WO2004105991A1 - 溶接トーチおよび溶接ロボット - Google Patents
溶接トーチおよび溶接ロボット Download PDFInfo
- Publication number
- WO2004105991A1 WO2004105991A1 PCT/JP2004/007183 JP2004007183W WO2004105991A1 WO 2004105991 A1 WO2004105991 A1 WO 2004105991A1 JP 2004007183 W JP2004007183 W JP 2004007183W WO 2004105991 A1 WO2004105991 A1 WO 2004105991A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- welding
- welding torch
- flange portion
- robot
- wrist
- Prior art date
Links
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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
-
- 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
- B23K9/122—Devices for guiding electrodes, e.g. guide tubes
-
- 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
- B23K9/285—Cooled electrode holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
Definitions
- the present invention relates to a water-cooled welding torch and a welding robot.
- 1 is a vertical articulated industrial robot, and 2 is its upper arm.
- the wrist 3 is attached to the tip of the upper arm 2.
- the wrist part 3 swings around the wrist swing axis 4 (arrow A direction) and rotates around the wrist rotation axis 5 (arrow B direction).
- a welding torch 7 is attached to the wrist 3 via an attachment member 6.
- the welding torch 7 has a shock sensor 8 and a nozzle 9.
- a wire feeder 10 is provided at the rear of the upper arm 2 to supply a welding wire to a welding torch 7 via a conduit cable 11 and a cooling water to a welding torch 7 via a cooling water hose 12, respectively.
- Patent Document 1 JP-A-9-94663
- an object of the present invention is to provide a welding torch and a welding robot in which a conduit cable 'cooling water hose does not interfere with peripheral devices and the like.
- the invention of claim 1 provides a flange portion connected to a wrist of a robot, a shock sensor attached to the flange portion, and a welding force attached to the shock sensor.
- a wire disposed at the center of the flange portion Supply pipe inlet, a cooling pipe inlet arranged at a position offset from the center of the flange, and a cooling water supply to the nozzle from the flange bypassing the shock sensor. It has a cooling hose.
- a welding torch according to the first aspect is provided in a hollow wrist of an industrial robot, and a welding wire and cooling water are supplied to the welding torch through the hollow wrist.
- the conduit cable and the cooling water hose can be connected to the welding torch through the hollow wrist of the robot, so that the conduit cable and the like do not go out of the upper arm. This has the effect of preventing interference between the device and peripheral devices.
- FIG. 1 is an external view of a welding torch showing a first embodiment of the present invention.
- FIG. 2 is an outline drawing of a welding robot showing a second embodiment of the present invention.
- FIG. 3 is an external view of a welding robot showing an example of a conventional technique, where (a) is a plan view and (b) is an elevation view.
- FIG. 1 is an external view of a welding torch showing a first embodiment of the present invention.
- reference numeral 21 denotes a welding torch of the present invention.
- the welding torch 21 is configured by sequentially connecting a flange portion 22, a shock sensor 23, and a nozzle 24.
- the flange portion 22 is a connection portion for connecting to a wrist portion of the welding robot.
- a wire supply pipe insertion port 25 is provided at the center of the connection portion, and a conduit cable (not shown) is connected thereto. (Not shown) and the shielding gas are supplied to the nozzle 24 through the center of the shock sensor 23.
- a cooling pipe insertion port 26 is provided at a position offset from the center of the flange portion 22, and a cooling water hose (not shown) is connected to supply cooling water.
- the cooling water that has entered the flange portion 22 enters the cooling hose 27 from the side surface of the flange portion 22, bypasses the shock sensor 23, and is supplied to the nozzle 24.
- the shock sensor 23 is a sensor for detecting when the nozzle 24 collides with a foreign substance and stopping the robot.
- FIG. 2 is an outline view of a welding robot showing a second embodiment of the present invention, and shows a state where the welding torch 21 shown in FIG.
- a conduit cable 11 and a cooling water hose 12 extend from a wire supply device 10 attached to the rear end of the upper arm 2, enter the upper arm 2, and are disposed to the wrist 3.
- the wrist 3 has a hollow portion, and the conduit cable 11 and the cooling water hose 12 are connected to the welding torch 21 through the hollow portion.
- conduit cable 11 and the cooling water hose 12 extend to the welding torch 21 without going out of the upper arm portion 2, the conduit cable 11 and the like do not interfere with peripheral devices and the like.
- the present invention is particularly applied to a water-cooled welding torch and a welding robot, and connects a conduit cable and a cooling water hose to the welding torch through a hollow wrist of the robot so that a conduit cable or the like goes out of the upper arm.
- the present invention can be used in the field of providing a water-cooled welding torch and a welding robot capable of preventing interference between a conduit cable or the like and peripheral devices or the like.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Arc Welding In General (AREA)
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112004000924T DE112004000924T5 (de) | 2003-05-30 | 2004-05-26 | Schweißbrenner und Schweißroboter |
US10/558,826 US7326880B2 (en) | 2003-05-30 | 2004-05-26 | Welding torch and welding robot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-155304 | 2003-05-30 | ||
JP2003155304A JP4285087B2 (ja) | 2003-05-30 | 2003-05-30 | 溶接トーチおよび溶接ロボット |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004105991A1 true WO2004105991A1 (ja) | 2004-12-09 |
Family
ID=33487353
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/007183 WO2004105991A1 (ja) | 2003-05-30 | 2004-05-26 | 溶接トーチおよび溶接ロボット |
Country Status (6)
Country | Link |
---|---|
US (1) | US7326880B2 (ja) |
JP (1) | JP4285087B2 (ja) |
KR (1) | KR20060021335A (ja) |
CN (1) | CN100463755C (ja) |
DE (1) | DE112004000924T5 (ja) |
WO (1) | WO2004105991A1 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5843683B2 (ja) | 2012-03-28 | 2016-01-13 | 株式会社神戸製鋼所 | タンデム溶接トーチ |
JP5943483B2 (ja) * | 2013-02-18 | 2016-07-05 | 株式会社神戸製鋼所 | 接続金具、及び接続方法 |
CN103949821A (zh) * | 2014-05-14 | 2014-07-30 | 泰佰亿(山东)工业有限公司 | 机器人焊枪把持装置 |
GB2527375A (en) * | 2014-06-20 | 2015-12-23 | Linde Ag | Welding apparatus |
KR102625062B1 (ko) | 2016-12-28 | 2024-01-16 | 한화오션 주식회사 | 로봇 용접 장치 |
US20230065851A1 (en) * | 2020-03-10 | 2023-03-02 | Fanuc Corporation | Robot control device |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6032546B2 (ja) * | 1981-02-06 | 1985-07-29 | 本田技研工業株式会社 | 溶接ト−チの取付装置 |
JPH0547313B2 (ja) * | 1987-12-16 | 1993-07-16 | Ishikawajima Harima Heavy Ind | |
JP2976692B2 (ja) * | 1992-05-08 | 1999-11-10 | 松下電器産業株式会社 | 産業用ロボットの手首機構 |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3833785A (en) * | 1973-07-02 | 1974-09-03 | Cammann Mfg Co | Electrode movement control |
GB2092497B (en) | 1981-02-06 | 1985-01-16 | Honda Motor Co Ltd | Welding torch assembly |
SE454334B (sv) * | 1986-09-01 | 1988-04-25 | Asea Ab | Anordning vid industrirobot |
JPH0677824B2 (ja) * | 1986-09-24 | 1994-10-05 | 誠 西村 | アルミニユムのろう接装置 |
CN1047045A (zh) * | 1989-05-10 | 1990-11-21 | 余建明 | 水等离子弧切割 |
JP2672879B2 (ja) * | 1990-05-07 | 1997-11-05 | 日鐵溶接工業株式会社 | 溶接用トーチ |
CA2139152C (en) * | 1993-12-30 | 2005-09-20 | Frank Zamuner | Water cooled welding torch |
JP3314595B2 (ja) | 1995-09-29 | 2002-08-12 | 松下電器産業株式会社 | 溶接トーチ |
CN1212918A (zh) * | 1997-09-26 | 1999-04-07 | 武汉水利电力大学 | 非均匀压缩药芯焊丝电弧窄间隙自动焊接设备 |
JP3894647B2 (ja) | 1998-01-19 | 2007-03-22 | 株式会社不二越 | 産業用ロボットの手首構造 |
JP3098007B1 (ja) * | 1999-04-21 | 2000-10-10 | 川崎重工業株式会社 | 溶接トーチ用センサ取付ブラケット |
SE516877C2 (sv) * | 1999-12-01 | 2002-03-19 | Abb Ab | Ett förfarande och ett vridorgan för dragning av ett kablage för en industrirobot |
JP2003094768A (ja) | 2001-09-21 | 2003-04-03 | Toshiba Corp | 記憶媒体処理装置、カード処理装置及び記憶媒体処理方法 |
JP2004306072A (ja) * | 2003-04-04 | 2004-11-04 | Daihen Corp | アーク溶接ロボットにおける溶接ワイヤ等の供給機構 |
JP2004358649A (ja) * | 2003-05-12 | 2004-12-24 | Yaskawa Electric Corp | 産業用ロボット |
-
2003
- 2003-05-30 JP JP2003155304A patent/JP4285087B2/ja not_active Expired - Fee Related
-
2004
- 2004-05-26 US US10/558,826 patent/US7326880B2/en not_active Expired - Fee Related
- 2004-05-26 CN CNB200480014910XA patent/CN100463755C/zh not_active Expired - Fee Related
- 2004-05-26 DE DE112004000924T patent/DE112004000924T5/de not_active Withdrawn
- 2004-05-26 KR KR1020057022939A patent/KR20060021335A/ko not_active Application Discontinuation
- 2004-05-26 WO PCT/JP2004/007183 patent/WO2004105991A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6032546B2 (ja) * | 1981-02-06 | 1985-07-29 | 本田技研工業株式会社 | 溶接ト−チの取付装置 |
JPH0547313B2 (ja) * | 1987-12-16 | 1993-07-16 | Ishikawajima Harima Heavy Ind | |
JP2976692B2 (ja) * | 1992-05-08 | 1999-11-10 | 松下電器産業株式会社 | 産業用ロボットの手首機構 |
Also Published As
Publication number | Publication date |
---|---|
CN1798626A (zh) | 2006-07-05 |
CN100463755C (zh) | 2009-02-25 |
US7326880B2 (en) | 2008-02-05 |
DE112004000924T5 (de) | 2006-11-02 |
US20070017910A1 (en) | 2007-01-25 |
JP4285087B2 (ja) | 2009-06-24 |
KR20060021335A (ko) | 2006-03-07 |
JP2004351510A (ja) | 2004-12-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US7631573B2 (en) | Guiding device for an umbilical member of a robot and a robot having the guiding device | |
JP4142304B2 (ja) | アーク溶接用ロボット | |
JP5480378B2 (ja) | 加圧フラックス供給溶接トーチを有するサブマージアーク溶接システム、およびフラックスマフラ | |
JP2008238320A (ja) | 作業ツールを備えたロボット | |
US20120111135A1 (en) | Robot wrist structure and robot | |
WO2003037577A1 (fr) | Robot industriel | |
AU1911101A (en) | Industrial robot | |
WO2004105991A1 (ja) | 溶接トーチおよび溶接ロボット | |
ATE361807T1 (de) | Schweissbrennervorrichtung zum anschluss an einen schweissroboter | |
JP2014535015A (ja) | 建設機械の油圧配管固定装置 | |
JP2006007256A (ja) | アーク溶接ロボット | |
JP2004299002A (ja) | 配線・配管処理装置 | |
JP2004358649A (ja) | 産業用ロボット | |
JP2007326151A (ja) | 産業用ロボット | |
US7462803B2 (en) | Disconnection box for a robot system | |
JP4029306B2 (ja) | 産業用ロボット | |
JP4290848B2 (ja) | 産業用ロボットにおけるケーブル支持装置 | |
JP2005096073A (ja) | 産業用ロボット | |
JP2003025270A (ja) | 産業用ロボットの配線配管処理装置 | |
JP2007125651A (ja) | 産業用ロボット | |
JP4804113B2 (ja) | ロボットハンド | |
US4926024A (en) | Welding gun cable saddle | |
JP3906560B2 (ja) | 溶接信号検知装置 | |
JP2006102859A (ja) | 産業用ロボットのアーム装置 | |
CN115815765A (zh) | 一种作动筒上管路自动氩弧焊固定装置及方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ NA SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2007017910 Country of ref document: US Ref document number: 2004814910X Country of ref document: CN Ref document number: 10558826 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1020057022939 Country of ref document: KR |
|
WWP | Wipo information: published in national office |
Ref document number: 1020057022939 Country of ref document: KR |
|
122 | Ep: pct application non-entry in european phase | ||
WWP | Wipo information: published in national office |
Ref document number: 10558826 Country of ref document: US |