JPS60180682A - Articulate energizing device - Google Patents

Abstract

PURPOSE:To make effective power supply free from intrusion of foreign matters in an articulate energizing device of a resistance welding machine, by turning a pair of positive and negative power receiving boards and a pair of positive and negative contactors with a shaft rod responding to rotation of a robot arm and making sliding power supply between the contactors and the pair of positive and negative power supply boards. CONSTITUTION:Sealed chambers having built-in springs 24, 26 and contactors 22, 23 etc. are formed of a pair of positive and negative power receiving boards 17, 18 that turn with a shaft rod 14 and corresponding pair of positive and negative power supply boards 15, 16. In each sealed chamber, the contactor 22 is thrusted against inner face of the sleeve 18a of the power receiving board 18 and a vertical face of the power supply board 16 by a spring 24. The contactor 23 is thrusted against inner diameter of the power receiving board 17 and vertical face of the power supply board 15 by a spring 26. Sliding power supply is made between contactors 22, 23 and power supply boards 16, 15. By this constitution, effective sliding power supply can be made in the sealed chambers, power consumption can be saved and the device can be made light and small.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a welding current supply device for a resistance welding machine. For example, when performing continuous welding work by freely controlling the spot welding force/force using the spatial movement of the arm of an industrial robot, the inertia of the secondary cable connecting the welding can and welding transformer is directly In order to avoid hindrance to the movement of the welding gun, the welding gun is attached to the tip of the robot arm via an articulated energizing device (tt).

Hitherto, the following h books have been published to name some typical electrical equipment for this building. (referred to as Person A) C. A pair of positive and negative power supply plates called contact segments are fixed between the welding transformer and the spot welding gun, and the other contact segment is movable in the axial direction as a power receiving plate, and is capable of receiving power. The plate is pressed from the inside by a spring or the like, and an actuating device moves the power receiving plate from the inside to the outside to receive the power receiving plate, and brings the power feeding plate into close contact with the power receiving plate to form an energizing circuit.

(2) Utility Model Publication No. 52-56857 The invention described in this publication (hereinafter referred to as "H person") is
A pair of positive and negative power receiving plates is fixedly fixed on the 84i11+ that supports the welding can tray, a pair of positive and negative power feeding plates is inserted between the power receiving plates, a pressure chamber is provided in the middle of this power feeding plate, and the pressure chamber is The pressure fluid is used to press the supply plate against the outer power receiving plate, and at the same time, the pressurized fluid is used to clean the mutual contact surfaces of the receiving and power supply plates.

(8) Publication of Utility Model Publication No. 52-189980 The invention shown here (hereinafter referred to as "0"): , Sl supporting the welding gun
141+, a pair of V power supply plates with a catch and an insulating plate are inserted into the valves and a pair of positive and negative power receiving plates 7, and these pairs of receivers and power supply plates are connected to a cylinder that interlocks with a pressurizing cylinder as follows. A current-carrying circuit is formed only when the welding can is pressurized.

All of the conventional welding guns mentioned above are manufactured by Sangyo Kawaguchi Hot welding guns! It was proposed as the N1 Tosouyo (which had a functional awn).

However, in the case of A mentioned above, unitization of the trace'-7 device and its 9. Is it possible to say that it is excellent in terms of ease of operation, etc.?I dare to think of it as a weakness, but the same can be said for the later D-Sho and O-Shi, or the cylinder mechanism. The idea is to provide a play distance between the power receiving plate and the power feeding plate, since it is not necessary to move the power receiving plate or the L power feeding plate in the axial direction so that the contact superconductor metal between the phase forces comes into close contact with each other. It is easy for small foreign objects such as dust to get in between, and countermeasures become a problem.

In addition, for the conductor connected to the receiver and power supply plate, it is not possible to restrict the use of a copper plate that is flexible enough to follow the relative movement of the receiver and power supply plate, which affects the cost. The influence is strong.

On the other hand, in the case of the fcH type mentioned above, the air in the pressure chamber is slid and ejected onto the power supply surface to prevent foreign matter from entering.
I)? This is not the preferred method, and for example, the compressed air sent from a compressor may contain fine dust, dirt, moisture, etc., so it is always necessary to keep the contact surfaces clean. It is not effective for holding.

It's a trench, it's pressure, and since the power supply board is moved by 6 units, like the former, one flexible copper plate will be used, so further improvements will be made to eliminate these pressure points. There were 11 rooms left.

On the other hand, in the case of reducing the surface of the welding gun first, a de-energized circuit is formed when the welding gun is pressurized, and other than that, the contact surfaces are left free, so there is no possibility of foreign matter V
Consideration and acceptance of countermeasures to prevent intrusion.

There is an inconvenience that only flexible materials can be used for the conductor connected to the power supply plate.As mentioned above, the conventional side vortex It's probably sliding.

Attempts to effectively protect the power supply surface have not been made for use in the East.
not present. 'In the case of the 1st order conventional method, Wandering! Soil, relatively rl>
Since the frosting is carried out not only on one wide planar surface but also in contact with the entire surface, it has been difficult to design a lighter, heavier and more compact design.

According to the present invention, instead of moving the receiving and feeding plates to each other and press-contacting them as in the conventional method, there is no gap formed in the contact feeding part, so there is no need to take precautions to prevent foreign matter from entering. , it may be a welding gun (1) TIJI QC is completely unrelated to the connection of the conductor to the receiver 9 set t & 7 It is like a flexible copper plate ^
Unlike expensive materials, it is possible to freely replace them with materials that are rigid and bendable, and with the addition of the ability to switch from planar contact power supply to local contact power supply, it is even lighter and more flexible. It can be manufactured compactly and contributes to energy saving and power ratio.

Hereinafter, the embodiments of the present invention will be explained based on the drawings. A wooden device ``I'' is attached to the B-axis and B-axis of the robot arm to enable vertical vibration and rotational movement of the welding gun.

The robot body (1) can be of any type, including a joint arm type and a polar coordinate type. Welding can (2)
) is fixed to the B-axis power supply device at the tip of arm (3).
ζ Kanfra h-tsu) Two gun arms (5) on t4+
(6) are rotatably supported by a common axis, and one can arm t5JilSl: the main body of the pressurizing cylinder (7) has a stiffening reinforcement 715, and the tip of the can arm t5) (61 has a A welding cable (11), which is provided by an electrode tinov (81 (9)), is connected from a bath-connecting transformer (not shown) to a BIIIll!-reference mount (10). B-axis and B-axis receiving equipment storage (10)
(12) and the welding gun (2) are connected via a pair of positive and negative contact conductors (18...)'2, respectively.

Fig. 2 shows the most preferred concrete example of this Komyo loading system. The cover (12) is shown, and the internal structure of the sled is fully exposed through a half cross-sectional view. mu, 9 (+4
) is made in the shape of a single character, and its receiving plate (14a) is firmly attached to the arm side of the robot by screwing in the ZELTO (61> teeth).A pair of positive and negative conductor tabs is attached to this shaft rod ) (16) is inserted through an insulating plate (19...). One of the two power supply plates (16) U can rotate while being electrically insulated from the outer surface of the shaft. As shown, the insulating bush (20) is inserted between the shaft rod and the shaft rod (14). In addition, the sleeve (18a) of the power receiving plate (18) has an inner diameter mount large enough to form a gap (e+) at an appropriate distance from the outer diameter of the shaft for transmission.
It is inserted through an insulating bushing (21) so that it can rotate while being electrically insulated from the outer surface of the bushing.

In addition, a pair of positive and negative conductors, that is, a power receiving plate (17) (18)
are inserted into the shaft rod (14) with insulating plates (19...) placed over each other. One of the two power receiving plates 118) is inserted into the shaft hole of one power feeding plate (15), and has a sleeve (l5a) facing the other power feeding plate (16). The other power receiving plate (17) is formed with a shaft hole having an inner diameter V which is large enough to form a gap (e2) at an appropriate distance from the outer diameter of the sleeve 1. The receiving box and plate (18) having the sleeve (18a) have a plurality of spring insertion holes (18b...) radially extending from the center of the shaft hole around the warp shaft hole.
is formed.

Between the above-mentioned sleeve (1Sa) and shaft 8 (14), there is a gap (e) at an appropriate distance as pointed out earlier in VC and a gap (e and upper). bC spring insertion hole (
4sb) has two holts (depending on the chestnut, Uke 14i, Plate (18) Xon Ru By moving +J, - C is sealed. A ring-shaped contactor (28) passed through the sleeve (1&L) is inserted into a sealed chamber between the sleeve (18a) and the other power receiving plate (17). These contactors are made of a sintered conductive material, which is divided into a plurality of parts and assembled into a ring shape, and one contactor (22) tj: a suffle ring C24 inserted so as to surround the shaft shaft. ) of the power receiving plate (18) in correspondence with the pressure ring (25) pressed by the
) and the vertical surface of the power supply plate (16). "1fC The other contactor (28) is
The pressure ring (2) is pressed by a plurality of spring rings (26) inserted into the spring insertion holes (18b) of
7) Corresponding to J, adjust the inner diameter (t) of the 9 electric plate (17) and the feed plate (
15). and each contactor <22) (28) and each supply plate (15) (1
Sliding power supply is performed between 6).

Each contactor (22) (28) and 1 pressure ring (25)
The engaging surface of (27) is tapered, and the two-way edge contact power supply surface VC of the contactor has a uniform pressing force of 1°.

In this embodiment, Suzuring (24), (26) and the like are used as the contactor suppressing means, but the present invention is not limited to this.

Various modifications are possible. For example, FIG. 6 shows another embodiment of the invention, in which the cylinder casing (28) if used 1. If the pressing force of the spring (24) can be controlled by a piston (29) that can move in the axial direction on the outer surface of the shaft 8 (14), even if the pressure cylinder (7) of the Fi bath wetting can (2) Pressurized iJ+1 city by immobilizing the motive fluid of histone (29) during the operation of tk! It is also possible to supply contact power with a reliable contact state only for I”. (80) (8)
1), (82) and (88) are A8' rule with positive and negative markings, board (
15) (16) and the corresponding power receiving plates (17) (1
8) is a pair of stationary conductors for connecting between the bath welding can (2) and the bath welding transformer, and there is no problem even with rigid tatami electric materials.

The spot welding gun is attached to the power receiving plate (18) as shown in Fig. 2 with a can bracket (41'?
8) will be taken by 1''.

With the above configuration, the action 1'V of υ unexploded J becomes clear.

Spot welding can t21r: L, robot arm (8)
3I taught by the movement of each axis Kan Rushin electrical equipment (, 10) (12)! Move i and do the work of H [Rhinoceros].

<Ll, re4 When in contact, the pressurizing cylinder (7) rotates the can arm +5) +67, pressurizes the object to be welded with the electrode tip 181al), and current flows through the weld'. .

The welding current is passed through the secondary cable (
11) to the power supply plate (15) via the conductor (3o),
Flows from the contactor (28) to the conductor (82) connected to the welding gun (2). The current flowing through the welding can (2) is passed from the conductor (83) to the power receiving plate (18), flows through the sleeve (18a), through all the needles of the contactor (22), to the power feeding plate (16), and is transferred to the power receiving plate (16). (81) ?i-m returns to the welding transformer from the secondary cable (18).

Thus, the rotation of the robot arm (3) requires L[,,1,
', ', together with the axis (14), a pair of positive and negative power receiving & (+7
) (18) and each contactor (22) (28) rotates,
Each contactor (22) (28) and a pair of positive and negative current-proof plates f1
5) Sliding 1-1 power supply will be performed at +UJ with (16).

Figures 7 to 8g9 show how the fluid adapter 7 is attached to the non-inventive device.
tfI: Other examples of equipment δ will be disclosed in detail. In this case, the basic idea of the invention is the same as the previous embodiment, but in addition to preventing twisting and wear of the air hose and cooling water hose connected to the bath gun, which had been ignored in the past, Power receiving board (17) (18
) is intended to improve the cooling effect by forming a fluid passage on the outer circumferential mounting surface of the welding device, thereby increasing the durability of the energizing device and the operability of the welding gun. One of the receiving boxes & (17) is made of a tubular shape having a thickness in the axial direction, and corresponds to the streetcar board (15) via an insulating board (19). The other power receiving & (18
) is fully inserted into the inner diameter of one power receiving plate (17J,
The sleeve (18a) at the tip is the power supply plate (15) *tm
It corresponds to the M% board (16). This power receiving board (18)
An insulating plate (
19'), and fitted into both shoulders of the cooling annular groove (84) formed along the outer periphery of the receiver 11L plate (18). are doing.

The outer surface of the power receiving plate (17) is equipped with an annular fluid adapter plow (
36) is fitted. This adageta installation # (86)
It is preferable to use a lightweight insulating material such as plastic. Two annular @ (87 bars 88) are formed on the inner diameter of this attagta device, for example, one #1
(87) is inboard (P rehe), and the other groove (88)
are connected to the outboard (Pri).

Additionally, the groove (87) is formed in the power receiving plate (17) and leads to the passageway (8
9), and Mizo (88) also won the power receiving plate (17) and (
It communicates with the passage (40) that follows the acthode (P) from the welding gun formed on the power receiving plate (17).
) and the adapter tube (36) are annular # (8
7888) is sealed by the ○ rings (4I) fitted on both shoulders.

According to the configuration of this embodiment obtained in this way, it is possible to send not only cooling water but also air, and in addition, it provides an effective cooling effect to the energizing device and also provides cooling to the welding gun. Since it can also serve as a relay function for fluid pressure paths such as water supply and air supply, it can fundamentally eliminate disconnections caused by twisting of hoses.As a secondary function, it can be used to connect fluid adapters and various Installed in U with power receiving board f-
) Since a number of inboards and outboards can be machined from the fc annular groove, it can also function as a kind of manifold.

As described above, according to the present invention, in a joint energizing device for a resistance welding machine, a sealed chamber is formed inside a pair of positive and negative power receiving plates and a corresponding power feeding plate, and each pair of power receiving plates is connected in the sealed chamber. Since the power supply board and the power supply board are electrically connected through a contactor having appropriate suppressing means, there is no need to move the receiving and power supply boards between each other as in the past, and there is no need to create a gap for this purpose. Since the contact power supply section can be completely sealed, there is no foreign matter entering the contact power supply section from the outside, making it possible to achieve effective contact power supply and its effective harvesting mechanism at the same time. Wide flat contact! Since it is a ring-shaped surface contact power supply using a contactor instead of using electric power, the overall structure is significantly lighter.
It can be manufactured compactly, and the pair of positive and negative power supply plates and power receiving plates can be assembled in close contact with each other, making it easy to unitize. In addition, unlike a flexible copper plate, a rigid copper plate can be used as a cheaper material, resulting in lower costs, lower power consumption, and easier installation. It is also easy to remove.

[Brief explanation of the drawing]

FIG. 1 is an overall perspective view of a spot welding robot in which the current supply device according to the present invention is applied to the joints of the spot welding robot. FIG. 2 is a side view including a half cross section showing a specific structure of the device of the present invention as an example. Figure 8 shows 81
The left side of Figure 42 (11+1 stop...1 figure shows the right half. Figure 4 is a cross-sectional view of the receiver 1 having the three 7; plate (18). Figure 5 is the front view of the power receiving plate (17). Figure 6 includes a half section showing another embodiment of the device of the present invention.
It is a front view. FIG. 7 is a side view including a half cross section showing another embodiment of the device of the present invention. FIG. 8 is a view taken along the line A-A in FIG. FIG. 9 is a view taken along arrow B in FIG. [Explanation of symbols] 14... Axial rod 15.16 = Pair of stationary conductors (power supply plate) 17.18... Pair of positive and negative 4-electric bodies (power receiving plate) 2L 2
8...Pair of positive and negative contactors 36-・Resistance maget
'y'tJL Figure 4

Claims (1)

[Scope of Claims] 1. A positive and negative pair of conductors that can move integrally with the shaft rod, a positive and negative pair of conductors that can move relative to the body, and purple 4JL, and these conductors. A joint energizing device characterized by electrically connecting the four turtle bodies of each pair of positive and negative pairs by interposing contactors of positive and negative pairs to which an excessive pressing force is applied inside the body. 2. There is a conductor of the positive and negative pairs that is integrated with the shaft, and four electric bodies of the positive and negative pairs that can move relative to this conductor, and inside these conductors there are The contactors of the positive and negative pairs, which are energized with an appropriate pressing force, are used to electrically connect the conductors of the positive and negative pairs, and also form a fluid passage between the conductors of the positive and negative pairs. A joint energizing device characterized by: 1. It has a positive and negative set of 4 bodies that can move integrally with the axial force, and a positive and negative set of conductors that can move relative to this conductor, and a conductor that can be run inside these conductors. Contactors of the positive and negative pairs are interposed to apply a pressing force to
111. A joint energizing device that electrically connects bodies to each other and is equipped with a fluid adapter device outside these conductors.