JPH11347730A - Welding method with industrial robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To realize welding of glass with an industrial robot. SOLUTION: A welding burner 5 is attached to one robot main body 1 of industrial robots, and a glass bar feeding device 7 is attached to another robot main body 3. The robot main body 1 is transferred on a weld spot which is taught to the industrial robot in a state that a glass material 7 being an object to be welded is fixed to a working bench via a jig or the like, a glass bar is molten with the welding burner 5 while transferring the glass bar in the linear direction with the glass bar feeding device 7, and the glass material 7 is welded with the molten glass bar.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding apparatus and a welding method for welding a plurality of industrial robots using a welding burner.

[0002]

2. Description of the Related Art Generally, welding using a burner requires
2. Description of the Related Art There is an operation of welding by holding a welding material in a right hand and a welding burner in a left hand. In this manual welding method, a welding rod of the same material as that of an object to be welded, which is cut into an appropriate length and has an external shape of a certain dimension, for example, a glass rod is held by the right hand during glass welding. Further, a welding burner is held with the left hand, and the welding material and the workpiece are welded while being heated and melted by the welding burner. By melting the welding material according to the distance to move the welding burner in the welding direction, and by sequentially feeding the welding material required for welding with the right hand,
Welding is realized.

[0003]

In the above-mentioned conventional method, a supply of a welding material necessary for welding an object to be welded is manually sent. Therefore, the welding material feeding speed is not constant, but is intermittent due to hand movements, so that the amount of welding cannot be uniform. In particular, the feed rate of the welding material and the moving speed of the welding burner vary depending on the thickness of the workpiece and the outer diameter of the welding material. Is bulging or missing.

When the thickness of the workpiece and the outer diameter of the welding material are different, it is necessary to change conditions such as the feed speed of the welding burner. In this case, it is very difficult to manually change conditions such as the distance between the flame of the welding burner and the work to be welded and to accurately move the welding burner at a constant speed while keeping the distance constant. Such a change in welding conditions causes a problem that the quality of the welded portion varies.

Accordingly, an object of the present invention is to move the welding burner at a constant speed while keeping the distance between the welding burner and the work to be welded constant, and to move the welding material at a constant speed in synchronization with the moving speed of the welding burner. To supply with.

Another object of the present invention is to improve welding quality by synchronizing the supply of a welding material with a welding burner with respect to a welding start point and a welding end point.

Further, the welding burner and the linear travel device are held by separate industrial robots and moved while individually controlling them, and the movement of the welding burner and the linear travel device are operated in synchronization with each other. Therefore, it is possible to flexibly respond to changes in welding conditions. It is another object of the present invention to significantly improve the welding quality at a welding start point and a welding end point, which tend to cause unstable work, by separately controlling the movement of the welding burner and the movement of the linear travel device. .

[0008]

In order to achieve the above object, a first invention of the present invention comprises at least two industrial robots, and one of the industrial robots is provided with a welding burner on an arm and a welding material. Is provided on the arm of the other industrial robot on the arm of the other industrial robot.

According to a second aspect of the present invention, at least two industrial robots are provided, a welding burner is provided on an arm of one of the industrial robots, and a feeding device for supplying a welding material to a welding point is provided on the other industrial robot. An industrial robot welding device provided on an arm for communicating between control devices of each industrial robot.

According to a third aspect of the present invention, there is provided the welding device for an industrial robot according to the first or second aspect, wherein a linear traveling device for feeding a welding material proportional to the rotation speed of the motor is used as the feeding device.

According to a fourth aspect of the present invention, there is provided an industrial robot welding apparatus according to any one of claims 1 to 3, wherein glass or resin is used as a welding material.

According to a fifth aspect of the present invention, there is provided at least two industrial robots in which a welding burner is provided on an arm of one of the industrial robots and a feeding device for supplying a welding material to a welding point is provided on the arm of the other industrial robot. A step of using a robot to preheat a welding portion at the start of welding or restarting welding, a step of supplying a welding material to the welding portion, a step of moving the arm of each industrial robot along a welding line, and the moving speed Is a method for welding an industrial robot having a step of controlling an amount of a welding material supplied from a supply device according to the above.

According to a sixth aspect of the present invention, there is provided at least two industrial robots in which a welding burner is provided on an arm of one of the industrial robots and a feeder for supplying a welding material to a welding point is provided on the arm of the other industrial robot. Using a robot to stop the movement of one industrial robot arm at the start of welding or restart welding to preheat the welded part, and to stop the movement of the other industrial robot arm and stop welding material at the welded part. And a step of moving the arm of each industrial robot along a welding line, and a step of supplying a welding material in an amount corresponding to the moving speed from a feeding device. is there.

According to a seventh aspect of the present invention, there is provided at least two industrial robots in which a welding burner is provided on an arm of one of the industrial robots and a feeding device for supplying a welding material to a welding point is provided on the arm of the other industrial robot. Using a robot, a step of preheating the welded portion at the start of welding or resuming welding, and supplying a welding material to the welded portion during or after preheating, and then stopping the arm of one of the industrial robots for a predetermined time or A step of moving only the arm of the other industrial robot by a predetermined distance, a step of moving the arm of each industrial robot along the welding line, and supplying a quantity of welding material corresponding to the moving speed from the feeding device. This is a method for welding an industrial robot having a step of performing the following.

According to an eighth aspect of the present invention, there is provided at least two industrial robots in which a welding burner is provided on an arm of one of the industrial robots and a feeder for supplying a welding material to a welding point is provided on the arm of the other industrial robot. Using a robot, pre-heating the welded portion at the start of welding or restarting welding, supplying the welding material to the welded portion during or after preheating, stopping one of the industrial robot arms, and further supplying the welding material. In the stopped state, a step of moving only the arm of the other industrial robot for a predetermined time or a predetermined distance, a step of moving the arm of each industrial robot along the welding line, and an amount corresponding to the moving speed. An industrial robot welding method including a step of supplying a welding material from a feeding device.

According to a ninth aspect of the present invention, there is provided the method for welding an industrial robot according to any one of claims 5 to 8, wherein a linear traveling device for feeding a welding material in proportion to the rotation speed of the motor is used as the feeding device. is there.

A tenth invention is the method for welding an industrial robot according to any one of claims 5 to 9, wherein the arm of each industrial robot is moved synchronously when moving along the welding line. .

An eleventh invention is the method for welding an industrial robot according to any one of claims 5 to 10, wherein glass or resin is used as a welding material.

[0019]

DESCRIPTION OF THE PREFERRED EMBODIMENTS According to the present invention, a welding material necessary for welding is supplied to the wrist of another robot body in synchronization with the moving speed of a welding burner held at the tip of the wrist of one robot body. With the linear travel device held at the tip,
Since a constant amount of welding material can be continuously supplied to the welding line, welding quality can be dramatically improved.

Further, according to the method of the present invention, the welding line of the material to be welded is preheated by the flame of the welding burner at the start of welding, and the welding material of the linear traveling device is melted in a state where the material to be welded is molten. By pressing against the welded portion of the material to be welded, the welding of the welding material at the starting point is stabilized, so that it is possible to prevent the occurrence of unfused portions and wavy fusion which are problems in welding quality.

(Embodiments) Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic diagram of an embodiment of the present invention. A welding burner 5 is attached to the tip of the wrist of one robot body (A) 1. At the tip of the wrist of the other robot body (B) 3, a linear traveling device 6 for feeding a glass material to a welding point in the case of glass welding is attached. The straight traveling device 6 will be described below. FIG. 2 is a detailed view of the linear traveling device. The linear traveling device 6 includes a traveling platform 34 that freely moves in a linear direction parallel to a linear track 32 fixed to a bracket 38 and a welding material fixed to the traveling platform 34. There is a holder 36 and a ball screw nut 39. The ball screw nut 39 moves forward and backward in a linear direction in accordance with the rotation direction of the normal rotation and the reverse rotation as the ball screw 33 connected to the rotation shaft of the servomotor 31 rotates.
The welding material 35 attached to the welding material holder 36 is held by a welding material guide 37 that restricts up, down, left and right movements on the other end side, and that has reduced friction only in the movement in the linear direction. Accordingly, the rotation of the servomotor 31 rotates the ball screw 33, and the traveling table 32 to which the ball screw nut 39 is fixed moves in the forward and reverse directions in proportion to the rotation. In accordance with the movement, the welding material 35 fixed to the traveling stand 32 by the welding material holder 36 moves in the front and rear linear directions.

The robot bodies (A) 1 and (B) 3 are connected to robot controllers (A) 2 and (B) 4, respectively. The linear travel device 6 is connected to the linear travel control device 8 and the robot control device 4 using a feed control cable 13. The welding gas is supplied to the welding burner 5 from the collecting pipe 14 via the gas control device 9 and the gas solenoid valve 10 using the gas pipe 11. The material 7 to be welded is fixed to a work table 17 using a fixing jig 16.

FIG. 3 is a view showing how the apparatus is mounted on the robot body according to an embodiment of the present invention. The welding burner 5 is fixed to the tip of the wrist of one robot body (A) 1 by using a mounting jig 21. The intersection of the flame axis of the welding burner 5 and the control axis of the robot body (A) 1 is made to coincide with the control point P1 of the robot body (A) 1. Further, the linear traveling device 6 described in the above-mentioned conventional example is fixed to the tip of the wrist of another robot body (B) 3 by using a mounting jig 22. The intersection of the axis of the welding material 35 held by the linear travel device 6 and the control axis of the robot body (B) 3 is made to coincide with the control point P2 of the robot body (B) 3.

The operation of the glass welding robot configured as described above will be described below. First, the teach pendant 1 of the robot controllers (A) 2 and (B) 3
The control path P1 of the welding burner 5 with the points a to c required to be welded with the material 7 to be welded, that is, points a to c as shown in FIG. Is taught as Similarly, the control point P2 of the linear traveling device 6 attached to the robot body (B) 3 is taught as an operation path. Next, while the welding burner 5 is ignited, the programs taught to the robot controllers (A) 2 and (B) 4 are executed, and the robot bodies (A) 1 and (B) 3 are operated in synchronization. When the control point P1 of the welding burner 5 reaches the point a, as shown in an explanatory diagram of the speed synchronization according to the embodiment of the present invention in FIG. 4, the robot controller (A) 2 changes the robot controller (B) 4. , The linear travel control device 6 transmits a forward speed command from point a to point b. At this time, the robot body (A) 1
Is stopped for a predetermined time, so that the workpiece 7 is preheated by the welding burner 5 held by the robot body (A) 1. Thereafter, when the movement of the robot body (B) 3 starts, the control point P2 of the linear travel device 6 held by the robot body (B) 3 reaches the teaching point a. Immediately after the arrival, the robot body (A) 1, (B) 3 is stopped for a predetermined time, and the glass rod 35 of the linear traveling device 6 is moved in the feeding direction, so that the welded material preheated and melted. Glass rod 3 on welding line 7
5 is pressed to fuse. After the fusion, the robot bodies (A) 1 and (B) 3 start moving synchronously,
By starting the feeding of the linear traveling device 6, the linear traveling control device 8 is configured to continuously supply the glass rod 35 proportional to the moving speed of the robot body (B) 3 from the fusion position.
, The speed of the glass rod is constantly controlled in synchronization with the movement of the robot bodies (A) 1 and (B) 3, that is, the moving speed of the linear travel device 6.

Further, the robot body (B) 3 is in a state where the robot body (A) 1 is stopped after the fusion operation by pressing the glass rod 35 against the welding line at the teaching point a, as shown in FIG. Sends a command to stop the glass rod 35 from the robot controller (B) 3 to the linear travel controller 8 to move the robot body (B) 3 while the robot body (A) 1 is stopped for a certain period of time. Thus, at the welding start point, the glass rod 35 is pressed against the welding line to avoid the molten lump of the fused glass rod, thereby preventing the swelling and meandering of the welding line width due to the residual molten lump at the welding start point. By doing so, stable construction conditions can be achieved. Further, by moving to the teaching point c while synchronizing the feed of the robot bodies (A) 1 and (B) 3 and the linear traveling device 6, a series of glass welding operations is completed.

Although the embodiment has described the welding apparatus and the welding method of glass welding, the welding apparatus and the welding method of the present invention can be applied to a material having a high viscosity at the time of melting, such as a resin material, as a welding material. Can be applied.

[0028]

As described above, according to the present invention, welding in welding can be performed by two or more robots, and the welding material can be uniformly and accurately welded along the welding line where the robot moves. Further, as a result of welding, the residual stress inside the workpiece is reduced, and the variation in the amount of welding can be suppressed, so that welding with high welding quality can be realized.

Further, with the robot body holding the welding burner stopped at the processing at the welding start point, the linear traveling device holding the welding material is run and the glass rod is pressed against the glass material preheated by the welding burner. By moving the robot body in a direction to avoid the molten mass, stable welding can be performed near the starting point where the welding conditions are unstable.

By using the welding apparatus and the welding method by the industrial robot having the above effects, high-quality welding can be automated.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a welding device using an industrial robot according to an embodiment of the present invention.

FIG. 2 is a diagram of a straight traveling device according to one embodiment of the present invention;

FIG. 3 is a diagram illustrating an apparatus mounted on a robot body according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram of speed synchronization in one embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Robot main body (A) 2 Robot control unit (A) 3 Robot main unit (B) 4 Robot control unit (B) 5 Welding burner 6 Linear traveling device 7 Workpiece to be welded (glass material) 8 Linear traveling control device 9 Gas control device 35 Welding material (glass rod)

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[Procedure amendment]

[Submission date] April 28, 1999

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction contents]

[Document Name] Statement

[Title of the Invention] Industrial robot welding method

[Claims]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding method for welding a plurality of industrial robots using a welding burner.

[0002]

2. Description of the Related Art Generally, welding using a burner requires
2. Description of the Related Art There is an operation of welding by holding a welding material in a right hand and a welding burner in a left hand. In this manual welding method, a welding rod of the same material as that of an object to be welded, which is cut into an appropriate length and has an external shape of a certain dimension, for example, a glass rod is held by the right hand during glass welding.

Further, a welding burner is held by the left hand, and the welding material and the workpiece are welded while being heated and melted by the welding burner. Then, the welding material is melted according to the distance to move the welding burner in the welding direction, and the welding material necessary for welding is sequentially fed in with the right hand to realize welding.

[0004]

In the above-mentioned conventional method, a supply of a welding material necessary for welding an object to be welded is manually sent. Therefore, the welding material feeding speed is not constant, but is intermittent due to hand movements, so that the amount of welding cannot be uniform.

In particular, the feed speed of the welding material and the moving speed of the welding burner vary depending on the thickness of the workpiece and the outer diameter of the welding material. In such a case, the width of the welded portion is expanded or insufficient.

Further, when the thickness of the workpiece and the outer diameter of the welding material are different, it is necessary to change conditions such as the feed speed of the welding burner. In this case, it is very difficult to manually change conditions such as the distance between the flame of the welding burner and the work to be welded and to accurately move the welding burner at a constant speed while keeping the distance constant.

[0007] When the welding conditions are changed as described above, there arises a problem that the quality of the welded portion varies. Therefore, an object of the present invention is to move the welding burner at a constant speed while keeping the distance between the welding burner and the work to be welded constant, and to supply the welding material at a constant speed in synchronization with the moving speed of the welding burner. It is in.

Another object of the present invention is to improve welding quality by synchronizing the supply of a welding material with a welding burner with respect to a welding start point and a welding end point. Further, it is possible to hold the welding burner and the linear travel device with separate industrial robots and move them while controlling them individually, and to operate the welding burner and the linear travel device in synchronization with each other. By doing so, it is to respond flexibly to changes in welding conditions.

Further, by individually controlling the movement of the welding burner and the movement of the linear traveling device, the quality of welding at the welding start point and the welding end point, which tend to be unstable, can be dramatically improved. The purpose is.

[0010]

In order to achieve the above object, a first aspect of the present invention is to provide an industrial robot having an arm.
A welding burner is provided on the
The feeding device that supplies the contact material to the welding point is connected to the other industrial robot
At least two industrial robots on the arm of the unit
One of the industrial robots at the start of welding or when resuming welding.
Preheating the welded part by stopping the movement of the arm of the unit
And stop moving the arm of the other industrial robot
The process of supplying the welding material to the contact parts and the
The process of moving the arm along the welding line and the speed of movement
Has a process of supplying welding material in an amount corresponding to
This is a method for welding industrial robots .

[0011] The second invention is an invention of one industrial robot.
Welding burner on the arm, made of glass or resin
The feeder that supplies the welding material to the welding point is
At least two industrial robots on the bot arm
Preheat the weld at the start of welding or when welding is restarted.
The welding material during and after preheating.
And then stop one of the industrial robot arms
In the state, the other industrial robot
To move only the arm of the robot and each industrial robot
Moving the arm along the welding line
The process of supplying the welding material in an amount corresponding to the degree from the feeder
It is a welding method for an industrial robot having the same.

A third aspect of the present invention relates to an industrial robot of one type.
Welding burner on the arm, made of glass or resin
The feeder that supplies the welding material to the welding point is
At least two industrial robots on the bot arm
Preheat the weld at the start of welding or when welding is restarted.
The welding material during and after preheating.
And then stop the arm of one industrial robot,
Further, with the supply of welding material stopped,
Moves only the arm of the other industrial robot by a predetermined distance
Process and the arm of each industrial robot along the welding line
And the amount of welding material corresponding to the moving speed
Of an industrial robot having a process of supplying
It is a welding method .

A fourth aspect of the present invention is that a motor is used as a feeding device.
Using a linear traveling device that feeds the welding material in proportion to the rolling speed
The industrial robot according to any one of claims 1 to 3,
It is a contact method .

A fifth invention is an arm of each industrial robot.
Move synchronously when moving along the weld line
Welding of the industrial robot according to any one of claims 1 to 4.
Is the way .

According to an eleventh aspect, glass or glass is used as a welding material.
Is a resin for industrial use according to any one of claims 1 to 4.
This is a robot welding method .

[0016]

According to the method of the present invention, the welding line of the material to be welded is preheated by a flame of a welding burner at the start of welding, and the welding of the linear traveling device is performed in a state where the material to be welded is molten. By pressing the material against the welded part of the material to be welded, the welding of the welding material at the starting point is stabilized, so it is possible to prevent the occurrence of unfused parts and wavy fusion which are problems in welding quality. it can.

(Embodiments) Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram of an apparatus used in an embodiment of the present invention.

A welding burner 5 is attached to the tip of the wrist of one robot body (A) 1. At the tip of the wrist of the other robot body (B) 3, a linear traveling device 6 for feeding a glass material to a welding point in the case of glass welding is attached.

The straight traveling device 6 will be described below. FIG.
FIG. 3 is a detailed view of a linear traveling device. The linear traveling device 6 includes a traveling platform 34 that freely moves in a linear direction parallel to a linear track 32 fixed to a bracket 38 and a welding material holder fixed to the traveling platform 34. 36 and a ball screw nut 39.

The ball screw nut 39 moves forward and backward in a linear direction in accordance with the rotation direction of the normal rotation and the reverse rotation when the ball screw 33 connected to the rotation shaft of the servomotor 31 rotates.

The welding material 35 attached to the welding material holder 36 has a welding material guide 37 which restricts up, down, left and right movements on the other end side and reduces friction only in the linear direction.
Is held by

Accordingly, the rotation of the servomotor 31 rotates the ball screw 33, and the traveling table 32 to which the ball screw nut 39 is fixed moves in the forward and reverse directions in proportion to the rotation. In accordance with the movement, the welding material 35 fixed to the traveling stand 32 by the welding material holder 36 moves in the front and rear linear directions.

The robot bodies (A) 1 and (B) 3 are connected to robot controllers (A) 2 and (B) 4, respectively. The linear travel device 6 is connected to the linear travel control device 8 and the robot control device 4 using a feed control cable 13.

The welding gas is supplied to the welding burner 5 from the collective pipe 14 via the gas control device 9 and the gas solenoid valve 10 using the gas pipe 11. The workpiece 7 is a fixing jig 16
Is fixed to the work table 17 using.

FIG. 3 is a device attached view of the robot body to Ru used in an embodiment of the present invention. The welding burner 5 is fixed to the tip of the wrist of one robot body (A) 1 by using a mounting jig 21.

The intersection of the flame axis of the welding burner 5 and the control axis of the robot body (A) 1 is determined by the robot body (A).
The control point P1 is set to coincide with the control point P1. Further, the linear traveling device 6 described in the above-mentioned conventional example is fixed to the tip of the wrist of another robot body (B) 3 by using a mounting jig 22.

The intersection of the axis of the welding material 35 held by the linear travel device 6 and the control axis of the robot body (B) 3 is made to coincide with the control point P 2 of the robot body (B) 3. The operation of the glass welding robot configured as described above will be described below.

First, the robot controllers (A) 2 and (B)
3 using the teach pendants 16 and 17, control points of the welding burner 5 in which points a to c are required to be welded with the workpiece 7, that is, points a to c are attached to the robot body (A) 1 as shown in FIG. 4. P1 is taught as an operation path.

Similarly, the control point P2 of the linear traveling device 6 attached to the robot body (B) 3 is taught as an operation path. Next, while the welding burner 5 is ignited, the programs taught to the robot controllers (A) 2 and (B) 4 are executed, and the robot bodies (A) 1 and (B) 3 are operated in synchronization.

When the control point P1 of the welding burner 5 reaches the point a, as shown in an explanatory diagram of the speed synchronization in one embodiment of the present invention in FIG. 4, the robot controller (A) 2 switches the robot controller (A). B) Via 4, the linear traveling control device 6 transmits a forward speed command from point a to point b.

At this time, the robot body (A) 1 is stopped for a certain period of time, so that the workpiece 7 is preheated by the welding burner 5 held by the robot body (A) 1. afterwards,
When the movement of the robot body (B) 3 starts, the control point P2 of the linear traveling device 6 held by the robot body (B) 3 reaches the teaching point a.

Immediately after the arrival, the robot bodies (A) 1 and (B) 3 are stopped for a predetermined time,
By moving the glass rod 35 in the feeding direction, the glass rod 35 is pressed against the welding line of the material 7 to be welded which has been preheated and melted, thereby fusing.

After fusion, the robot bodies (A) 1, (B) 3
Starts moving in synchronism and starts feeding the linear traveling device 6 so that the glass rod 35 proportional to the moving speed of the robot body (B) 3 is continuously supplied from the fused position. By transmitting a speed command to the linear travel control device 8, the feed speed of the glass rod is always controlled in synchronization with the movement of the robot bodies (A) 1 and (B) 3, ie, the travel speed of the linear travel device 6. I do.

Further, the robot body (B) 3 is in a state where the robot body (A) 1 is stopped after the fusion operation by pressing the glass rod 35 against the welding line at the teaching point a, as shown in FIG. Sends a command to stop the glass rod 35 from the robot controller (B) 3 to the linear travel controller 8 to move the robot body (B) 3 while the robot body (A) 1 is stopped for a certain period of time. Thus, at the welding start point, the glass rod 35 is pressed against the welding line to avoid the molten lump of the fused glass rod, thereby preventing the swelling and meandering of the welding line width due to the residual molten lump at the welding start point. By doing so, stable construction conditions can be achieved.

The robot body (A) up to the teaching point c
A series of glass welding operations is completed by moving while synchronizing the feed of 1, (B) 3 and the linear travel device 6. In addition, although Example demonstrated the welding apparatus and welding method of glass welding, as a welding material, such as resin material,
The welding apparatus and the welding method of the present invention can be applied to a material having a high viscosity at the time of melting.

[0036]

As described above, according to the present invention, welding in welding can be performed by two or more robots, and the welding material can be uniformly and accurately welded along the welding line where the robot moves.

Further, as a result of welding, the residual stress in the workpiece can be reduced, and the variation in the amount of welding can be suppressed, so that welding with high welding quality can be realized.
In addition, with the robot body holding the welding burner stopped at the processing at the welding start point, the linear traveling device holding the welding material is run and the glass rod is pressed against the glass material preheated by the welding burner and fused. Then, by moving the robot body in a direction to avoid the molten mass, stable welding can be performed near the starting point where the welding conditions are unstable.

By using a welding method by an industrial robot having the above-described effects, high-quality welding can be automated.

[Brief description of the drawings]

Schematic diagram of a welding device according to the industrial robot Ru used in one embodiment of the invention; FIG

[Figure 2] linear travel device diagram Ru used in an embodiment of the present invention

Device installation drawing to the robot body Ru used in an embodiment of the present invention; FIG

FIG. 4 is an explanatory diagram of speed synchronization in one embodiment of the present invention.

[Description of Signs] 1 Robot body (A) 2 Robot controller (A) 3 Robot body (B) 4 Robot controller (B) 5 Welding burner 6 Linear travel device 7 Workpiece to be welded (glass material) 8 Linear travel control Device 9 Gas control device 35 Welding material (glass rod)

Claims (11)

[Claims] At least two industrial robots are provided, a welding burner is provided on an arm of one of the industrial robots, and a feeding device for supplying a welding material to a welding point is provided on an arm of the other industrial robot. Industrial robot welding equipment. 2. An industrial robot comprising at least two industrial robots, a welding burner provided on an arm of one of the industrial robots, and a feeding device for supplying a welding material to a welding point provided on an arm of the other industrial robot. An industrial robot welding device that communicates between the control devices of each industrial robot. 3. The welding device for an industrial robot according to claim 1, wherein a linear traveling device for feeding a welding material in proportion to the rotation speed of the motor is used as the feeding device. 4. The welding device for an industrial robot according to claim 1, wherein glass or resin is used as the welding material. 5. An industrial robot using at least two industrial robots, wherein a welding burner is provided on an arm of one of the industrial robots, and a feeder for supplying a welding material to a welding point is provided on the arm of the other industrial robot. A step of preheating the welding portion at the start of welding or restarting welding, a step of supplying a welding material to the welding portion, a step of moving the arm of each industrial robot along the welding line, and supplying the welding robot according to the moving speed. An industrial robot welding method including a step of controlling an amount of a welding material supplied from an apparatus. 6. At least two industrial robots having a welding burner provided on one arm of an industrial robot and a feeding device for supplying a welding material to a welding point provided on the arm of the other industrial robot, Stopping the movement of one of the industrial robot arms to preheat the welded portion at the start of welding or restarting welding, and stopping the movement of the arm of the other industrial robot and supplying the welding material to the welded portion. And a step of moving an arm of each industrial robot along a welding line, and a step of supplying a welding material in an amount corresponding to the moving speed from a feeder. 7. An industrial robot using at least two industrial robots, wherein a welding burner is provided on an arm of one of the industrial robots, and a feeding device for supplying a welding material to a welding point is provided on the arm of the other industrial robot. A step of preheating the welded portion at the start of welding or restarting welding, and supplying a welding material to the welded portion during or after preheating, and then stopping the arm of one of the industrial robots for a predetermined time or a predetermined distance while the other is stopped. Moving only the arm of the industrial robot, moving the arm of each industrial robot along the welding line, and supplying the welding material in an amount corresponding to the moving speed from the feeding device. Industrial robot welding method. 8. At least two industrial robots having a welding burner provided on one arm of an industrial robot and a feeder for supplying a welding material to a welding point provided on the arm of the other industrial robot; A step of preheating the welded portion at the start of welding or resuming welding, and after supplying the welding material to the welded portion during or after the preheating, stopping the arm of one industrial robot and further stopping the supply of the welding material. ,
A step of moving only the arm of the other industrial robot for a predetermined time or a predetermined distance, a step of moving the arm of each industrial robot along the welding line, and feeding an amount of welding material corresponding to the moving speed. An industrial robot welding method including a step of supplying from an apparatus. 9. A linear travel device for feeding a welding material proportional to the rotation speed of a motor as a feeding device.
8. The method for welding an industrial robot according to any one of 8 above. 10. The robot according to claim 5, wherein the arm of each industrial robot is synchronously moved when moving along the welding line.
10. The welding method for an industrial robot according to any one of 9 above. 11. The method for welding an industrial robot according to claim 5, wherein glass or resin is used as a welding material.