KR20210126123A - Slag removal device, slag removal method, welding robot and vibration isolator - Google Patents

Abstract

Provided is a slag removal device that has a vibration suppression function that can be applied to a portable welding robot, and aims to improve the lifespan of the welding robot and the lifespan of the shock absorbing part. The slag removal device 10 includes a slag removal unit 20 and a shock absorption unit 30 , and the slag removal unit 20 includes an impact body 22 and a slag removal body that vibrates the impact body 22 . (23). In addition, the shock absorbing part 30 includes a support part 31 for holding the slag removal body 23 and a linear guide device 40 for supporting the support part 31 to be reciprocally movable along the moving direction of the impact body 22 . ), a first elastic mechanism 51 disposed in front with respect to the support part 31 in the moving direction of the impact body 22 , and a second elastic mechanism 52 disposed rearward with respect to the support part 31 . have

Description

Slag removal device, slag removal method, welding robot and vibration isolator

The present invention relates to a slag removal apparatus for removing slag generated in a welding operation, a slag removal method, a welding robot including the slag removal apparatus, and a vibration isolator. More specifically, it relates to a slag removal device, a slag removal method, a welding robot, and a vibration isolator that can be operated stably over a long period of time and can be mounted on a small robot by suppressing generated vibration.

Conventionally, the removal of slag generated on the surface of the bead after welding is automated by using a welding robot. In general, the slag removal is performed by switching the end effector of the welding robot from the welding torch to the slag removal device. However, since the slag removal device is a method of pressing a vibrating impact body to the surface of a bead after welding and pulverizing and removing slag with impact, the vibration is extremely large, and a large load is applied to the welding robot, leading to failure There was a task to be done. In particular, since the load on the welding robot increases as the size of the welding robot to be applied becomes smaller, when the slag removal device is mounted on the welding robot to work, it is necessary to mount it on a large welding robot having a strong structure.

Regarding the above problem, in Patent Document 1, a slag removal device that reduces the vibration load of an air-driven multicore chisel and can be applied to a robot hand, in particular, it can be applied to a hand of a small welding robot. The slag removal apparatus which suppressed the vibration load to an extent is disclosed.

Japanese Patent Laid-Open No. 2000-673

However, the small robot of Patent Document 1 is a 6-axis industrial robot, and there is a problem in that it is difficult to apply to a further miniaturized robot such as a portable welding robot used for welding work in the field. That is, many portable welding robots weigh less than 10 kg, and the conventional slag removal device cannot withstand the vibration load. Therefore, even when applied to portable welding robots, the life of the welding robot can be improved. A slag removal device was required. Moreover, also with respect to the shock absorption part of a slag removal apparatus, there existed a problem that a load was applied to the shock absorption part by vibration, the weight of a slag removal body, etc., and the lifetime of a shock absorption part was reduced. Since the portable welding robot is subjected to a load of vibration and takes various welding postures from its use, the load applied to the shock absorbing part increases by the weight of the slag removal body, so the life of the shock absorbing part can be improved. A slag removal device was required.

The present invention has been made in view of the above problems, and the object thereof is to have a vibration suppression function applicable to a portable welding robot, and to improve the lifespan of the welding robot and improve the lifespan of the shock absorbing part. A method, a welding robot provided with the slag removal device, and a vibration isolator are provided.

Therefore, the said object of this invention is achieved by the structure of the following (1) concerning a slag removal apparatus.

(1) In the slag removal apparatus for removing slag from the welding part,

The slag removal device includes a slag removal unit and a shock absorption unit,

The slag removal unit has an impact body and a slag removal body that vibrates the impact body,

The shock absorbing part includes a support part for holding the slag removal body, a linear guide device for reciprocally supporting the support part along the moving direction of the impact body, and a front with respect to the support part in the moving direction of the impact body. A slag removal apparatus having a first elastic mechanism disposed in the slag and a second elastic mechanism disposed rearward with respect to the support portion.

Moreover, preferable embodiment of this invention which concerns on a slag removal apparatus relates to the following (2)-(10).

(2) The slag removal apparatus according to (1), wherein the shock absorbing part includes a cover member that covers the circumference of at least one of the first elastic mechanism and the second elastic mechanism.

(3) The slag removal apparatus according to (1) or (2), wherein the first elastic mechanism or the second elastic mechanism is constituted by at least one of a spring, a vibration isolator, and a magnet.

(4) The slag removal apparatus according to (3), wherein the first elastic mechanism and the second elastic mechanism are constituted by a pair of magnets with same poles facing each other.

(5) The spring has an outer diameter: φ16 mm to φ20 mm, wire diameter: φ1.0 mm to φ2.4 mm, free length: 50 mm to 100 mm, and spring constant: 0.8N/mm to 3.6N/mm The slag removal apparatus as described in (3) which has a characteristic.

(6) The slag removal device according to (5), wherein the spring is set so that the initial bending is 2 mm to 10 mm.

(7) The anti-vibration material is composed of at least one of silicone gel, natural rubber, and chloroprene rubber, and the vibration-proof material has a static spring constant of 5 N/mm to 30 N/mm. The slag removal device according to (3). .

(8) the magnet has a magnetic flux density of 300 mT to 600 mT, an area: 50 mm 2 to 200 mm 2 , and the pair of magnets have the same poles opposite each other with a clearance of 1 mm to 10 mm, (3) or The slag removal apparatus as described in (4).

(9) The slag removal device according to (1), wherein the impact body is a needle assembly comprising 7 to 13 needles having a diameter of φ1.5 mm to φ2.5 mm bundled together.

(10) The slag removal apparatus in any one of (1)-(9) for attaching and using to a portable welding robot.

Further, the above object of the present invention is achieved by the configuration of the following (11) according to the welding robot.

(11) A welding robot provided with the slag removal apparatus in any one of (1)-(10).

Further, the above object of the present invention is achieved by the configuration of the following (12) according to the slag removal method.

(12) A slag removal method in which the vibrating impact body collides with the welding portion using the slag removal device according to any one of (1) to (10) to remove slag from the welding portion.

Further, the above object of the present invention is achieved by the configuration of the following (13) according to the vibration isolator.

(13) A vibration isolator used in a slag removal device for removing slag from a welded portion having an impact body and a slag removal body that vibrates the impact body,

A support part for holding the slag removal body, a linear guide device for supporting the support part reciprocally along a movement direction of the impact body, and a first disposed in front of the support part in the movement direction of the impact body A vibration isolator having an elastic mechanism and a second elastic mechanism disposed behind the support portion.

According to the slag removal apparatus of the present invention, slag removal is performed by the first elastic mechanism and the second elastic mechanism provided before and after in the moving direction of the impact body with respect to the support portion that holds the slag removal main body which gives vibration to the impact body. Since it is possible to effectively absorb the impact caused by Without this, it becomes possible to perform slag removal. Therefore, the lifetime of a welding robot and the lifetime of the shock absorbing part in a slag removal apparatus can be improved.

ADVANTAGE OF THE INVENTION According to the welding robot of this invention, the load accompanying a welding robot is greatly reduced by providing the slag removal apparatus which has an effective vibration suppression function, and size reduction of a welding robot is attained.

According to the slag removal method of the present invention, by using a slag removal device having an effective vibration suppression function, a vibrating impact body collides with a welding part to remove slag from the welding part, so that an excessive load is not applied to the welding robot, Slag can be removed.

According to the vibration isolator of the present invention, the first elastic mechanism and the second elastic mechanism provided before and after in the moving direction of the impact body to the support part for holding the slag removal main body which vibrates the impact body, for slag removal Since it is possible to effectively absorb the impact caused by the slag removal and it is possible to suppress the load applied to the shock absorber by the weight of the slag removal body, the vibration suppression function and lifespan of the vibration isolator can be improved.

1A is a side view of a slag removal apparatus according to a first embodiment of the present invention;
It is a top view of the slag removal apparatus shown in FIG. 1A.
2 is a side view of a slag removal apparatus according to a second embodiment of the present invention.
3 is a side view of a slag removal apparatus according to a third embodiment of the present invention.
4 is a side view of a slag removal apparatus according to a fourth embodiment of the present invention.
5 is a perspective view illustrating a state in which the slag removal device is mounted on a small welding robot and removes slag.

EMBODIMENT OF THE INVENTION Hereinafter, each embodiment of the slag removal apparatus which concerns on this invention is described in detail based on drawing.

<First embodiment>

1A is a side view of a slag removal apparatus according to a first embodiment of the present invention, and FIG. 1B is a top view thereof. In addition, in the following description, the direction in which the needle 22 protrudes is orthogonal to the front, the direction in which the needle 22 is drawn in is orthogonal to the back, front and rear, and the direction perpendicular to the paper in FIG. 1A is the left and right direction. , a direction orthogonal to the front-rear direction and the left-right direction will be described as the vertical direction.

As shown to FIG. 1A and FIG. 1B, the slag removal apparatus 10 is equipped with the slag removal part 20 and the impact absorption part 30. As shown in FIG.

The slag removal unit 20 has a needle assembly 21 which is an impact body, and a slag removal body 23 that gives vibration to the impact body.

In the needle assembly 21, a plurality of (eg, 7 to 13) needles 22 having a diameter of φ1.5 mm to φ2.5 mm are bundled in the front-rear direction.

The slag removal body 23 incorporates a cylinder (not shown), holds the needle 22 in a protruding state, and moves the needle 22 forward and backward at high speed by the air supplied from the nozzle 24 . Then, the slag removal unit 20 drives the needle 22 with a cylinder, repeatedly collides with the slag covering the surface of the weld metal to crush the slag, and removes the slag from the welding unit 105 (refer to FIG. 5) Peel off and remove.

The impact absorbing part 30 includes a support part 31 for holding the slag removal body 23, a linear guide device 40 for supporting the support part 31 to be reciprocally movable along the movement direction of the impact body, and the impact body. The first elastic mechanism 51 is disposed in front of the support part 31 in the moving direction of and a second elastic mechanism 52 for applying an elastic force to the support part 31 and a base plate 60 .

The upper part of the support part 31 is divided into two into a main body 32 and a cover part 33 . The main body 32 and the cover part 33 are provided with a substantially semicircular recessed part (not shown), respectively, and slag removal by the substantially semicircular recessed part by matching and assembling the main body 32 and the cover part 33. A gripping hole (not shown) for gripping the main body 23 is formed. Therefore, by mounting the slag removal main body 23 in the semicircular recessed part of the main body 32, covering the cover part 33, and fixing with the bolt 34, the slag removal body 23 is attached to the support part 31. it is scraped

Further, on the support part 31, cylindrical first covers 35a and 35b are formed to extend in the front-rear direction from both sides thereof. In the cylindrical first covers 35a and 35b, collars 36a and 36b are concentric with the first covers 35a and 35b and fixed by bolts (not shown).

A slider 37 is fixed to the lower surface of the support part 31 by bolts. Further, on the upper surface 60a of the base plate 60, a guide rail 38 is fixed in its longitudinal direction toward the front-rear direction. A slider 37 is disposed over the guide rail 38 , and is slidable along the guide rail 38 . That is, the slider 37 and the guide rail 38 constitute the linear guide device 40 .

Moreover, the attachment stay 61 for attaching the slag removal apparatus 10 to the welding robot 100 mentioned later is being fixed to the lower surface 60b of the base plate 60. As shown in FIG. In addition, elastic mechanism support blocks 62a and 62b are fixed to the upper surface 60a of the base plate 60 while being spaced apart from each other in the front-rear direction to face the collars 36a and 36b.

A vibration-proof rubber 55a, which is an example of a vibration-proof material, is fixed to a side surface (right side in FIG. 1A) on the support part 31 side of the elastic mechanism support block 62a, and at the tip of the vibration-proof rubber 55a, a collar (56a) is fixed. A vibration-proof rubber 55b, which is an example of a vibration-proof material, is fixed to the side surface (left side in FIG. 1A) on the support part 31 side of the elastic mechanism support block 62b, and a collar is also provided at the tip of the vibration-proof rubber 55b. (56b) is fixed. Moreover, silicone gel, natural rubber, chloroprene rubber, etc. can be used as a vibration-proof material, It is preferable to set the static spring constant to 5-30 N/mm in order to absorb a vibration efficiently.

The elastic mechanism support blocks 62a and 62b each have cylindrical second covers 59a and 59b extending toward the support 31 . The inner diameters of the second covers 59a and 59b are slightly larger than the outer diameters of the first covers 35a and 35b. Thereby, the tips of the first covers 35a, 35b are fitted inside and out to the tips of the second covers 59a, 59b so as to be stretchable and contractible.

First and second coil springs 53 and 54 are respectively fitted to the outside of the collar 36a and the collar 56a, and the collar 36b and the collar 56b, and are mounted in a compressed state to a predetermined length. have.

Accordingly, the first elastic mechanism 51 is constituted by the vibration-proof rubber 55a and the first coil spring 53 , and the second elastic mechanism 52 includes the vibration-proof rubber 55b and the second coil spring 54 . is composed by In addition, the first and second coil springs 53 and 54 are preferably used in compression rather than tension in order to stabilize performance and improve lifespan.

In addition, when the vibration-proof rubber and the coil spring are combined to form an elastic body, when the excitation frequency emitted by the slag removal body 23 and the natural frequency of the coil spring alone are close, the resonance of the coil spring called surging is reduced. This is to reduce the adverse effect of remarkably lowering the vibration-proof effect and mechanical life of the coil spring by internal damping of the vibration-proof rubber.

Further, the collars 36a and 36b, the vibration-proof rubbers 55a and 55b, and the collars 56a and 56b are arranged on the same axis. Accordingly, the axial centers of the first and second coil springs 53 and 54 are also located on the same axis.

The axial direction of the first coil spring 53 and the second coil spring 54 coincides with the movement direction of the needle 22, and the slag removal body 23 is passed through the support part 31 in the front-rear direction. It is supported in a state where it can move in the needle movement direction. The 1st coil spring 53 and the 2nd coil spring 54 are slag in the position where the force of both coil springs 53 and 54 is balanced when the slag removal main body 23 is held in a horizontal position. The removal body 23 is supported. Accordingly, when the first and second coil springs 53 and 54 are springs of the same specification, the support part 31 is located approximately at the center in the longitudinal direction of the guide rail 38 .

Moreover, when the attitude|position of the slag removal apparatus 10 is inclined upward, for example, the weight of the slag removal main body 23 and the support part 31 is supported by the spring force of the 2nd coil spring 54. . Moreover, when the slag removal apparatus 10 is inclined downward, the weight of the slag removal main body 23 and the support part 31 is supported by the spring force of the 1st coil spring 53. As shown in FIG. That is, each is stably supported at a position slightly shifted from the central position.

In this way, since the slag removal body 23 is supported by the first coil spring 53 and the second coil spring 54 from both sides in the front-rear direction, the attitude of the slag removal device 10 can be set to a free attitude. In this way, regardless of the position of the welding part 105, work is possible in most places, and the load due to the weight of the slag removal body applied to the shock absorbing part can be suppressed. In addition, when the working posture is determined to be either upward or downward, one spring force of the first coil spring 53 or the second coil spring 54 is set to be larger than the other spring force, and the slag It can also be set so that the self-weight of the removal body 23 and the support part 31 may be actively supported.

Preferred specifications of the first coil spring 53 and the second coil spring 54 include a piano wire having a wire diameter of ?1.0 mm to ?2.4 mm, an outer diameter: ?16 mm to ?20 mm, and a free length: 50 mm. It is a spring wound to 100 mm, and spring constant: It is preferable to set in the range of 0.8 N/mm - 3.6 N/mm. In addition, when attaching the 1st coil spring 53 and the 2nd coil spring 54 of this specification, it is preferable to set it as the compression spring set so that an initial bending may become 2 mm - 10 mm.

The reason why the spring constants of the first coil spring 53 and the second coil spring 54 are within the above ranges is that in general, it is better to soften the first coil spring 53 and the second coil spring 54. Although it is considered that the effect of damping vibration is high, since the attitude|position of the slag removal main body 23 changes with the position of the welding part 105, if it is too soft, by the attitude|position change of the slag removal body 23, the 1st coil This is because the weight applied to the spring 53 and the second coil spring 54 changes, and the tip position of the needle 22 changes greatly.

In addition, when slag is to be removed satisfactorily, unless the slag removal main body 23 is held with a holding force greater than or equal to a predetermined level, it is because an impact force sufficient to remove the slag cannot be applied to the welding portion 105 and the slag.

The periphery of the first coil spring 53 and the second coil spring 54 is the first cover 35a, 35b and the second cover 59a, 59b fitted to the outside of the first cover 35a, 35b. ) is covered by Thereby, for example, the influence on the spring characteristics of the first coil spring 53 and the second coil spring 54 by the mixing of foreign substances from the outside can be excluded, so that the lifespan of the shock absorbing part can be improved. .

Moreover, as a cover, the thing of the pleated type thing made from cloth which has heat resistance or rubber may be sufficient. In addition, the material of the first and second covers 35a, 35b, 59a, 59b is not particularly problematic. For example, if a metal such as aluminum or stainless pipe is used, the rubber is vibration-proof from arc light generated during welding. Since deterioration of (55a, 55b) can be prevented, it is preferable.

<Second embodiment>

Next, a slag removal apparatus according to a second embodiment of the present invention will be described with reference to FIG. 2 . 2 is a side view of a slag removal apparatus according to a second embodiment of the present invention. In addition, the same code|symbol or an equivalent code|symbol is attached|subjected to the same part as the slag removal apparatus 10 of 1st Embodiment, and description is simplified or abbreviate|omitted. In addition, also about the slag removal apparatus of each following embodiment, the same code|symbol or an equivalent code|symbol is attached|subjected to the same part, and description is simplified or abbreviate|omitted.

As for the slag removal apparatus 10A which concerns on this embodiment, the 1st elastic mechanism 51 and the 2nd elastic mechanism 52 of 1st Embodiment are 1st and 2nd coil springs 53 and 54, and a vibration-proof rubber. It differs from the slag removal apparatus 10 which concerns on 1st Embodiment in that it is comprised only with the 1st and 2nd coil springs 53 and 54 with respect to being comprised by the combination of 55a, 55b.

According to the slag removal device 10A according to the present embodiment, due to the relationship between the excitation frequency emitted by the slag removal body 23 and the spring constant, when there is no fear that the coil spring is surging, the shock absorption mechanism can be further simplified. There are advantages that can be

<Third embodiment>

Next, a slag removal apparatus according to a third embodiment of the present invention will be described with reference to FIG. 3 . 3 is a side view of a slag removal apparatus according to a third embodiment of the present invention.

The slag removal apparatus 10B which concerns on this embodiment is slag which concerns on 1st Embodiment, since the 1st elastic mechanism 51 and the 2nd elastic mechanism 52 are comprised only with vibration-proof rubber 55a, 55b. It is different from the removal device 10 . In this case, the collar 56a fixed to the vibration-proof rubber 55a and the collar 36a fixed to the support part 31 are in direct contact, and the collar 56b fixed to the vibration-proof rubber 55b and the support part 31 are in direct contact with each other. The fixed collar 36b is also in direct contact.

According to the slag removal apparatus 10B which concerns on this embodiment, since the 1st and 2nd coil springs 53 and 54 are not provided, only the length of the elastic mechanism support block 62a, 62b is supported by the support part 31. ) can be placed close to the Therefore, the size reduction of the impact absorbing part 30 and, by extension, the slag removal apparatus 10B is attained. Also, in the slag removal device 10B of the present embodiment, since the vibration-proof rubbers 55a and 55b are covered with the first covers 35a and 35b and the second covers 59a and 59b that are elastically fitted to each other, The deterioration of the vibration-proof rubbers 55a and 55b due to arc light or the like is suppressed.

<Fourth embodiment>

Next, a slag removal apparatus according to a fourth embodiment of the present invention will be described with reference to FIG. 4 . 4 is a side view of a slag removal apparatus according to a fourth embodiment of the present invention.

The slag removal apparatus 10C according to the present embodiment includes the respective tip ends of the collars 36a and 36b fixed to the support part 31 and the collars 56a and 56b fixed to the elastic mechanism support blocks 62a and 62b. Here, a pair of magnets, preferably a permanent magnet 70, are arranged so that the same poles are opposed to each other.

Preferred properties of the permanent magnets 70 are: magnetic flux density: 300 mT to 600 mT, opposing surfaces: 50 mm 2 to 200 mm 2 , and a clearance L: 1 mm to 10 mm is set to face each other in a spaced apart state. And, the vibration acting on the support part 31 when the slag is removed is absorbed by the repulsive force of the permanent magnet 70 . That is, the 1st elastic mechanism 51 and the 2nd elastic mechanism 52 of this embodiment are comprised by the pair of permanent magnets 70 opposingly arranged.

The permanent magnet 70 constituting the first elastic mechanism 51 and the second elastic mechanism 52 includes first covers 35a and 35b and second covers 59a and 59b which are telescopically fitted to each other. Since it is covered, for example, it is prevented that iron powder etc. from the outside resulting from the fume which generate|occur|produce at the time of arc welding adhere to the permanent magnet 70, and can suppress that the magnet performance changes.

Furthermore, by constituting the first elastic mechanism 51 and the second elastic mechanism 52 with the permanent magnet 70, fatigue failure and resonance do not occur, such as in a spring, and a stable vibration suppression function. This is maintained over a long period of time, and the lifespan of the first and second elastic mechanisms 51 and 52 serving as the shock absorbing portion can be further increased. In addition, since there is no risk of fingers being pinched, safety is improved. In addition, the longitudinal dimension of the impact absorbing portion 30 is shortened, so that the size of the slag removal device 10C can be reduced.

The slag removal apparatuses 10, 10A, 10B, and 10C which have such a structure are mounted on the small welding robot 100, such as a portable welding robot, by the mounting stay 61, as shown in FIG.

The small welding robot 100 is installed on the guide rail 101 and the guide rail 101 provided on the outer periphery of the prismatic steel pipe 102 by a mounting part 106 made of, for example, a magnet or the like, and the guide The robot body 103 moving along the rail 101 and the mounting part 104 provided in the robot body 103 are provided. The slag removal device 10 is mounted on the mounting portion 104 . In addition, the mounting part 104 can switch to the slag removal apparatus 10 and mount a welding torch (not shown) at the time of a welding operation.

The robot body 103 moves around the rectangular steel pipe 102 along the guide rail 101 and at the same time can move in a direction away from the guide rail 101, and the mounting part 104 includes a rectangular steel pipe ( 102) is movable in the vertical direction in the drawing along the outer surface. That is, the mounting part 104 has three degrees of freedom, and the slag removal device 10 mounted on the mounting part 104 can take an arbitrary posture according to the welding part 105 .

The slag removal device 10 is mounted on the mounting portion 104 of the robot body 103 via the mounting stay 61 . The slag removal apparatus 10 moves the needle 22 of the slag removal apparatus 10 forward and backward at high speed by air supplied from the nozzle 24 via an air hose shown in the figure, and the surface of the weld metal of the welding part 105 is The slag is crushed by repeatedly colliding with the slag covering the slag, and the slag is removed by peeling the slag from the welding part 105 .

When the needle 22 advances and retreats, the reaction force repeatedly acts on the slag removal body 23 in the front-rear direction. In detail, when the needle assembly 21 protrudes, a reaction force directed to the rear is generated to press the slag removal body 23 rearward, and when the needle 22 is retracted, a reaction force directed to the front is generated to remove the slag The main body 23 is pressed forward.

The reaction force applied to this slag removal body 23 is also transmitted to the support part 31 which grips the slag removal body 23 . That is, when the needle 22 protrudes, the support part 31 moves backward to compress the second coil spring 54 , and when the needle 22 retracts, it moves forward to compress the first coil spring 53 . and slide along the guide rail 38 to absorb the reaction force.

As described above, the reaction force generated during operation of the slag removal device 10 and acting on the slag removal body 23 is the first coil spring 53 , the second coil spring 54 , and the vibration-proof rubbers 55a and 55b. ) or the reaction force of the permanent magnet 70 , the vibration of the slag removal device 10 is significantly suppressed.

In addition, since a pair of first and second coil springs 53 and 54, vibration-proof rubbers 55a and 55b, and a pair of permanent magnets 70 are arranged in the front-rear direction of the support part 31, the first coil The load acting on the elastic body such as the spring 53 and the second coil spring 54 is greatly reduced, and the life of the first and second coil springs 53 and 54 and the vibration-proof rubbers 55a and 55b is increased. . Moreover, since slag removal can be performed without applying an excessive load to the small welding robot 100, such as a portable welding robot, the lifetime of a welding robot and the lifetime improvement of a shock absorbing part can be aimed at.

In addition, this invention is not limited to each embodiment mentioned above, A deformation|transformation, improvement, etc. are possible suitably. For example, although the impact body has been described using a needle as an example, a chipper, a vibrating brush, or the like may be used. In addition, any elastic body can be used for the 1st elastic mechanism 51 and the 2nd elastic mechanism 52 irrespective of the elastic mechanism of each embodiment described above and its combination, and they can be combined freely. .

As described above, the following matters are disclosed in this specification.

(1) In the slag removal apparatus for removing slag from the welding part,

The slag removal device includes a slag removal unit and a shock absorption unit,

The slag removal unit has an impact body and a slag removal body that vibrates the impact body,

The shock absorbing part includes a support part for gripping the slag removal body, a linear guide device for reciprocally supporting the support part along the moving direction of the impact body, and a front with respect to the support part in the moving direction of the impact body. A slag removal apparatus having a first elastic mechanism disposed in the slag and a second elastic mechanism disposed rearward with respect to the support portion.

According to this configuration, the first elastic mechanism and the second elastic mechanism provided before and after in the moving direction of the impact body to the support portion that grips the slag removal main body which gives vibration to the impact body, the impact caused by the slag removal Effective absorption and slag removal applied to the shock absorbing part Since the load due to the weight of the main body can be suppressed, even when applied to a small welding robot such as a portable welding robot, slag removal is not applied without excessive load. It becomes possible to run Therefore, the lifetime of a welding robot and the lifetime of the shock absorbing part in a slag removal apparatus can be improved.

(2) The slag removal apparatus according to (1), wherein the shock absorbing part includes a cover member that covers the circumference of at least one of the first elastic mechanism and the second elastic mechanism.

According to this structure, the influence on the elastic mechanism by an external foreign material, arc light, etc. can be excluded.

(3) The slag removal apparatus according to (1) or (2), wherein the first elastic mechanism or the second elastic mechanism is constituted by at least one of a spring, a vibration isolator, and a magnet.

According to this structure, a 1st elastic mechanism or a 2nd elastic mechanism can be comprised with the material optimal for vibration-proof according to a welding part.

(4) The slag removal apparatus according to (3), wherein the first elastic mechanism and the second elastic mechanism are constituted by a pair of magnets with same poles facing each other.

According to this structure, there is no possibility that the magnet will deteriorate, and the vibration suppression function can be maintained over a long period of time by using the repulsive force of the magnet.

(5) The spring has an outer diameter: φ16 mm to φ20 mm, wire diameter: φ1.0 mm to φ2.4 mm, free length: 50 mm to 100 mm, and spring constant: 0.8N/mm to 3.6N/mm The slag removal apparatus as described in (3) which has a characteristic.

According to this structure, the 1st elastic mechanism and 2nd elastic mechanism which have an optimal spring constant can be designed.

(6) The slag removal device according to (5), wherein the spring is set so that the initial bending is 2 mm to 10 mm.

According to this structure, the attitude|position of a slag removal apparatus can be set to arbitrary attitude|positions, without being influenced by the dead weight of a slag removal apparatus.

(7) The slag removal device according to (3), wherein the vibration-proof material is composed of at least one of silicone gel, natural rubber, and chloroprene rubber, and the vibration-proof material has a static spring constant of 5 N/mm to 30 N/mm.

According to this configuration, it is possible to select an optimal vibration-proof material from among many vibration-proof materials.

(8) the magnet has a magnetic flux density of 300 mT to 600 mT, an area: 50 mm 2 to 200 mm 2 , and the pair of magnets have the same poles opposite each other with a clearance of 1 mm to 10 mm, (3) or The slag removal apparatus as described in (4).

According to this structure, a slag removal apparatus can be miniaturized and the fall of a vibration suppression function can be prevented.

(9) The slag removal device according to (1), wherein the impact body is a needle assembly comprising 7 to 13 needles having a diameter of φ1.5 mm to φ2.5 mm bundled together.

According to this structure, an impact body suitable for slag removal is obtained.

(10) The slag removal apparatus in any one of (1)-(9) for attaching and using to a portable welding robot.

According to this structure, the load accompanying a welding robot is greatly reduced by providing the slag removal apparatus which has an effective vibration suppression function, and size reduction of a welding robot is attained.

(11) A welding robot provided with the slag removal apparatus in any one of (1)-(10).

According to this structure, the load accompanying a welding robot is greatly reduced by providing the slag removal apparatus which has an effective vibration suppression function, and size reduction of a welding robot is attained.

(12) A slag removal method comprising using the slag removal device according to any one of (1) to (10) to strike the vibrating impact body on the welded portion to remove slag from the welded portion.

According to this configuration, using a slag removal device having an effective vibration suppression function, a vibrating impact body collides with the welding portion to remove slag from the welding portion, so that the slag can be removed without placing an excessive load on the welding robot. have.

(13) A vibration isolator used in a slag removal device for removing slag from a welded portion having an impact body and a slag removal body that vibrates the impact body,

A support part for holding the slag removal body, a linear guide device for supporting the support part reciprocally along a movement direction of the impact body, and a first disposed in front of the support part in the movement direction of the impact body A vibration isolator having an elastic mechanism and a second elastic mechanism disposed behind the support portion.

According to this configuration, the first elastic mechanism and the second elastic mechanism provided before and after in the moving direction of the impact body to the support portion that grips the slag removal main body which gives vibration to the impact body, the impact caused by the slag removal Absorbing effectively and removing slag Since the load applied to the shock absorbing part by the weight of the main body can be suppressed, the vibration suppression function and life of the vibration isolator can be improved.

As mentioned above, although various embodiment was demonstrated, referring drawings, it cannot be overemphasized that this invention is not limited to this example. It is clear that a person skilled in the art can devise various changes or modifications within the scope described in the claims, and it is understood that they naturally fall within the technical scope of the present invention. In addition, you may combine each component in the said embodiment arbitrarily in the range which does not deviate from the meaning of invention.

In addition, this application is based on the Japanese patent application (patent application No. 2019-095471) for which it applied on May 21, 2019, The content is used by reference during this application.

10, 10A, 10B, 10C: Slag removal device
20: slag removal unit
21: needle assembly
22: needle (impact body)
23: slag removal body
30: shock absorber
31: support
35a, 35b: first cover (cover member)
40: linear guide device
51: first elastic mechanism
52: second elastic mechanism
53: first coil spring (first elastic mechanism)
54: second coil spring (second elastic mechanism)
55a, 55b: vibration-proof rubber (vibration-proof material)
59a, 59b: second cover (cover member)
70: permanent magnet (magnet)
100: small welding robot (portable welding robot)
105: weld
L: Clearance

Claims (13)

In the slag removal device for removing slag from the weld,
The slag removal device includes a slag removal unit and a shock absorption unit,
The slag removal unit has an impact body and a slag removal body that vibrates the impact body,
The shock absorbing part includes a support part for holding the slag removal body, a linear guide device for reciprocally supporting the support part along the moving direction of the impact body, and a front side with respect to the support part in the moving direction of the impact body. having a first elastic mechanism disposed and a second elastic mechanism disposed rearward with respect to the support portion;
Slag removal device. The method of claim 1,
The shock absorbing portion includes a cover member covering the periphery of at least one of the first elastic mechanism and the second elastic mechanism.
Slag removal device. 3. The method according to claim 1 or 2,
The first elastic mechanism or the second elastic mechanism is configured by at least one of a spring, a vibration damper, and a magnet.
Slag removal device. 4. The method of claim 3,
The first elastic mechanism and the second elastic mechanism are constituted by a pair of magnets with the same poles facing each other.
Slag removal device. 4. The method of claim 3,
The spring has an outer diameter: φ16mm to φ20mm, a wire diameter: φ1.0mm to φ2.4mm, a free length: 50mm to 100mm, and a spring constant: 0.8N/mm to 3.6N/mm.
Slag removal device. 6. The method of claim 5,
The spring is set to have an initial bending of 2 mm to 10 mm.
Slag removal device. 4. The method of claim 3,
The vibration-proof material is composed of at least one of silicone gel, natural rubber, and chloroprene rubber, and the vibration-proof material has a static spring constant of 5N/mm to 30N/mm.
Slag removal device. 4. The method of claim 3,
The magnet has a magnetic flux density: 300 mT to 600 mT, an area: 50 mm 2 to 200 mm 2 ,
The pair of magnets have the same poles opposite each other with a clearance of 1 mm to 10 mm.
Slag removal device. The method of claim 1,
The impact body is a needle assembly consisting of 7 to 13 needles of diameter: φ1.5mm to φ2.5mm bundled together
Slag removal device. 3. The method according to claim 1 or 2,
To be used by mounting on a portable welding robot
Slag removal device. A slag removal device according to claim 1 or 2 comprising
welding robot. Using the slag removal apparatus according to claim 1 or 2,
The vibrating impact body collides with the welding part to remove slag from the welding part
How to remove slag. In the vibration isolator used in a slag removal device for removing slag from a welding part, the vibration isolating device having an impact body and a slag removal body giving vibration to the impact body,
A support portion for gripping the slag removal body, a linear guide device for supporting the support portion reciprocally along the movement direction of the impact body, and a first disposed in front of the support portion in the movement direction of the impact body an elastic mechanism, and a second elastic mechanism disposed behind the support portion.
anti-vibration device.

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