WO1996025275A1 - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- WO1996025275A1 WO1996025275A1 PCT/JP1996/000321 JP9600321W WO9625275A1 WO 1996025275 A1 WO1996025275 A1 WO 1996025275A1 JP 9600321 W JP9600321 W JP 9600321W WO 9625275 A1 WO9625275 A1 WO 9625275A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- welding
- power source
- electric circuit
- arc welding
- Prior art date
Links
- 238000003466 welding Methods 0.000 claims abstract description 40
- 238000001816 cooling Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 13
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 230000001934 delay Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002844 melting Methods 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Definitions
- the present invention is an integrated type in which the arc welding power source is housed in a robot stand, installation work can be simplified, installation space can be saved, and the output cable of the welding power source can be shortened.
- the present invention relates to a robot device capable of obtaining a stable welding state.
- a welding robot is composed of a robot body (manipulator), a robot control device (control panel), and a welding power source (including a wire feed mechanism).
- the welding robot and welding power source are separated.
- it is installed at a location and the robot and the welding power source are connected with a welding output cable.
- a large installation space must be secured because the robot installation location and the welding power source installation location are required independently of each other.
- a method of storing an arc welding power source inside a robot control panel instead of such a robot device is disclosed.
- Japanese Patent Application Laid-Open No. Hei 4-3656581 is known.
- the length of the welding output cable that connects the robot and the welding power source must be long, which increases the inductance of the cable, delays the detection of short-circuit timing, and lengthens the short-circuit time, resulting in an unstable arc. It had been.
- the rise time of the current was prolonged and the transition to the arc was not smooth, and the arc was unstable.
- Japanese Unexamined Patent Publication No. 60-1588987 is known as an improvement of such a robot apparatus.
- a welding power source transmitter
- a rectifier is connected to the tip of the robot arm.
- a manipulator having a special structure that can handle the load needs to be disposed at the end of the arm, and has a disadvantage that the arm becomes extremely large, which is not preferable.
- An object is to provide a robot capable of obtaining a contact state.
- the present invention is characterized in that an electric circuit for driving and controlling the operation of a tool held by the robot main body is provided inside a robot mount on which a robot main body composed of an articulated manipulator is mounted. .
- FIG. 1 is a front view showing a preferred embodiment of an arc welding robot according to the present invention, with a front cover removed
- FIG. 2 is a front view showing a preferred embodiment of an arc welding robot according to the present invention
- FIG. 3 is a left side view showing an embodiment of a preferred arc welding robot according to the present invention
- FIG. 4 is a left side view showing an embodiment of the preferred arc welding robot according to the present invention.
- FIG. 1 is a front view of the robot for arc welding according to the present invention with the front cover removed
- FIG. 2 is a front view of the robot of FIG. 1 with the front cover attached
- FIG. 3 is a left side view of the robot of FIG. 1
- FIG. 4 is a rear view of the robot of FIG.
- 1 is an arc welding port bot
- la is a welding torch
- 2 is a base of an arc welding robot
- 3 is a window for an output cable of an arc welding power supply
- 4 is a servo power section of a robot motor.
- Reference numeral 5 denotes an arc welding power source
- 6 denotes a power plug for supplying power to the servo power unit and the arc welding power source
- 7 denotes a plug receiver for an interface
- 8 denotes a ventilator
- 9 denotes a blower.
- the servo power unit 4 of the robot motor is also built in the mount.
- the base 2 of the arc welding robot 1 houses a servo power unit 4 for driving the motor of the arc welding robot 1 and an arc welding power source 5.
- a ventilator 8 and a blower 9 for air cooling are provided on the side of 2, and an output cable window 3 is provided on the front of the gantry 2.
- a power supply plug 6 for supplying power to 5 and a plug receiver 7 for an interface cable for connecting to a robot controller are provided.
- an arc welding robot is shown, but the present invention is not limited to this and can be applied to all mouth-botting devices.
- the electric circuit for drive control of the robot body (manipulator) is also built in the gantry as in the above example, the circuit previously in the robot control panel will be transferred to the gantry. There is also a ripple effect that the size can be reduced. Furthermore, if the air cooling means is strengthened, the heat generated on the robot body side can also be cooled through the mount.
- the robot device according to the present invention is useful, for example, as one used for arc welding or the like.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/722,042 US5783921A (en) | 1995-02-15 | 1996-02-13 | Welding robot with base stand having self contained welding power source |
EP96902439A EP0755758B1 (en) | 1995-02-15 | 1996-02-13 | Robot |
DE69606113T DE69606113T2 (de) | 1995-02-15 | 1996-02-13 | Roboter |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP7051834A JPH08216082A (ja) | 1995-02-15 | 1995-02-15 | ロボット装置 |
JP7/51834 | 1995-02-15 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996025275A1 true WO1996025275A1 (fr) | 1996-08-22 |
Family
ID=12897900
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1996/000321 WO1996025275A1 (fr) | 1995-02-15 | 1996-02-13 | Robot |
Country Status (7)
Country | Link |
---|---|
US (1) | US5783921A (ja) |
EP (1) | EP0755758B1 (ja) |
JP (1) | JPH08216082A (ja) |
KR (1) | KR100414660B1 (ja) |
CN (1) | CN1046455C (ja) |
DE (1) | DE69606113T2 (ja) |
WO (1) | WO1996025275A1 (ja) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6348752B1 (en) | 1992-04-06 | 2002-02-19 | General Electric Company | Integral motor and control |
JPH08216082A (ja) * | 1995-02-15 | 1996-08-27 | Yaskawa Electric Corp | ロボット装置 |
DE102009018308B4 (de) * | 2009-04-22 | 2014-06-12 | Renate KEINATH | Peripheriegerät für eine Spritzgießmaschine |
JP5464158B2 (ja) * | 2011-03-08 | 2014-04-09 | 株式会社安川電機 | 制御装置 |
JP6250372B2 (ja) * | 2013-11-22 | 2017-12-20 | Ntn株式会社 | 自動溶接機 |
CN103753600B (zh) * | 2014-02-18 | 2016-08-17 | 威海新北洋正棋机器人股份有限公司 | 一种具有强迫空气对流系统的水平关节机器人 |
US10207722B2 (en) | 2016-08-22 | 2019-02-19 | Strato, Inc. | Automated machining and welding of railway car parts |
CN108247677A (zh) * | 2017-12-28 | 2018-07-06 | 浙江捷尚人工智能研究发展有限公司 | 具备内部散热功能的机器人 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61199387U (ja) * | 1985-05-30 | 1986-12-13 | ||
JPS6377689A (ja) * | 1986-09-22 | 1988-04-07 | ヤマハ発動機株式会社 | コントロ−ラ内蔵の一軸ロボツト |
JPH0241889A (ja) * | 1988-07-29 | 1990-02-13 | Toshiba Corp | クリーンロボット |
Family Cites Families (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4086522A (en) * | 1976-09-08 | 1978-04-25 | Unimation, Inc. | Computer assisted teaching arrangement for conveyor line operation |
DE2659743A1 (de) * | 1976-12-31 | 1978-07-13 | Daimler Benz Ag | Schweissroboter zum ausfuehren von widerstandselektrischen punktschweissungen |
US4677276A (en) * | 1982-11-23 | 1987-06-30 | Yaskawa Electric Mfg. Co., Ltd. | Method of welding robot control which controls the three basic axes of a robot to provide a repetition of a weaving pattern along a robot locus |
KR900003637B1 (ko) * | 1982-11-26 | 1990-05-28 | 가부시기가이샤 히다찌 세이사꾸쇼 | 로보트의 동작제어장치 |
FR2539346B1 (fr) * | 1983-01-18 | 1990-12-07 | Mitsubishi Electric Corp | Dispositif manipulateur automatique articule notamment pour le soudage a l'arc |
GB2137423B (en) * | 1983-03-30 | 1985-11-13 | Prutec Ltd | Robot support pod |
GB2149707B (en) * | 1983-11-15 | 1987-10-28 | Hitachi Shipbuilding Eng Co | Automatic welding apparatus |
JPS60158987A (ja) * | 1984-01-28 | 1985-08-20 | Honda Motor Co Ltd | ロボット塔載直流抵抗溶接装置 |
US4578554A (en) * | 1984-04-30 | 1986-03-25 | Teledyne, Inc. | Laser welding apparatus |
JPS61199387A (ja) * | 1985-02-28 | 1986-09-03 | Nec Home Electronics Ltd | 静止画記録装置 |
US4931617A (en) * | 1987-06-24 | 1990-06-05 | Fanuc Ltd. | Electrically conductive coating for cover of industrial robot |
GB2215870B (en) * | 1988-02-15 | 1992-12-16 | Amada Co Ltd | Welding robot |
JPH03208592A (ja) * | 1990-01-09 | 1991-09-11 | Shibaura Eng Works Co Ltd | ロボット装置 |
JP2674358B2 (ja) * | 1991-06-11 | 1997-11-12 | 松下電器産業株式会社 | アーク溶接電源内蔵ロボットコントローラ |
JPH05177580A (ja) * | 1991-12-28 | 1993-07-20 | Jiyooben Denki Kk | 作業用ロボット |
US5403988A (en) * | 1993-06-07 | 1995-04-04 | Honda Giken Kogyo Kabushiki Kaisha | Stud welding apparatus |
ZA948103B (en) * | 1993-11-17 | 1995-06-05 | Honda Motor Co Ltd | Method and apparatus for assembling motor vehicle body |
GB9412179D0 (en) * | 1994-06-17 | 1994-08-10 | Dow Corning Sa | Foam control agent |
US5658121A (en) * | 1994-07-25 | 1997-08-19 | Fanuc Ltd. | Robot system |
JP3491780B2 (ja) * | 1994-12-07 | 2004-01-26 | 株式会社安川電機 | 産業用ロボットにおけるリード線処理構造 |
JPH08216082A (ja) * | 1995-02-15 | 1996-08-27 | Yaskawa Electric Corp | ロボット装置 |
-
1995
- 1995-02-15 JP JP7051834A patent/JPH08216082A/ja active Pending
-
1996
- 1996-02-13 DE DE69606113T patent/DE69606113T2/de not_active Expired - Fee Related
- 1996-02-13 CN CN96190100A patent/CN1046455C/zh not_active Expired - Fee Related
- 1996-02-13 EP EP96902439A patent/EP0755758B1/en not_active Expired - Lifetime
- 1996-02-13 WO PCT/JP1996/000321 patent/WO1996025275A1/ja active IP Right Grant
- 1996-02-13 US US08/722,042 patent/US5783921A/en not_active Expired - Fee Related
- 1996-02-13 KR KR1019960705787A patent/KR100414660B1/ko not_active IP Right Cessation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61199387U (ja) * | 1985-05-30 | 1986-12-13 | ||
JPS6377689A (ja) * | 1986-09-22 | 1988-04-07 | ヤマハ発動機株式会社 | コントロ−ラ内蔵の一軸ロボツト |
JPH0241889A (ja) * | 1988-07-29 | 1990-02-13 | Toshiba Corp | クリーンロボット |
Non-Patent Citations (1)
Title |
---|
See also references of EP0755758A4 * |
Also Published As
Publication number | Publication date |
---|---|
DE69606113T2 (de) | 2000-06-15 |
CN1046455C (zh) | 1999-11-17 |
KR100414660B1 (ko) | 2004-05-22 |
EP0755758A4 (en) | 1997-05-14 |
CN1146741A (zh) | 1997-04-02 |
JPH08216082A (ja) | 1996-08-27 |
KR970702129A (ko) | 1997-05-13 |
US5783921A (en) | 1998-07-21 |
EP0755758B1 (en) | 2000-01-12 |
DE69606113D1 (de) | 2000-02-17 |
EP0755758A1 (en) | 1997-01-29 |
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