JPS6227334Y2 - - Google Patents

Description

[Detailed description of the invention] This invention relates to a direct teaching device for a welding robot, which is used when the welding robot's torch mounting part is manually moved to memorize the motion in the welding robot. The present invention relates to a direct teaching device for a welding robot that can perform teaching operations.

Generally, industrial welding robots are configured to have multiple degrees of freedom by combining multiple axes (for example, 5 axes), and move the welding torch attached to the tip of the arm according to the memorized operation content. It is designed to move around and weld where necessary. One of the methods for memorizing (teaching) motions to such a welding robot is a direct teaching method. In this direct teaching method, first, each drive system of the welding robot is brought into a gravitational balance state so that the welding torch can be moved with light force, and then the welding torch and the direct teaching device installed at the welding torch mounting part are connected. Grasp the nigiri part with your hand and trace the welding point,
This trace path is detected by a detector installed in each drive system, and at this time, the switch section of the direct teaching device is operated to send the necessary teaching signal to the welding robot, which memorizes the welding location. be.

By the way, in the conventional direct teaching device used in such a direct teaching method, the operating part consisting of a switch part and a grip part is fixed directly to the welding torch mounting part, so the teaching content is complicated. When the tracing area is too hot or the tracing area is narrow, there are many inconveniences such as the operator being unable to perform the teaching operation unless he or she is in an unnatural position, making it difficult to perform the teaching operation smoothly. It was hot.

In view of the above points, this invention provides a direct teaching device that can perform smooth teaching operations even when the teaching content is complex or when the tracing area is narrow.
An operating section composed of a switch section and a grip section is attached to the torch mounting section, and a first rotation mechanism allows the operating section to freely rotate around an axis, and a second rotation mechanism allows the operation section to be rotated. It is characterized in that the torch mounting portion is rotatable in a direction perpendicular to the torch axis.

An embodiment of this invention will be described below with reference to the drawings. FIGS. 1 and 2 show the tip of an arm of a welding robot equipped with a direct teaching device according to this invention. In these figures, 1 is an arm provided on the tip side (work side) of the welding robot, and the tip of this arm 1 is provided with one torch mounting bracket 2a having a U-shaped cross section. The torch 3 is held between the metal fitting 2a and the other torch mounting metal fitting 2b having a U-shaped cross section. Also, the back side 2 of this torch mounting bracket 2b
A teaching device mounting member 4 is provided at b- ₁ , and a teaching device mounting hole 5 which is open at the top is provided approximately in the center of the teaching device mounting member 4. A ball mounting hole 6 extending in the radial direction is provided on the inner circumferential surface of the teaching device mounting hole 5, and a ball 8 fitted into the ball mounting hole 6 is pushed into the inner circumferential surface of the teaching device mounting hole 5 by a coil spring 7. It protrudes a predetermined distance from the base.

Further, reference numeral 9 indicates switches 10a to 10c for sending each teaching signal to the welding robot, and an indicator lamp 10.
A switch section in which d to 10f are provided,
A cylindrical grip portion 11 is provided on one side of the switch portion 9 (the right side in FIG. 2). Here, each of the switches 10a to 10c
is arranged so that it is easy for the operator to operate the switch when holding the grip part 11 and performing a teaching operation.
Further, a shaft 13 rotatably supported by a bearing 12 is attached to the other side (the left side in FIG. 2) of the switch section 9, and is constituted by the switch section 9 and the gripping section 11. Operation section 1
4 can rotate around the axis 13a of this shaft 13. A shaft 15 having an axis perpendicular to the axis 13a of the shaft 13 is attached to the lower part of the bearing 12. The shaft 15 is composed of a large diameter portion 16 and a small diameter portion 17 having a diameter smaller than the diameter of the large diameter portion 16 and slightly smaller than the inner diameter of the teaching device mounting hole 5. A circumferential groove 18 is formed on the tip side (lower side in FIG. 2) of this small diameter portion 17, and when the shaft 15 is inserted into the teaching device mounting hole 5, the ball 8 protrudes into this circumferential groove 18 and the shaft The shaft 15 is prevented from moving in the axial direction, and the shaft 15 can be rotated about the axis 15a. That is, the shaft 15 is fitted into the teaching device mounting member 4 in a ball-catch manner so as to be freely attachable and detachable, and rotatably about the axis of the shaft 15.

In this way, the operating section 14 is rotatable about the axis 13a by the first rotation mechanism constituted by the shaft 13 and the bearing 12, and the first rotation mechanism constituted by the shaft 15 and the teaching device mounting member 4. 2, the torch mounting part can be rotated in a direction perpendicular to the axis of the torch 3.
As shown in the figure, in a place where there is an obstacle 19 above the place to be traced, or in a place where there is an obstacle 20 in the direction to be traced (direction of arrow A) as shown in FIG. The teaching operation can be performed by moving the switch part 9 in a manner that is easy for the operator to do, and even when the range of movement of the operator is limited, by twisting the operating part 14, the operator can operate each switch 10a of the switch part 9 without twisting the wrist. ~10c can be operated. Furthermore, in this embodiment, the operating section 14 is provided so as to be detachable from the teaching device mounting member 4, so when teaching in a very narrow space, the operating section 14 can be removed from the torch mounting section and removed. Since the teaching operation can be performed by completely separating them, and since they can be separated without tools, the time for attaching (and removing) the operating section 14 to the teaching device mounting member 4 can be shortened. The teaching time can be shortened, and the operation section 1 can be used during actual welding work.
4 can be removed and the switch part 9 can be moved away from the welding area, and damage to the switch part 9 can be prevented.

Furthermore, in the embodiment described above, two rotation mechanisms are used to rotate the operating section 14, but it is of course also possible to rotate this using a rod ent or other joint that has a large operating range. be.

As explained above, the direct teaching device according to this invention includes an operating section consisting of a switch section that sends each teaching signal to the welding robot, a grip section provided coaxially with the axis of the switch section, and this operating section. a first rotation mechanism that is provided between the mounting mechanism and the operating section and pivots the operating section; and a first rotation mechanism that pivots the operating section; A second rotation mechanism is provided between the two and rotates the operating section in a direction perpendicular to the torch axis of the torch mounting section, so that even if the teaching content is complicated, it can be traced again. Teaching operations can be performed smoothly even when the space is small.

[Brief explanation of drawings]

The drawings are for explaining one embodiment of this invention. Fig. 1 is a plan view showing the arm end portion of a welding robot equipped with a direct teaching device for a welding robot according to this invention, and Fig. 2 is a plan view showing an embodiment of the same. The side view of the example, FIG. 3, and FIG. 4 are diagrams for explaining the operating state of the example, respectively. DESCRIPTION OF SYMBOLS 1...Arm, 2a, 2b...Torch mounting bracket (torch mounting part), 3...Torch, 4...Teaching device mounting member (second rotation mechanism), 6...Ball (mounting mechanism), 9 ...Switch part, 11...Nigiri part, 12...Bearing (first rotation mechanism), 13...
...Axis (first rotation mechanism), 14...Operation unit, 15
... shaft (second rotation mechanism), 18 ... circumferential groove (attachment mechanism).

Claims (1)

[Scope of utility model registration request] In a direct teaching device for a welding robot, which is installed at the torch attachment part at the end of the arm of the welding robot,
an operating section comprising a switch section that sends each teaching signal to the welding robot and a grip section provided coaxially with the axis of the switch section; and a mounting mechanism that engages the operating section with the torch mounting section. , a first rotating mechanism provided between the mounting mechanism and the operating section for pivoting the operating section; and a first rotating mechanism provided between the mounting mechanism and the operating section to rotate the operating section to the torch. A direct teaching device for a welding robot, comprising a second rotation mechanism for rotating a mounting part in a direction perpendicular to the axis of a torch.