JPS61249675A - Teaching jig for robot - Google Patents

Abstract

PURPOSE:To enable the welding or cutting work having high accuracy in a correct torch position by the constitution of fitting to a base seat via inclining intermediate seat the inclinable torch backing seat having a cylindrical reference plane centering around the axis of the torch and of providing four points of the fulcrum whose height is adjustable on the base seat thereof. CONSTITUTION:The torch position can be set simply and correctly by bringing a torch 3 into contact with the torch backing seat 12 and by teaching the robot so that the tip of four pieces of adjusting bolts 15 of the base seat 8 stably abuts the inner face of a steel pipe 1 after setting the torch backing seat 12 respectively at the angle theta1, theta2 by scales 10, 13 in case of cutting the tab plate 7 being fitted to the steel pipe 1 by the torch 3 fixed to the tip of a robot wrist 4. The torch position is not changed even with turning of the torch 3 because of the cylindrical face of the torch backing seat 12 having the same shaft center as that of the torch 3 being taken as the reference plane and the precise cutting and welding work is enabled.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a teaching jig for robots, and particularly to a jig for welding or cutting steel pipes or flat plates.

[Background of the invention]

When using a robot to cut and weld plates or pipes, the robot is generally taught the cutting and welding position in advance, and the robot follows the trajectory of this teaching point to perform the welding or cutting work. There is.

Conventionally, teaching for welding or cutting has been carried out by visually determining the posture of a welding or cutting torch. For example, in the case of welding, the torch posture is as shown in the Machine Work Handbook based on rJIs, but if this torch posture is taught visually, the torch angle It was not possible to obtain a precise weld or cut surface due to the setting errors.

7. In particular, when cutting a steel pipe end face or a φ plate, etc., it is required that the cutting surface has no protruding slope with respect to the steel pipe end face, but the method of visually teaching with a torch attached to the tip of the robot does not allow precision. It is impossible to obtain a perfect cut surface.

Furthermore, when the steel pipe has a small diameter, the robot is positioned directly in front of the steel pipe, making it extremely difficult to perform teaching work to visually determine the torch posture.

In order to solve this problem, as shown in Fig. 6, a rated ruler (for example, JIS B
7526) 2 etc. has been proposed to determine the posture of the torch 3, but during teaching, the robot 4 is operated to set the reference planes 3a, 3b on the side surface of the tip of the torch 3.
When the steel pipe 1 is brought into contact with the surface 2a of the rated ruler 2, it is difficult to visually confirm the contact state.
Since the position in the normal direction cannot be measured, a lot of time was required for teaching.

Further, the circular tube 1 is cut or When welding, if the robot has a small degree of freedom of movement, the torch axis will rotate at an angle θa as shown in Figure 9 as the torch moves.
As shown in the figure, even if the setting angle θ of the jig is constant, the 8th
As shown in the figure, the set angle θ1 with the tangent line changes to 07, and there is a drawback that an accurate posture cannot be obtained.

[Purpose of the invention]

The present invention has been made in view of the above-mentioned points, and its purpose is to provide a teaching jig for a robot that can obtain an accurate torch posture with a simple operation and can perform high-precision welding or cutting. There is something to do.

[Summary of the invention]

The present invention provides a robot teaching jig that teaches the robot the orientation of a torch when welding or cutting materials such as steel pipes, circular arc plates, or flat plates using a robot. A torch stopper provided with a reference surface is tiltably supported on a tilting spacer, this tilting spacer is further tiltably supported on a pedestal, and this pedestal is provided with four height-adjustable fulcrums. It was designed to achieve the intended purpose by determining the posture.

[Embodiments of the invention]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a robot teaching jig according to the present invention will be described below with reference to the drawings.

FIG. 1, FIG. 2, and FIG. 3 show U according to an embodiment of the present invention.
They are a side view, a front view, and a plan view, respectively, showing the case where the tab plate 7 attached to the end surface of the O steel pipe 1 is cut. A tilting spacer 9 is provided on the pedestal 8 so as to be tiltable around an axis 01-01, and an angle scale 1o fixed to the tilting spacer 9 is used to set an arbitrary angle, and a wing nut 11 is used to adjust the position. It is designed to be fixed. This tilting spacer 9 has a torch stopper 12 which can come into contact with the cylindrical torch 3 at its outer periphery.
is axis 0. It is provided so that it can be tilted around '-0,
An arbitrary angle is set using an angle scale 13 fixed to the torch seat 12, and the position is fixed using a wing nut 14, and the shaft 01-0. and axis 0. -0
2 are mutually orthogonal axes. Four adjustment bolts 15 with conical tips are screwed into the lower part of the pedestal 8, and these four adjustment bolts 15 are adjusted to adjust the height of the steel pipe 1.
The shaft 01-0. of the pedestal 7 is placed on the inner surface of the pedestal 7. is aligned with the axial direction of this steel pipe 1.

Each is fixed with a lock nut 16.

The operation of the present invention configured as described above will be explained below.

The tab plate 7 attached to the UO steel pipe 1 is cut by a torch 3 fixed to the tip of the robot wrist 4.

When the robot performs this cutting work, as shown in FIGS. 4 and 5, the cutting starting point P1. Midway point P3. It is necessary for the robot to teach the respective positions of the end point P and the angles θ and θ between the torch 3 and the cutting line and normal line of the steel pipe 1, respectively. If the positions of these three points p, , p, , p are given, the robot can draw a circular trajectory passing through p, , p, , ps by circular interpolation.

Generally, when a plasma cutting torch is used to cut the tab plate 7 at the end of the tube, the fused portion 7a is wide on the torch side and narrow on the opposite side, as shown in FIG. Therefore, when the cut surface is aligned with the pipe end surface, θ,
Set,P,.

It is necessary to teach about three points: P, ,P. Also, since this welding part 7a changes as θ changes, unless the same angles θ8 and θ are taught to each of the three points P, , P, , P, the state during fusing will change. It becomes impossible to obtain a highly accurate cut surface.

According to the teaching jig according to this embodiment, the torch seat 12 is set at an angle θ2. θ,
Can be set accurately to each butterfly nut 11.
14, and then teach the robot so that the torch 3 and the torch seat 12 are in contact with each other, and the tips of the four adjustment bolts 15 of the pedestal 8 are in stable contact with the inner surface of the steel pipe 1. Moreover, the torch posture can be adjusted accurately. At this time, this teaching jig is made lightweight, and when the torch 3 and the torch seat 12 are brought into contact, the state of contact between the tip of the adjustment bolt 15 and the inner surface of the steel pipe 1 can be visually observed. Furthermore, since the cylindrical surface of the torch seat 12 having the same axial center as the axial center of the torch 3 is used as the reference surface, the torch position does not change even if the torch 3 rotates. Therefore, the degree of freedom of the axis of the robot may be small, and there is an advantage that there are no restrictions on the use of the robot.

Although this embodiment has been described for cutting the tag plate 7 attached to the end face of the UOm pipe 1, the same effect can be obtained when cutting or welding a steel pipe, an arcuate plate, or a flat plate.

〔Effect of the invention〕

As described above, according to the present invention, the teaching jig for a robot is provided with a tiltable torch seat having a cylindrical reference surface centered on the torch axis, and the torch seat is connected to the pedestal through a tilting spacer. Since the pedestal is equipped with four height-adjustable fulcrums, the orientation of the torch relative to the workpiece can be easily and accurately adjusted.

Precise cutting and welding work is now possible.

[Brief explanation of the drawing]

FIG. 1 is a side view showing an embodiment of the robot teaching jig according to the present invention, FIG. 2 is a front view of FIG. 1, FIG. 3 is a plan view of FIG. FIG. 5 is a partially sectional side view showing details of the cutting part of the 4th wI; FIG. 6 is a side view showing a conventional teaching jig; FIGS. 7 and 8 9 and 9 are a side view, a front view, and a plan view, respectively, showing a conventional torch angle setting jig. 1... Steel pipe, 3... Torch, 4... Robot, 8
...Pedestal, 9...Tilt spacer, 12...Torch stop, 15...Adjustment bolt.

Claims (1)

[Claims] 1. In a teaching jig for a robot that teaches the robot the posture of a torch when welding or cutting materials using a robot, a cylindrical reference surface is provided that contacts the welding or cutting torch concentrically. A torch stopper, a tilting spacer that movably supports the torch stopper, a pedestal that tiltably supports the tilting spacer, and four height-adjustable pieces provided on the pedestal that determine the attitude of the torch. A teaching jig for a robot characterized by having a fulcrum.