JPS59125282A - Mounting device for spot welding gun in welding robot - Google Patents

Abstract

PURPOSE:To attach and detach easily exchangeably two spot welding guns to and from a welding robot by attaching a bracket to the arm of the welding robot, and providing mount strikers to the two spot welding guns. CONSTITUTION:A bracket 11 is installed to the arm of one welding robot and mount strikers 16 are attached to two spot welding guns 2, 3. The two guns 2, 3 are positioned preliminarily on stands 4, 5, respectively. The bracket 11 at the tip of the arm moves downward an actuator 14 to disengage a lock pin from the striker 16 in the stage of exchanging the gun 3 to the arm of the welding robot attached with the gun 2. The bracket 11 is then horizontally moved and is removed from the striker 16. The removed bracket is turned 180 deg. and is inserted onto the striker 16 of the C-shaped spot welding gun 3, whereby the exchange of the spot welding gun at the tip of the arm of the welding robot is easily accomplished.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a welding robot that is capable of selecting a necessary gun from among a plurality of spot welding guns located at a predetermined position and replacing and attaching it to one robot arm. In particular, the present invention relates to a structure for attaching a gun to a robot arm.

1+11 Welding robots used in automobile assembly processes and the like usually have one spot welding gun per robot.

If the mounting structure for both is not robust, it will affect welding accuracy, so unless there are special circumstances such as maintenance, the spot welding gun is rarely removed from the rerobot, and for this reason, the installation of both Generally, the structure is not such that it can be actively attached and detached. However, for example, in a mixed production line, which is one of the vehicle assembly formats mentioned above, multiple car models with different specifications, models, etc. are assembled on one common line. It is recognized that the introduction of a single robot that can perform welding by switching between multiple spot welding guns is highly effective in terms of generalization.

If we aim to make the spot welding gun more versatile by proactively attaching and detaching it as described above, if we assume that all the attachment and detachment operations are performed only by movements on the robot side, the spot welding gun will not work during normal welding. At first glance, seemingly contradictory functions are required, such as being highly durable so that it does not come off, and on the other hand, being able to disintegrate easily and quickly when detached from the robot.

In view of the above points, it is an object of the present invention to provide a spot welding gun mounting device that can satisfy the above requirements.
The explanation will be made according to the example shown in the figure.

That is, in FIG. 1, two spot welding guns 2.3 are used as appropriate for one articulated welding robot 1.
An example of a structure that is detachable and replaceable is illustrated. In the figure, 1 is the aforementioned welding robot, 2 is an X-shaped spot welding gun, 3 is a C-shaped spot welding gun, and 4 and 5 are the standby positions 18 (origin positions) of each spot welding gun, which are arranged side by side. Each spot welding gun 2 and 3
are individually positioned and waiting on stand 4.5. In the drawing, an X-shaped spot welding gun 2 is connected to the tip of the robot arm 6.

Here, both the frames 4 and 5 are the same, so to explain one of them, a face plate 7 is integrally attached to the upper end of the frame 4 as shown in FIG. A hole 8 and a locate hole 9 are formed respectively.

Then, insert the post part 10 and locate pin ll on the spot welding gun 2 side into these support holes 8 and locate holes 9.
' By fitting the spot welding gun 2 in the rotation direction,
The positions in the vertical direction are regulated, and the spot welding gun 2 is positioned based on a certain directionality.

Further, in FIG. 2, reference numeral 11 denotes a bracket attached to the tip of the robot arm 6, and a striker insertion hole 12 with a rectangular cross section extending in a direction perpendicular to the axis of the robot arm 6 is formed in this bracket 11. In addition, a lock pin 13 is provided which is perpendicular to this striker insertion hole 12. This lock bin 13 is moved up and down by the operation of an actuator 14 attached to the lower surface of the platen 11, so that its wedge tip 13a appears and disappears into the striker insertion hole 12. Reference numeral 15 denotes a limit switch attached to the side of the bracket. Has a mount striker 16 (described later) been inserted into the striker insertion hole 12 to a specified position? Confirm detection.

On the other hand, 16 is a mounted striker integrally attached to the base end 17 of the X-shaped spot welding gun 2, and as shown in FIG. A roller 20 whose rotation center is an orthogonal shaft 19 is arranged to form a substantially U-shape. The wedge-shaped sharp portion t3a of the mount striker 13 engages with the roller 2o, and its sloped surface comes into sliding contact with the roller 2o, thereby firmly fixing the mount striker 16 and the cracker 11 by the wedge action. Note that the configuration of this mount striker 16 is exactly the same for the C-shaped spot welding gun 3, so a description thereof will be omitted here. In Fig. 1, 22 is a transformer, 23 is a power supply cable, 24 is a cooling water hose, 2
5 is a switch that detects the presence or absence of the gun 3.

Therefore, in the above configuration, only the X-shaped spot welding gun 2? When performing welding work using the X-shaped spot welding gun 2, the X-shaped spot welding gun 2 moves to the base 4'f!, which is the origin position, by the operation of the robot 1. : After moving away to a predetermined welding point position and performing a predetermined welding, it returns to the pedestal 4 and waits in a state where it is always positioned at a constant position.

Then, unless there is an instruction to attach or detach the gun, the above operation is repeated.

- If there is an instruction to attach or detach the gun, first the lock pin 13 and the mount striker 16 are disengaged by lowering the actuator 14 shown in FIG. At this time,
The X-shaped spot welding gun 2 even has a reed that is positioned on the pedestal 4 without any movement. Then, the robot 1 moves the bracket 11 horizontally based on the pre-stored information, removes it from the mount striker 16, turns it 180 degrees, and replaces it with the C-shaped spot waiting on the pedestal 5 side. Insert into mount striker 1G of welding gun 3. Contrary to the above, the C-shaped spot welding gun 3 is connected to the bracket 11 by moving the lock pin 13 upward and engaging it with the mount striker 16 by operating the actuator 14. With this, the work of switching the X-shaped spot welding gun 2 to the C-shaped spot welding gun 3 is completed.

In this way, by appropriately switching from the gun 2x type to the C type or from the C type to the X type, the welding process can be made more versatile.

As is clear from the above description, according to the present invention, a bracket having a striker insertion hole is attached to the tip of the robot arm, and the wedge-shaped sharp portion slides into the bracket by actuating the actuator to insert the striker. While a lock bin that retracts from the hole is provided, a mount striker 2 that is approximately mouth-shaped and includes a roller is integrally provided at the base end of the spot welding gun, and the mount striker retains the lock bin's wedge-shaped tip. By combining the spot welding gun with the robot arm, the spot welding gun can be attached to the robot arm in a detachable manner.It not only greatly contributes to the versatility of welding work using the spot welding gun, but also makes it possible to quickly attach and detach the gun. At the same time, the structure has a large mounting strength, and
It has the advantage of reducing the number of parts and improving reliability by one notch.

[Brief explanation of the drawing]

FIG. 1 is an overall explanatory diagram of a welding robot including the present invention, FIG. 2 is a sectional view of the hair portion of FIG. 031, and FIG. 3 is a floor plan view of the mount striker in FIG. DESCRIPTION OF SYMBOLS 1... Welding robot, 2... X-type spot welding gun, 3... C-type spot welding gun, 6... Robot arm, IJ,... bracket, 12... Striker insertion hole, l : 3...Rottubin, 13a...Wedge-shaped leading part, 14...Actuator, 16...Mount strike procedure amendment (voluntary) 1981 I11 No+17 11 1988 December
Patent filed on April 28th - 3. Relationship with the person making the amendment Applicant 4, Agent 104 Higashi; 1-29'r1 Akashi-cho, Chuo-ku, Tokyo > Request Hill Specification and drawings 6 , content of correction

Claims (1)

[Claims] (1) A welding robot that can select all necessary spot welding guns from at least two spot welding guns that are kept on standby at a predetermined position and perform all the attachment/detachment operations, and attach the spot welding guns to the robot. The device includes several brackets each having a striker insertion hole attached to the tip of a robot arm, and a blade of the robot arm that slides in a direction orthogonal to the striker insertion hole by actuation of a predetermined actuator. A locking pin is provided with a ridge-shaped pointed portion that protrudes and retracts into the striker insertion hole, and a substantially U-shaped metal mount striker is provided integrally at the base end of the spot welding gun, and the mount is inserted into the striker insertion hole. A mounting device for a spot welding gun in a welding robot, characterized in that the spot welding gun is removably mounted on a robot arm by engaging a wedge-shaped sharp portion of a lock bin with a nutrika.