JPS6199580A - Feeding device of welding core wire - Google Patents

Abstract

PURPOSE:To avoid a welding fault with checking overlaps, etc. and to obtain the product of excellent welding quality by giving a relative repetition vibration between a conduit cable and the welding core wire to be penetrated therein. CONSTITUTION:The magnetization condition and nonmagnetization condition of an iron core 54a are periodically obtd. when an alternating current is impressed on the coil 54b of a solenoid 54. The support member 56 opposing to the iron core 54a of the solenoid 54 is vibrated in repetition by the attraction due to a magnetic force and the restoring force of a plate spring 58 accordingly and the conduit cable 38 forming in a body with the support member 56 is periodically vibrated in repetition as well. A relative movement is therefore produced between the conduit cable 38 and welding core wire 32, which are made to be slided each other with a dynamical friction condition. Consequently, a deflection, etc. are not caused on the core wire 32 of the inner part even if a big curve is caused on the conduit cable 38 following the desplacement of the welding torch.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a welding core wire supply device for a welding robot, and more specifically, the present invention relates to a welding core wire supply device for a welding robot, and more specifically, it repeatedly applies a vibration mechanism to a welding core wire or a conduit cable that feeds and guides the welding core wire in the axial direction of the welding core wire. The present invention relates to a welding core wire feeding device that applies vibration to the welding core wire.

Generally, when continuous welding is performed using an articulated welding robot, a welding core wire is passed through a conduit cable and guided to a welding torch.

By the way, in the prior art, the tip end of the conduit cable is simply fixedly connected to a revolving case that includes a motor that rotates a welding torch. For this reason, when the amount of movement of the tip wrist of the actuating arm that holds the welding torch is large, due to the connection structure of the conduit cable and the swing case as described above, the conduit cable that connects the swing case and the core wire feeding device must be The bending or curving displacement also increases. As a result, the weld core wire is twisted within the conduit cable, causing the weld core wire to catch on the conduit cable. That is, if the welding core wire gets caught in the conduit cable, the welding core wire itself cannot be smoothly supplied, resulting in so-called empty welding or welding with a small amount of welding medium. For this reason,
Ultimately, there was a problem in that the quality of welding deteriorated. Note that the above-mentioned core wire tearing phenomenon occurs when only the actuating arm side is operated without the core wire being fed by the welding core wire feeding device.
This is especially likely to occur when the conduit cable and the weld core wire inside the conduit cable are in a state of static friction when the conduit cable is moved (for example, during teaching or when moving between welded parts).

Therefore, as a result of extensive research and ingenuity, the present inventors focused on the fact that in order to correct tear stains, it is sufficient to apply appropriate vibrations, and the present inventors developed a method for feeding the welding core wire or this welding core wire. If repeated vibrations are applied to the conduit cable in the axial direction of the welding core wire by a vibrating mechanism, the conduit cable and the welding core wire inside it will always be in a state of dynamic Fj friction due to the vibration, and will slide against each other. It has been found that the occurrence of the twisting phenomenon can be avoided, thereby preventing the welding core wire from getting caught in the conduit cable, allowing the welding core wire to be smoothly supplied to the welding torch, and eliminating the above-mentioned disadvantages.

Therefore, an object of the present invention is to effectively prevent the welding core wire from being caught in the conduit cable due to the tearing phenomenon of the core wire, to avoid dry welding, and to supply products with excellent welding quality. An object of the present invention is to provide a welding core wire supply device for a welding robot.

In order to achieve the above object, the present invention provides a welding robot in which a welding core wire is supplied via a conduit cable by a welding core wire feeding device to a welding torch attached to the distal end wrist of an operating arm. It is characterized by providing an excitation mechanism that generates relative repetitive vibrations between the cable and the weld core wire inserted through the conduit cable.

Next, a preferred embodiment of a welding core wire supply device for a welding robot according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows an articulated welding robot 10 incorporating a welding core wire supply device according to the present invention. This articulated welding robot 10 includes a housing-like robot base 12 and a first actuating arm 14 supported on the upper part of the robot base 12 so as to be rotatable and tiltable. A second actuating arm 16 that is tiltably supported is pivotally supported at the tip of the first actuating arm 14, and a rotating case 20 is attached to the tip of the second actuating arm 16 via a wrist mechanism. Supported in a freely tiltable manner. A welding torch 22 is rotatably supported on this rotating case 20. The first actuating arm 14 is rotated in the direction of arrow A by a motor 24 housed inside the robot base 12, and tilted in the direction of arrow B by a motor 26 externally installed at the base end of the first actuating arm 14. do. Furthermore, the second actuating arm 16 is tilted in the direction of arrow C by a motor 28 provided externally at the tip of the first actuating arm 14. On the other hand, the rotating case 20 is operated by a pair of motors 30 and 30 provided at the base end of the second operating arm 160.
is rotated in the direction of the arrow E via the chain 31, 31 and the wrist mechanism 18, and tilted in the direction of the arrow E.
Further, the welding torch 22 is rotated in the direction of arrow F by a motor (not shown) provided externally to the swing case 20.

By the way, according to the present invention, the welding core wire feeding device 34 that supplies the welding core wire 32 to the welding torch 22 is provided with a mounting bracket 36 having a substantially rectangular cross section at the tip of the first operating arm 14.
Attached via. In this case, a conduit cable 38 is installed between the welding core wire feeding device 34 and the rotating case 20, and the welding core wire 32 is inserted and fed through the internal passage of this conduit cable 38.

The welding core wire feeding device 34 includes a main body housing portion 40 fixed onto the mounting bracket 36, as shown in FIG. This main body housing part 40 has a motor 4.
2 is attached to the welding torch 2, and the motor 42 rotates the welding core '4iA32 at a predetermined speed.
A pair of feed rollers 44a, 44b that send out to the second side and a pair of forced rollers 48a, 48b that guide the welding core wire 32 to the feed rollers 44a, 44b are pivotally supported. That is, a rotating shaft 43a that supports the roller 44a is connected to a rotational drive shaft (not shown) of the motor 42 via a pulley (not shown), while a roller 44b is rotatably connected to a lever member 45 (described later). be supported. One end of this lever member 45 is provided with a roller F for holding down the welding core wire 32.
47, and a hole 45a is formed in the other end of the lever member 45, and a screw 49 constituting the pressure adjustment mechanism 46 is fitted into the hole 45a. The tip of the screw 49 is screwed into a plate 51a of a guide member 51 formed at the tip of the main body housing part 40. A coil spring 53 around which the screw 49 is wound is attached to the other end of the lever member 45, and one end of the coil spring 53 is engaged with a rotatable pressure regulating means 55.

The mounting bracket 36 is further provided with a vibration mechanism 50 that applies repetitive vibrations to the conduit cable 38 in the axial direction of the weld core wire 32, that is, in the direction of arrow H. That is, the vibration mechanism 50 includes a solenoid 54 attached to the mounting bracket 36 via a bent support member 52, and a magnetic solenoid 54 fitted to the rear end of the conduit cable 38 so as to face the solenoid 54. and a support member 56 made of a body. The base end of the support member 56 is coupled to the tip of a leaf spring 58 attached to the mounting bracket 36 by bolts 57.57. In this embodiment, the leaf spring 58 and the support member 52 are collinear with the mounting bracket 36 through a port 60. Further, the solenoid 54 is connected to the iron core 54.
A and a coil 54b around which the iron core 54a is wound, and the tip of the iron core 54a faces the support member 56.

In FIG. 2, reference numeral 62 indicates a spring for regulating the amount of movement of the leaf spring 58, etc., and reference numeral 64 indicates a power line for energizing the solenoid 54.

The welding core wire supply device according to the present invention is basically constructed as described above, and its operation and effects will be explained next.

First, the multi-joint welding robot 10 uses each of the motors 24.
26, 28, 30, etc. are driven by a control panel (not shown), and the first operating arm 14, second operating arm 16, swing case 20, and welding torch 22 perform the predetermined operations described above. When the rotary drive source consisting of a motor is energized in this way, the welding torch 22 is moved to a predetermined welding position and performs welding work.

In this embodiment, the welding core wire feeding device 34 is operated upon receiving a signal from the control panel during welding, and the welding core wire 32 is
is guided by the conduit cable 38 and the welding torch 2
2. That is, the feed rollers 44a and 4
4b is rotationally driven by a motor 42 to feed the welding core wire 32 to the welding torch 22 at a predetermined feeding speed. In this case, the rollers 48a and 48b sandwich the welding core wire 32, and the restraining roller 47 applies a predetermined tension to the welding core wire 32. On the other hand, rotate the pressure regulating means 55 and screw the screw 49 into the plate 51.
If screwed into a, the lever member 45 will be connected to the coil spring 5.
3 and descends around the rotating shaft 47a, and the feed roller 44b also descends accordingly. That is, it is possible to adjust the pressing force between the feed rollers 44a and 44b by controlling the rotation of the pressure regulating means 55.

In this manner, when the welding work at a predetermined position is completed, the operation of the welding core wire feeding device 34 is stopped, and the feeding of the welding core wire 32 is stopped. On the other hand, the first actuating arm 14
, the second actuating arm 16, the swing case 20, and the welding torch 22 are controlled by respective motors 24, 26, 28, 30, etc. I
[The welding torch 22 is moved to the next welding position by restarting the drive in response to a signal from the I-disk and performing the same operation as described above. At this time, in the prior art, as described above, since the conduit cable 38 is bent or curved according to the operation of the rotating case 20, etc., the welding core penetrates the inside of the conduit cable 38! ! 32 is twisted and gets caught. However, in this embodiment, the vibration mechanism 50 operates at this time, and applies repetitive vibration to the conduit cable 38 in the axial direction of the weld core wire 32. That is, by applying an alternating current to the coil 54b of the solenoid 54, the excited state and demagnetized state of the iron core 54a are periodically obtained. With this, solenoid 5
The support member 56 facing the iron core 54a of No. 4 repeatedly vibrates periodically in the direction of the arrow H in FIG. It vibrates repeatedly. Therefore, relative movement occurs between the conduit cable T-pull 38 and the welding core wire 32 inserted therein, and the conduit cable 38 and the welding core wire 32 always slide under dynamic friction. As a result, even if a large bend occurs in the conduit cable 38 due to the above-mentioned displacement of the welding torch 22, etc., the welding core wire 32 inside the cable will not be twisted.In other words, during welding after changing the posture, It is possible to prevent the welding core wire 32 from being caught due to twisting, resulting in poor feeding and adversely affecting the welding part.

In this embodiment, the vibration mechanism 50 applies repeated vibrations to the conduit cable 38, but the main body housing portion 40 of the welding core wire feeding device 34 is elastically supported on the mounting bracket 36 by a spring or the like. However, the welding core wire 32 itself may be subjected to repeated vibrations by directly vibrating the magnetic body attached to the main body housing part 40 by the solenoid 54 constituting the vibration mechanism 50. Although the operation of the vibration mechanism 50 is limited to the above-mentioned predetermined period, it goes without saying that the vibration mechanism 50 may be operated all the time.

As explained above, according to the present invention, repetitive vibration is applied to the welding core wire or the conduit cable that feeds and guides the welding core wire by the vibration mechanism, so that the inside of the conduit cable when changing the posture of the welding torch etc. It is possible to effectively prevent catching caused by twisting of the weld core wire. Therefore, it is possible to avoid poor feeding of the welding core wire to the welding torch side, thereby achieving the effect that welding without dry welding and even higher quality welding is possible.

Although the present invention has been described above with reference to preferred embodiments, the present invention is not limited to the above embodiments. For example, the conduit cable may be vibrated by a cam mechanism connected to a rotational drive source. Of course, various improvements and changes in design are possible without departing from the gist of the present invention.

[Brief explanation of the drawing]

FIG. 1 is a partially cutaway overall configuration diagram of an articulated welding robot showing an embodiment of a welding core wire supply device according to the present invention;
The figure is an enlarged cross-sectional view of a main part of the welding core wire supply device in FIG. 1. 10 Multi-joint welding robot 12...Robot base 14...First operating arm 16...Second operating arm 18...Wrist mechanism 20...
Swivel case 22...Welding torch 24.26.2
8.30...Motor 31...Chain 32...Welding core wire 34...
Core wire feeding device 36...Mounting bracket 38...Conduit cable 40...Main housing portion 42...Motor 43a...Rotating shaft 44a,
44b -- Feed roller 45... Lever member 45a... Hole 46... Pressure adjustment mechanism 47... Roller 47a... Rotating shaft 48a, 48b... Forced roller 49... Screw 50... Vibration mechanism 51.・
Guide member 52...Support member 53...Coil spring 54...Solenoid 54a...Iron core 54b...
Coil 55...Pressure regulating means 56...Supporting member
57... Bolt 58... Leaf spring 6
0... Bolt 62... Stopper 64... Power line Patent applicant Honda Motor Co., Ltd. Procedural amendment awn (0 button November 22, 1985 1, 1 display 1988 Patent application No. 193
508 No. 3, Relationship with the case of the person making the amendment Patent applicant address (residence) 2-1-1 Minami-Aoyama, Minato-ku, Tokyo Name (name) Honda Motor Co., Ltd. 4, Agent

Claims (3)

[Claims] (1) In a welding robot in which a welding core wire is supplied via a conduit cable by a welding core wire feeding device to a welding torch attached to the tip wrist of the operating arm, the welding wire is inserted through the conduit cable and the conduit cable. A welding core wire supply device characterized by being provided with an excitation mechanism that generates relative repetitive vibrations between the welding core wire and the welding core wire. (2) In the device according to claim 1, the vibration mechanism includes a solenoid provided on the actuating arm and an elastic body that is close to the solenoid and supports the conduit cable, and urges the solenoid to A welding core wire supply device that intermittently vibrates an elastic body to excite the conduit cable. (3) In the device according to claim 2, the vibration mechanism includes a magnetic support member that holds the conduit cable and a leaf spring that supports the support member, and the iron core that constitutes the solenoid is the support member. A supply device for a welding core wire, the welding core wire supplying device being arranged so as to face the welding core wire, and a stopper provided between the solenoid and the leaf spring.