KR880002441Y1 - Sensor of clashing torch of arc welding robot - Google Patents

Abstract

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Description

Torch Collision Detection Device of Arc Welding Robot

1 is a torch configuration of a conventional welding robot.

2 is a torch configuration of the conventional improved welding robot.

3 is a torch configuration of the present invention.

4 is a perspective view of the present invention.

5 is a cross-sectional view of the collision detection unit.

6 is a cross-sectional view taken along the line A-A 'of FIG.

* Explanation of symbols for main parts of the drawings

1: List (WRIST) 2: Fixed plate

4: sliding plate 5: limit switch

6: spring 7: shaft bolt

9: fixed link 10: adjustment link

11: fixed link 12: head

13: Torch 15, 15 ': Adjusting bolt

The present invention relates to a torch holder of an arc welding robot, and more particularly, to a freely adjustable torch provided with a torch collision detection device.

The welding robot repeats the machining of the welded part of the workpiece uniformly by the input program, generates arc in contact with the workpiece, and starts welding. After welding to one workpiece is completed, back off and approach the new workpiece as it arrives in position and perform welding from the start of welding.

In this case, the welding torch may be impacted by an impact such as an abnormal occurrence or unexpected accident of the control device. If a collision is severe, related parts such as torch and WRIST part may be damaged, so a device that should be sensitive to the collision should be installed.

The configuration of the collision detection device includes: a limiting plate with several limit switches and a sliding plate with a dog in a state of being pressed by the spring elasticity, and when a collision occurs, any limit switch with a dog of the sliding plate attached to the fixed plate; The short circuit causes grounding of the robot's movement. Except for the occurrence of collision, the fixed plate and the sliding plate should be placed in a state where they should be replaced at regular intervals at all times, so that the distance and direction of the torch portion attached to the sliding plate must have a unique configuration.

The structure shown in FIG. 1 is a conventional torch part in which it is generalized. In the figure, the left side of the robot is a wrist portion (WRIST section), and the adjustment portion Q and the torch T, including the collision detection portion, are formed on the fixed plate P in a stepped manner. As can be seen from the drawings, the above structure has the possibility that the torch can be changed slightly up and down by adjusting the apex, but it can be seen that wide adjustment is not expected. In other words, before, after, left and right adjustment is impossible. In order to efficiently perform a welding operation on a workpiece, it has been true that the above-described conventional configuration that the direction and the position of the torch can be changed as necessary makes the working purpose limited.

In fact, this problem was encountered, and a more improved form appeared in Fig. 2, which was able to convert the fixed point A point using the link L, which can be flexibly adjusted in a double configuration.

However, the adjustment of the B point is impossible, and this configuration is difficult to fix the collision detection force because the tension of the spring is adjusted in three directions. It is also pointed out that the manufacturing cost increases because of the complicated structure. Since the technical desire for convenient use is to bring an endless development, the present invention has been further improved from the above technology, and the present invention will be described in detail based on the accompanying drawings.

The configuration of the present invention is a circular fixed plate (2) is attached to the wrist (1) of the robot as shown in Figs. In this sliding plate 4, a limit switch 5 is attached to the shaft bolt 7, which receives the force of the spring 6, and a cover 8 is attached for aesthetics. A fixed link 9 is attached to the sliding plate 4, and an adjustment link 10 is coupled thereto, and a fixed link 11 having a head 12 is coupled to the other side. Head portion 12 is composed of the upper and lower cover, and the support 14 including the torch 3 is inserted into the inner surface is supported by the adjustment bolt 15, 15 '. As shown in FIG. 6, the fixed link 11 of the head part 12 is coupled to one side of the bending plate to be coupled to the bolt 15 to allow a slight movement.

According to the present invention configured as described above, the bolts are fixed to the fixed links 9 and 11 by arbitrarily selecting the angle of the adjustment link 10, and several bolt insertion holes are drilled on the inner surfaces of the fixed links 9 and 11. You can select the angle to fit. By adjusting the contact B of the torch 13 with the adjustment link 10, the torch 13 can be moved forward and backward as the adjustment bolt 15 of the head 12 and fixed to a desired length. When the adjusting bolts 15 and 15 'are disassembled on both sides, the torch 13 can be moved forward and backward. When only one side is disassembled, the torch 13 can be adjusted left and right.

Therefore, since the fixed point A of the torch 13 can be converted into three positions, it is sufficient to take a posture necessary for welding, so that a straight torch and a curved torch Freely selectable and fine adjustment of B point is possible. In addition, since the tension of the spring is adjusted in one direction, it is easy to set the action of the collision detection.

As described above, the present invention can reliably signal the collision detection action of the welding torch, and can change the position of the torch comprehensively and easily, and the structure is simple to further reduce the manufacturing cost. It is a practical and novel design that can be usefully used for the Ike welding robot.

Claims (1)

A circular fixing plate 2 is attached to the wrist list 1 of the robot so as to be spaced apart as the axle bolts 7 and the springs 6 so as to be opposed to the sliding plate 4 with several limit switches 5 interposed therebetween. The copper plate 4 is screwed in the order of the fixing link (9), the adjusting link (10) and the fixing link (11), and the adjusting bolt (15) (15 ') to the head portion (12) coupled to the upper fixing link (11). Torch collision detection device of the arc welding robot, characterized in that the torch (13) can be fixed and adjusted.