JPS60201893A - Detector for position of wrist of welding robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a wrist position detection device for a welding robot.More specifically, the present invention relates to a wrist position detection device for a welding robot. The present invention relates to a wrist position detection device for a welding robot for detecting the position of the wrist of a welding robot.

[Prior art]

FIG. 1 shows a conventional device of this type, in which a wrist for gripping a welding torch l at the tip is supported movably on three axes at the front end of an arm body 3. Here, 3-axis movement means δ-axis movement in which the wrist rotates around the axis of the arm body 3, β-axis movement in which the wrist rotates around an axis perpendicular to the δ-axis, and 3-axis movement in which the wrist rotates around an axis perpendicular to the β-axis. This is an r-axis motion that rotates around the center, and the welding torch l performs twisting, bending, and swinging motions in conjunction with each axis motion.

The above-mentioned axes are operated by a β-axis motor, an r-axis motor 5, and a δ-axis motor 6, which are attached to the rear of the arm body 3.
The signal is transmitted to the wrist via the reducer 7, universal joint 1, joint shaft 9, and universal joint 10, respectively.

In such a device, one wrist is the origin of each axis movement.

It is necessary to control the wrist movement by detecting rotation angle, overrun, etc. Therefore, multiple proximity switches 1/1 corresponding to each axis movement are installed on the wrist, and the detection signals of the proximity switches 1/1 are connected to the lead wire. 12, the controller at the rear of the robot (
(not shown).

However, in the conventional device having the above configuration, a space must be secured within the arm body for wiring the lead wires that bundle a large number of signal lines, and there is also a need to secure space within the arm body for wiring the lead wires that bundle a large number of signal lines. There was a risk that the lead wires exposed to the outside between the parts could be caught on the welded object, causing wire breakage. Furthermore, since a large number of proximity switches 1/ are disposed on the wrist, the wrist structure becomes complicated and the number of parts increases.

[Summary of the invention]

The purpose of this invention is to eliminate the drawbacks of the conventional devices as described above.The invention aims to eliminate the drawbacks of the conventional devices as described above. The present invention provides a wrist position detecting device for a welding robot that eliminates conventional lead wires and proximity switches by housing a detecting means for transmitting information to a potentiometer in an arm body.

[Embodiments of the invention]

FIG. 2 shows an embodiment of the present invention, in which a spur gear 13 is mounted on the output shaft of the first reducer 7 connected to the β-axis motor, and the spur gear /% meshing with the spur gear /3 is It is attached to the input shaft of the second reducer/6, which has a potentiometer 15 coupled to the output shaft by a coupling. The reduction ratio of the second reduction gear/B is selected to correspond to the reduction ratio of the β-axis movement of the wrist.

The second reducer 16 and potentiometer/S are housed in the arm body 7. The same is true for the δ-axis system, but for the r-axis there are spur teeth on the output side of the universal joint IO, 3. /'I, No. 1 reducer /A, potentiometer /j, etc. were installed. Further, the same parts as in FIG. 1 are given the same reference numerals, and the explanation will be omitted.

With the above configuration, the wrist 2 generates β-axis motion via the first reduction gear, the universal joint, the joint shaft, and the universal joint 10.
The operating position is determined by the potentiometer /
S and is led from potentiometer /3 to the controller by a signal line (not shown). r-axis.

The same applies to the position detection of the δ-axis operation.

〔Effect of the invention〕

As described above, in this invention, the element for detecting the wrist position is stored in the arm body without providing it on the wrist.
This has great effects, such as reducing the space within the arm body for passing the lead wire through without the fear of lead wire breakage as in the conventional case, and simplifying the wrist structure.

[Brief explanation of drawings]

FIG. 1 is a partially longitudinal side view of a conventional device, and FIG. 2 is a partially longitudinal side view of an embodiment of the present invention. L... Welding torch, K... Wrist, 3... Arm body, Hiroshi... β-axis motor, S... γ-axis motor, 6... δ-axis motor, 7... First reducer, g, i .・・Universal joint, 9・・Joint shaft, ttr/4
t: spur gear, 15: potentiometer, /6: second reduction gear. In each figure, the same reference numerals refer to the same or corresponding parts in most of the figures.

Claims (1)

[Claims] an arm body that supports the wrist movably on three axes at the front end; three motors that are attached to the rear of the arm body and serve as a driving source for the wrist; a first reducer connected to each motor; The second speed reducer is connected to the output shaft of the seventh speed reducer via a gear, and the potentiometer is connected to the output shaft of the λ-th speed reducer. Second
A wrist position detection device for a welding robot, wherein the reducer and the potentiometer are housed in the arm main body.