However, it is necessary to move the stud welding gun to each position of the chuck adhesion part, stud supply mounting part and welded part, the operation cycle takes time, and the arm equipped with the stud welding gun moves in three dimensions. Therefore, an error is likely to occur in position control, which makes the motion control of the arm complicated and troublesome, and also has a structure. It is inevitable that it will become complicated.

Therefore, an object of the present invention is to provide an automatic operation type stud welding apparatus which can speed up the operation cycle, can substantially eliminate the error associated with the position control, and can be particularly advantageously applied to the welding of various studs having different sizes and shapes. To provide.

[Means for Solving Problems] In order to achieve the above-mentioned object, the automatically operated stud welding apparatus according to the present invention is movably supported between a welding position and a preparation position, and has a size, a shape and the like. A stud welder section with a stud welder gun that allows different studs to be mounted and the stud welder section of this stud welder can be moved to access the stud welder gun in the standard position above And a stud adhesive portion that receives the studs to be welded sequentially from the studs that are supplied from the stud supply portion that is capable of supplying studs of different sizes and shapes and that is attached to the tip of the welding gun. Is characterized by.

[Operation] In the automatically operated stud welding apparatus according to the present invention, the stud welding gun of the stud welder unit is moved, for example, between an upper preparation position and a lower welding position, and when the stud welding gun is in the preparation position, The stud mounting portion sequentially selects the required studs supplied from the stud supply portion, moves to the stud mounting position for the stud welding gun, and mounts the stud on the tip of the stud welding gun. These series of operations can be controlled according to an appropriate operation program.

[Examples] Examples of the present invention will be described below with reference to the accompanying drawings.

1 to 3 schematically show the configuration of the essential parts of an automatically operated stud welding apparatus according to an embodiment of the present invention, in which 1 is a workbench, and columns 2 are erected on the upper surface thereof. A support arm 3 extending horizontally to the front is attached to the column 2. As shown in FIG. 2, a mounting plate 5 is mounted on the tip of the support arm 3 via an elevating mechanism 4, and a stud welder section 6 and a stud mounting section 7 are mounted side by side on the mounting plate 5. . The stud welder section 6 has a mounting plate 5
Base plate mounted to move up and down along
6a, a stud welding gun 6b fixed to the pace plate 6a, and a pressure for driving the base plate 6a up and down along the mounting plate 5 to move the stud welding gun 6b between an upper preparation position and a lower welding position. And a fluid cylinder 6c. The stud mounting portion 7 is a stud welding gun that is mounted movably up and down along the mounting portion 5, a pressure fluid cylinder 7b for vertically driving the base plate 7a, and laterally movable to the base plate 7a.
6b axis stud mounting position and stud supply terminal 8
It is provided with a stud mounting head 7c which can take a position on the axis (only one is shown in the drawing), and a lateral pressure fluid cylinder 7d of the stud mounting head 7c. The stud supply terminal 8 is connected to a stud supply part 9 provided on the upper surface of the workbench 1, and the stud supply part 9 has two different stud loading devices in the illustrated embodiment.
9a, 9b, escapement 9c, escapement 9c
From each stud supply terminal 8 to two stud supply pipes 9d and 9e (only a part of which is shown), one stud loading device 9a is in the form of a cylindrical magazine in which studs are loaded in tandem. The other stud loading device 9b is in the form of a tubular magazine with a rectangular cross section, with studs loaded side by side. The studs sequentially supplied from each stud loading device are the corresponding studs by the pressure fluid supplied from the pressure fluid supply source (not shown) through the corresponding stud pressure-feeding pressure fluid inlets 9f and 9g in the escapement 9c. It is sent to the supply pipes 9d and 9e.

In FIG. 2, 10 is a jig center pin, 11 is a center pin pressing plate, and 13 is a jig base for receiving a base material (not shown) to be stud welded.

Further, below the workbench 1, a welding power source 14 for supplying required welding energy to the stud welding gun 6b, and an electric control device 15 for electrically controlling the operation of each part of the device in accordance with a programmed operation command in advance. , And a pressure fluid control device 16 for controlling the pressure fluid supply system of the drive system of each part and the feed system of the stud.

In the operation of the illustrated apparatus thus configured, the mounting plate 5
The stud welder section 6 and the stud mounting section 7 mounted on the stud are moved to the upper position (the position shown in FIGS. 1 and 2) by the drive of the elevating mechanism 4 during the stud mounting operation. Mounting head 7c
Is moved to the lower position of the stud supply terminal 8 by the action of the lateral feed pressure fluid cylinder 7d, receives the stud pushed out from the stud supply terminal 8, and then moves downward by the action of the vertical drive pressure fluid cylinder 7b. And is moved to the lower side of the stud welding gun 6b by the action of the transverse feed pressure fluid cylinder 7d, and again moved upward by the action of the vertical drive pressure fluid cylinder 7b toward the stud welding gun 6b to stud the stud. Attach to the tip of welding gun 6b. In this way, the stud mounting head 7c having completed the stud mounting is returned to the standby position through the path opposite to the previous path by the action of the vertical drive pressure fluid cylinder 7b and the lateral feed pressure fluid cylinder 7d.
Preparation for stud welding. On the other hand, the jig base 13 on which the base material to be stud welded is mounted is moved to a predetermined position below the stud welder section 6 by an appropriate driving device, and then positioned by the jig center pin 10. After that, the stud welder section 6 is lowered to a predetermined position by the elevating mechanism 4, and the stud welding gun 6b is pressed onto the base material by the pressure fluid cylinder 6c, and by the action of the welding power source 14 and the electric control device 15. Welding is done in the normal manner. In this way, one operation cycle is completed, and by repeating this operation, the studs to be welded can be selected and sequentially welded. In this case, the stud welding gun
6b is configured to securely hold and weld studs of different sizes or studs of different shapes as described above, so the chuck of the welding gun must be replaced every time the stud size or shape changes. The sequence of operations can be performed completely automatically.

In the illustrated embodiment, two or more types or one type of studs may be designed to be welded.

[Advantages of the Invention] As described above, in the automatically operated stud welding apparatus according to the present invention, the stud welding gun of the stud welder is made movable, for example, between the upper preparation position and the lower welding position. , When the stud welding gun is in the ready position, select the required studs that are supplied from the stud supply part in order for the stud mounting part to move to the stud mounting position for the stud welding gun and mount the stud on the tip of the stud welding gun. The stud welder section and stud mounting section operations are simplified, the alignment is easy, and the frequency of errors such as misalignment can be greatly reduced. Can be greatly shortened and high welding work efficiency can be obtained.
As a result, good welding can be performed, and fully automatic operation of the apparatus is possible, which can significantly improve the quality of welding work and efficiency.

[Brief description of drawings]

FIG. 1 is a front view schematically showing the structure of an automatically operated stud welding apparatus embodying the present invention, FIG. 2 is a schematic side view of the apparatus of FIG. 1, and FIG. 3 is the apparatus of FIG. 2 is a schematic plan view of FIG. In the figure, 1: Workbench, 2: Support, 3: Support arm, 4: Lifting mechanism,
5: Mounting plate, 6: Stud welder section, 7: Stud mounting section, 8:
Stud supply terminal, 9: Stud supply part, 10: Center pin for jig, 11: Center pin retainer plate, 13: Jig stand, 14: Welding power supply, 15: Electric control device, 16: Pressure fluid control device.

Claims (1)

[Claims] 1. A stud welding machine section having a stud welding gun movably supported between a welding position and a preparation position and capable of mounting studs having different sizes and shapes, and the stud welding machine. When the stud welding gun of the section is in the above-mentioned preparation position, it is movably supported so that it can be accessed with respect to the stud welding gun, and it is possible to supply studs of different sizes and shapes. An automatically operated stud welding device, comprising: a stud mounting portion for selectively receiving studs to be welded in sequence and mounting the stud on the tip of the welding gun.