JPS5976674A - Welding torch rotating device of welding robot - Google Patents

Abstract

PURPOSE:To obtain a titled device that enables easy welding of plural welding places of different direction by attaching a supporting body that supports a welding torch to the arm of a welding robot allowing free rotation and stopping it after detecting the angle of rotation. CONSTITUTION:A rotating body 14 is attached rotatably around the center axis 12' of a wrist 12 attached to the arm 11 of a welding robot allowing free rotation through a supporting axis 13. A supporting body 18 that holds a welding torch 19 through a curved holding body 19' is provided allowing rotating of about 180 deg. by driving of a motor 15 attached to the right of the rotating body 14 through a connecting body 16. Rotation of the supporting body 18 is stopped by stopping the motor 15 by stopping signal detected by contact of the connecting body 16 and the first and second limit switches 17, 17', and the tip of the torch 19 is placed as specified position of welding. The arm 11, wrist 12, rotating body 14, torch 19 etc. are controlled basing on a program.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is described in detail below.
The present invention relates to a welding torch rotation device for a welding robot that rotates a welding process 1.--, and aims to improve the usability of the robot.

Generally, as shown in FIG. 1 and FIG.
formed by the Nohi color plate (3)
One weld part (4) of the ζ lap joint and color play 1
・(3) One welded part (4) formed by a stiffener (5) perpendicular to the outer collar plate (3) and the other welded part (6) of a fillet joint with a different surface orientation. When welding objects to be welded by one welding robot, a support (7) fixedly attached to the arm (not shown) of the robot is placed at the position shown by the solid line in Fig. The torch axis of the welding torch (8) supported by the body (7) via the curved holder (7)' is aligned with the predetermined base line (9) for one welding part (4), and the welding is started. The arm and torch (8) are moved in parallel along the weld line of section (4) to weld the weld section (4).

At the same time, after welding one welding part (4), welding the other welding part +
When welding (i), the support body (7) is arranged at the position shown by the dashed-dotted line in Fig. 2, and the torch shaft at the tip of the 1. ) with respect to a predetermined reference line tH
), move the MiJ arm and torch (8) along the welding line of the welding part (6) in a -do direction, and
6) Weld.

At this time, after welding one welding part (4), when moving on to welding the other welding part (6), as shown in Figure 2, said arm at approximately 90°
Conventionally, welding robots have the function of rotating the arm approximately 90 degrees as described above. Since the above-mentioned functions have to be added, the melting process becomes complicated, the cost becomes high, and the size becomes large and impractical.

This invention was made with the above points in mind,
A support body rotatably supporting the welding part 1--chi, which is rotatably attached to the arm of the robot, a drive unit that rotates the support body, and a rotation angle of the support body that is detected to detect the rotation angle of the support body. The present invention provides a welding torch turning device for a welding robot, characterized in that it is equipped with a detecting section for stopping the rotation of the welding robot.

Therefore, according to the m1 torch rotation device of the welding robot of the present invention, the drive section rotates the support, the detection section detects the rotation angle of the support, and the rotation of the support is stopped. By placing the welding torch at a predetermined position, multiple welds in different directions can be welded together.
Can be more easily welded by the welding robot on the stand,
The usability of the robot can be improved.

First, one example will be explained with reference to Figure 3.

In the figure, (11) is an arm of a welding robot (not shown) whose operation is controlled by a control unit consisting of a computer, and (12 is a support shaft (1) attached to the right end of the arm (11)). The wrist of the robot is rotatably mounted around the support shaft (1), (14) is a rotating body rotatably mounted around the wrist (1 central axis (11) on the right side of the wrist (14) , (1:1 is a motor which is a driving part attached to the center of the right side of the rotating body (14), and is fixed to the rotating shaft of jl (l is motor QF at one end) and rotates about 180 degrees around the rotating shaft.゜Rotating connecting body, surface, 0tsu is a connecting body (1st. 2 limit switch, (the problem is a support that supports a curved holder (14) that is fixed to the other end of the connection body (I [9) and holds a welding torch (19); lfil and support 118) are rotated by a predetermined angle, the operation of the motor (li is stopped by the detection signal from each limit switch (17), a%, and the tip of the torch (HJ) is positioned at each predetermined position 11'1. (talent)
i do

When welding two welding parts in different directions as shown in FIG. 2, the operation mode of the robot for both the welding parts is set to the first mode. In the second mode, a plurality of calculation data for determining the torch axis position (119) of the torch in both modes is input in advance to the control unit of the robot, and based on the data, the control unit calculates the Movement of the arm (11) in both modes 1119 Wrist (
t′lJ, rotating body (rotation angle of 170 and l・-chi(
Control data such as the position of one torch axis is stored in the control section, and based on the stored control data of the first mode, the arm (11) and the hand M' (121+
While the rotating bodies (14) are respectively moved and rotated, the motors (targets are actuated to support body 08) and 1.-
When the torch (1) is rotated, the coupling body (1e) comes into contact with the first limit switch α and a detection signal is output from the switch Q, and the detection signal stops the operation of the motor (α) and the torch (11 is arranged at a predetermined position relative to one of the welding parts, as shown by the solid line in FIG. 3, for example, so that the posture of the torch (1!ll) is maintained,
Welding of the one welding portion is performed.

Next, after welding the one welding part, the arm mouth 1) and 9 wrists (129 soft rotations 14) are moved and rotated based on the control data of the second mode stored by the control unit. At the same time, the motor is activated and the support and torch (19) are rotated in the opposite direction to the above, and when the connection body is in contact with the second limit switch, a detection signal is output from the switch 0Δ. is output, and in response to the detection signal, the operation of the motor (plow) is stopped, and one torch is placed at a predetermined position relative to the other welding part, as shown by the dashed line in FIG. The posture of the torch 09 is maintained, and the other welding portion is welded.

According to the embodiment described in niI, the support body (18) is rotated by the motor (IG), and the rotation angle of the support body (18) is detected by the "flf" limit switch (171, (+d)) and the support body (18) is supported. By placing the torch 01 at a predetermined position iI'e, welding parts with different orientations can be welded by one welding robot. , it can be easily welded, and the usability of the robot can be improved.

Next, another embodiment will be explained with reference to FIG.

In the figure, the same symbols as in Figure 3 indicate the same thing or the thing with 11 height I#-, and the central shaft is rotatably attached to the right end of the arm (11). 11.121) It is a rotating body with one end of which is rotatably rotatable in the direction of the arrow in Figure 4(a) on its two sides, and a motor ( , consisting of a small-diameter first sprocket blade that is attached to the rotating shaft of the motor (foundation), and a large-diameter second sprocket (c) that is connected to @1 sprocket (a) via a chain (2). A driving part (c) is disposed inside the case and provided at the curved end of the rotating body,
As shown in (in the same figure), the second sprocket (support body 08 at 4) is installed through it, and the second sprocket (a)
A detection unit (not shown) that detects the rotation angle of the object is thrown.゛When welding two different welding parts as in the case of Fig. 3, the rotating body I2D (in the wrist) is rotated by a predetermined angle, and the support body 08) is rotated by a predetermined angle by the drive unit (a). For example, when the torch (II) is rotated, the torch shaft of
Welding is performed by disposing it at a predetermined position relative to the fixed welding part, as shown by the solid line or the dashed-dotted line in t) in the figure.

Therefore, according to Example 1, the support tm can be disposed on the central axis of the arm fill, and the support 1
8) The rotation space can be reduced.

In both of the above embodiments, a case has been described in which two circumferential welded parts are welded in different directions, but it goes without saying that the present invention can also be applied to a case in which three or more welded parts are welded in two different directions.

[Brief explanation of drawings]

Figures 1 and 2 show the conventional welding robot's welding process.
- Figure 1 is a perspective view of the welding part, (P
Figure 2 is a plan view during welding, Figure 3 and the following drawings show an embodiment of the welding torch rotation device of the welding robot of the present invention, Figure 3 is a plan view of one embodiment, and Figure 4 (FL) is The plan view of the example of the song (in the same figure) is a cutaway right side view of a part of the same figure (, L). (11)...Arm, (1st grade...Motor, (17)
, a... 1st. 2nd limit switch, (1st...Support, 0th...Welding torch, Irrigation...Driver. Patent attorney Ryuta Fujita)

Claims (1)

[Claims] ■ A support that is rotatably attached to the arm of a welding robot and supports a welding torch, and a rotation of the support. A welding 1-pre-rotation device for a welding robot, comprising a J1 section and a detection section that detects a rotation angle of the support and stops rotation of the support.