WO2015145685A1 - 溶接装置 - Google Patents
溶接装置 Download PDFInfo
- Publication number
- WO2015145685A1 WO2015145685A1 PCT/JP2014/058965 JP2014058965W WO2015145685A1 WO 2015145685 A1 WO2015145685 A1 WO 2015145685A1 JP 2014058965 W JP2014058965 W JP 2014058965W WO 2015145685 A1 WO2015145685 A1 WO 2015145685A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm member
- lower arm
- component supply
- supply device
- electrode
- Prior art date
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/314—Spot welding guns, e.g. mounted on robots
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/002—Resistance welding; Severing by resistance heating specially adapted for particular articles or work
- B23K11/004—Welding of a small piece to a great or broad piece
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
- B23K11/115—Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/14—Projection welding
-
- 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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/30—Features relating to electrodes
- B23K11/31—Electrode holders and actuating devices therefor
- B23K11/314—Spot welding guns, e.g. mounted on robots
- B23K11/315—Spot welding guns, e.g. mounted on robots with one electrode moving on a linear path
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45104—Lasrobot, welding robot
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45135—Welding
Definitions
- This invention includes a lower arm member having an electrode at a tip portion and an upper arm member having an electrode at a tip portion, and welding in which one or both of the electrodes are advanced and retracted and a robot apparatus is attached.
- the present invention relates to a device, and relates to a mounting structure of a component supply device that supplies components to an electrode, a protection structure of the component supply device, and an arrangement structure of a component supply hose that supplies components to the component supply device.
- the prior art described in Japanese Patent No. 3700025 is as follows. That is, as shown in FIG. 1 of the same publication, an air cylinder 16 serving as an insertion drive means is fixed to the lower arm member 5a of the welding machine, and a projection bolt is supplied to the downward piston rod 17 via an elongated coupling member 20. A device 14 is attached.
- the coupling member 20 is a long and narrow bar-like member, and is disposed in a positional relationship extending in a direction that is substantially perpendicular to the longitudinal direction of the lower arm member 5a.
- the attachment strength to the lower arm member must be sufficiently ensured.
- the component supply device since the component supply device has its own size, when the lower arm member is long, it is necessary to dispose the component supply device close to the electrode. Furthermore, it is important that the relative position between the component supply device and the electrodes to which components such as bolts are supplied can be adjusted accurately and with simple operations. Further, when disassembling the welding apparatus, a structure in which only the electrode or only the component supply apparatus can be removed is important in terms of simplifying maintenance. A sufficient mounting strength for the lower arm member must be ensured.
- a welding machine equipped with a lower arm member and an upper arm member is manufactured and sold as an off-the-shelf product.
- the welder completed in this way has sufficient strength so that each arm does not easily deform even if the reaction force when the electrode is pressurized is applied to the lower arm member or upper arm member. Is granted.
- an equipment such as a component supply device is retrofitted to a lower arm member or upper arm member in a welder that is an off-the-shelf product
- the lower arm member or the upper arm member is perforated or cut.
- the rigidity of each arm may be impaired. Therefore, it is necessary to pay attention to this point when additionally mounting the component supply device.
- Patent Document 1 In the technique described in Patent Document 1, the air cylinder 16, the air cylinder 19, the supply rod 18 and the like constituting the projection bolt supply device 14 are directly exposed to the outside. Also in Patent Document 2, the air cylinder 20, the air cylinder 30 and the like are directly exposed to the outside.
- Patent Document 1 and Patent Document 2 are moved in various directions such as up / down / left / right rotation by the robot apparatus, but for some reason such as trouble of an operation signal for operating the robot apparatus, the welding apparatus
- the movement trajectory may deviate from the normal trajectory. If such a phenomenon occurs, the above-mentioned various air cylinders may come into contact with neighboring members, for example, bent portions of steel plate parts or machine frames that hold the steel plate parts, which may damage the welding apparatus. is there.
- the supply hoses described in Patent Document 1 and Patent Document 2 have a piping posture that is shifted substantially perpendicularly to the lower arm member. Therefore, when the welding machine moves in various directions such as up / down / left / right rotation by the operation of the robot apparatus, the supply hose may come into contact with a nearby member and the supply hose may be damaged.
- the present invention has been provided to solve the above-described problems, and in a welding apparatus in which a welding machine including a lower arm member and an upper arm member is moved by a robot apparatus, the mounting rigidity of the component supply device is improved. At the same time, it is possible to easily adjust the mounting position of the component supply device, and to prevent damage to the component supply device when the robot device operates abnormally or when an unexpected member enters. To provide a welding apparatus which can realize that the position of the supply hose is maintained normally so that it does not interfere with nearby members, regardless of the direction in which the welding machine moves. And
- the invention according to claim 1 has a lower arm member extending in a substantially horizontal direction and provided with an electrode on the tip side, and an upper arm member extending in a substantially horizontal direction and provided with an electrode on the tip side,
- a welding machine of a type in which either one or both of the electrodes advance and retreat has a vertical member arranged in a substantially vertical direction and a horizontal member arranged in a substantially horizontal direction in a welding apparatus of a type attached to a robot apparatus.
- the welding apparatus is characterized in that the apparatus is attached.
- the vertical member is attached in a state in which the vertical member can be adjusted in the vertical direction with respect to the lower arm member or the upper arm member, and the component supply device is horizontally attached to the horizontal member.
- the component supply apparatus usually has a predetermined mass with a mechanism such as a supply rod having a holding head, an advance / retreat driving means for moving the rod forward, and an insertion drive means for holding the component on the electrode. ing.
- a mechanism such as a supply rod having a holding head, an advance / retreat driving means for moving the rod forward, and an insertion drive means for holding the component on the electrode.
- the attachment strength to the lower arm member or the upper arm member must be sufficiently ensured.
- the component supply device since the component supply device has its own size, when the lower arm member or the upper arm member is long, the component supply device needs to be disposed close to the electrode. Furthermore, it is important that the relative position between the component supply device and the electrode to which the component is supplied can be adjusted accurately and with simple operations. Further, when disassembling the welding apparatus, a structure in which only the electrode or only the component supply apparatus can be removed is important in terms of simplifying maintenance.
- the horizontal member is attached with a component supply device that supplies a part to be welded to a steel plate component to any of the electrodes, and the vertical member is attached to a position separated from the electrode of the lower arm member or the upper arm member. Yes.
- a large inertial load is applied to the part where the component supply device is coupled to the lower arm member or the upper arm member due to various movements such as right and left and up and down rotation of the robot device. Since the member is attached to a portion of the lower arm member or the upper arm member having a high rigidity apart from the electrode, a large inertial force acts on the portion having a high rigidity to cause a lack of coupling strength at the joint portion. There is no such thing, and the mounting rigidity of the reliable component supply apparatus can be secured.
- the lower arm member and the upper arm member are thin with a cross-sectional area gradually decreasing toward the distal end side, and the separated portion away from the distal end side has a larger cross-sectional area and higher rigidity. . Using such characteristics of the lower arm member and the upper arm member, good mounting rigidity is ensured.
- the support member having the vertical member and the horizontal member it is possible to avoid attaching the component supply device to the distal end side of the lower arm member or the upper arm member, and Deformation or displacement of the relative positions of both electrodes can be prevented.
- components such as projection bolts are displaced from the electrode axis, which hinders normal energization of a welding current to the components and causes poor welding.
- the structure since the structure depends on a portion having high rigidity separated from the electrode of the lower arm member or the upper arm member, there is no concern about such a problem.
- the parts supply device can be easily moved horizontally along the horizontal member, or vertically along the vertical member. It is easy to perform placement close to the electrode while avoiding attachment to the electrode.
- the support member has a vertical member and a horizontal member, the mounting position of the component supply device can be easily adjusted by adjusting the position along the vertical member or adjusting the position along the horizontal member.
- the support member having the vertical member and the horizontal member can be made structurally simple, the rigidity of the support member itself can be easily set high. Therefore, it is possible to sufficiently secure the coupling rigidity when the component supply device is coupled indirectly to the lower arm member or the high arm portion separated from the electrode of the upper arm member via the support member. In particular, when a deformation phenomenon occurs in the support member due to the operation of the robot apparatus, it becomes impossible to accurately supply parts to the electrodes, but such a problem can be avoided by the high-rigidity support member.
- the component supply device is coupled to a portion having high rigidity separated from the electrode of the lower arm member or the upper arm member through a vertical member.
- the electrode is provided on the tip side of the lower arm member or the upper arm member. Therefore, when maintaining the electrode, the component supply device can be handled while remaining on the lower arm member or the upper arm member side. Further, when maintenance of the component supply device is performed, only the component supply device can be maintained by removing the vertical member from the lower arm member or the upper arm member while leaving the electrode. As described above, since maintenance can be performed with only necessary portions independent from each other, it is effective for improving workability without removing unnecessary portions.
- the lower arm member and the upper arm member may be coupled in a state that can be opened and closed by a shaft at a base formed on the side opposite to the electrode.
- the lower arm member and the upper arm member may be integrally coupled on the base side, and the robot apparatus may be coupled in the vicinity of the coupling portion.
- since the connecting portion of the vertical member can be brought close to the connecting portion of the shaft or the robot apparatus, it is possible to reduce the excessive load, which is effective for improving the durability of the entire apparatus. .
- the vertical member is attached in a state in which the vertical member can be adjusted in the vertical direction with respect to the lower arm member or the upper arm member, and the component supply device is horizontally attached to the horizontal member.
- the vertical member in the vertical direction relative to the lower arm member or the upper arm member it is possible to adjust the position of the entire component supply device with respect to the electrode in the vertical direction. Further, by moving the entire component supply device relative to the transverse member, the position of the entire component supply device relative to the electrodes can be adjusted in the horizontal direction. Thus, since the position adjustment in the two directions of the vertical direction and the horizontal direction can be performed, it is possible to easily obtain the relative position between the component supply device and the electrode.
- the component supply device is protected from both sides by a protective member coupled to a part of the component supply device or a support member, and a lower arm member or an upper arm member. 2.
- a protective member coupled to a part of the component supply device or a support member, and a lower arm member or an upper arm member.
- the distance between a part of the component supply device or the protection member and the lower arm member or the upper arm member is set narrower on the side close to the electrode in a plan view. It is a welding apparatus of description.
- the component supply device is protected from both sides by a protective member coupled to a part of the component supply device or a support member and a lower arm member or an upper arm member. Therefore, the operation trajectory of the welding apparatus may deviate from the normal trajectory due to a trouble such as a trouble of the operation signal of the robot apparatus, and the component supply apparatus may be a neighboring member, for example, a bent part of a steel plate part or a steel plate Even if it contacts the machine frame etc. which hold
- the component supply device is a supply rod having a holding head, an advancing / retreating drive means such as an air cylinder for moving the supply rod back and forth, a supply hose for guiding the component, and an air cylinder for holding the component on the electrode.
- This is an apparatus in which constituent members such as insertion driving means are integrated. These components are susceptible to damage if the welding device collides with or contacts steel plate parts or machine frames by drawing abnormal operation trajectories, but part of the component supply device or protective member or lower arm member or Due to the protective function of the upper arm member, the structural member is prevented from being damaged.
- the above-described components such as the supply rod and the air cylinder reliably supply parts to the electrodes by an accurate operation, they are formed by a precise mechanism.
- a component with such a character is in an environment where a large-mass welding machine follows an abnormal trajectory and is easily damaged by a large impact when it collides with or comes into contact with a steel plate part or machine frame. It is.
- the welder welds parts such as projection bolts to the floor panel of an automobile, the welder mainly composed of a lower arm member and an upper arm member becomes larger, while a supply rod, an air cylinder, etc.
- the structural member functions as a precision instrument.
- the protection structure since the protection structure is as described above, it is possible to reliably protect the component supply device that is easily damaged, and to prevent the component supply function from being impaired.
- the welding machine enters a narrow spot and the parts are welded accurately at a predetermined spot of the steel plate part.
- the space between a part of the component supply device or the protective member and the lower arm member or the upper arm member is set narrower on the side close to the electrode in a plan view. It is possible to easily enter the welding machine to the place, and at the same time, it is easy to avoid interference with neighboring members.
- the component supply device is protected from both sides by a part of the component supply device or the protection member and the lower arm member or the upper arm member, and a part of the component supply device or the protection member and both arm members are planar. Therefore, since it has a V-shaped configuration, it is possible to avoid entry into a narrow place and interference with neighboring members as described above.
- the supply hose extending from the component supply source to the component supply device is substantially in the same direction as the longitudinal direction of the lower arm member or the upper arm member, and the lower arm member or the upper arm member.
- the supply hose is disposed in a space along the lower arm member or the upper arm member, and the horizontal width of the space is outside the lower arm member or the upper arm member and the component supply device. 6.
- the invention according to claim 7 is the welding apparatus according to claim 6, wherein the width of the space in the vertical direction is a distance between the lower arm member or the upper arm member and the outer portion of the mounting structure.
- the supply hose extending from the component supply source to the component supply device is substantially in the same direction as the longitudinal direction of the lower arm member or the upper arm member, and the relative position in the distance direction from the lower arm member or the upper arm member is unchanged. It is attached to the lower arm member or the upper arm member via a fastener.
- the position of the supply hose is substantially the same as the longitudinal direction of the lower arm member or the upper arm member, and the predetermined interval between the lower arm member or the upper arm member and the supply hose does not change.
- the position of the supply hose does not change due to the centrifugal force during movement, etc., and contact with neighboring members can be prevented.
- a supply hose extending from a parts supply source such as a parts feeder may be 10 m or more between the parts feeder and the welder. Since the movement space of the supply hose associated with the movement operation can be sufficiently secured, the welding hose can adapt to movements such as up / down / left / right rotation without any trouble.
- the supply hose when the supply hose is assembled to the welding machine, the supply hose easily comes into contact with the lower arm member, the upper arm member, or the attachment structure portion of the component supply device.
- the relative position between the supply hose and the lower arm member or the upper arm member does not change as described above, the above contact problem is solved.
- the supply hose Since the supply hose is attached to the lower arm member or the upper arm member via a stopper, the supply hose is predetermined without contacting a component supply device or an attachment structure portion existing in the vicinity of the lower arm member or the upper arm member. Therefore, it is possible to avoid interference with a complicated neighboring structure. That is, the arrangement of the supply hose is realized in a stationary state as a part of the welder.
- the supply hose can be freely deformed, such as curved or twisted, between the welding machine and the component supply source.
- the supply hose is attached to the lower arm member or the upper arm member at such an integrated location, so that the component The unit as a welding machine equipped with a supply device is made compact.
- the supply hose is disposed in a space along the lower arm member or the upper arm member, and the horizontal width of the space is a distance between the lower arm member or the upper arm member and the outer portion of the component supply device.
- the supply hose exists behind the component supply device, and the component supply device functions to protect the supply hose, so that the supply hose does not come into contact with a nearby member during the movement of the welding machine, and damage can be prevented.
- the width of the space in the vertical direction is the distance between the lower arm member or the upper arm member and the outer portion of the mounting structure.
- the rear space viewed in the horizontal direction of the component supply apparatus and the vertical direction between the lower arm member or the upper arm member and the outer portion of the mounting structure portion.
- a supply hose is present in the space formed by the rear space as seen. That is, the supply hose is arranged in a virtual space having a horizontal width and a vertical height. For this reason, when the welding machine moves forward, the supply hose is positioned behind the component supply device and the mounting structure, and is prevented from coming into contact with nearby members.
- FIG. 3 is a sectional view taken along line III-III in FIG. 1. It is a three-dimensional view of a horizontal member coupling part. It is a fragmentary sectional view of a horizontal member coupling part. It is a top view of the whole component supply apparatus. It is a top view of the mediation bracket in Drawing 5A. It is CC sectional drawing of FIG. 5A. It is sectional drawing similar to FIG. 5C. It is EE sectional drawing of FIG. 5A. It is a side view of the whole component supply apparatus.
- FIG. 6A It is a side view of the insertion drive means in FIG. 6A. It is sectional drawing which mainly shows a stop passage unit. It is a top view of a slip prevention structure. It is a bottom view of a slip prevention structure. It is CC sectional drawing of FIG. 8B. It is sectional drawing which shows the welding state of a volt
- Embodiment 1 of the present invention show Embodiment 1 of the present invention.
- the target part is a projection bolt, but in the present invention, a projection nut, other shaft-like parts, and perforated parts can also be used.
- the projection bolt may be simply expressed as a bolt.
- the iron projection bolt is denoted by reference numeral 1.
- the bolt 1 is formed at a shaft portion 2 on which a male screw is formed, a circular flange portion 3 formed integrally with the shaft portion 2, and a central portion on the surface of the flange portion opposite to the shaft portion 2. It is comprised by the welding protrusion 4.
- FIG. 4 the welding protrusion 4 may arrange a plurality of small protrusions on the circumference.
- each part of bolt 1 is as follows.
- the diameter and length of the shaft portion 2 are 6 mm and 24 mm
- the diameter and thickness of the flange 3 are 12 mm and 1.1 mm, respectively
- the diameter and the raised height of the welding protrusion 4 are 6.5 mm and 1 mm.
- the welding machine 5 has a lower arm member 6 and an upper arm member 7.
- an elongated high-rigidity portion 6 ⁇ / b> A whose rigidity is increased by casting or the like and a thin electrode bar 6 ⁇ / b> B subjected to machining or the like are integrated at a joint portion 8.
- the high rigidity portion 6A is made of a copper alloy such as brass.
- the electrode bar 6B is also made of a copper alloy such as chromium copper.
- an elongated high-rigidity portion 7 ⁇ / b> A whose rigidity is increased by casting or the like and a thin electrode bar 7 ⁇ / b> B subjected to machining or the like are integrated at a joint portion 9.
- the highly rigid portion 7A is made of a copper alloy such as brass.
- the electrode bar 7B is also made of a copper alloy such as chromium copper.
- a center line (axis line) of the lower arm member 6 is indicated by reference numeral X
- the lower arm member 6 and the upper arm member 7 are in a form in which the electrode bars 6B and 7B are joined to each other.
- the lower arm member 6 and the upper arm member 7 are not such a joining type, and have no joining portions 8 and 9, and the tip side is slender. It is also possible to use a single type.
- the embodiment described in detail here is of the former joining type.
- the electrode 10 is provided on the tip side of the electrode bar 6B in an upright state in a substantially vertical direction.
- the electrode 11 is also provided on the tip side of the electrode bar 7B.
- the electrode 11 since the electrode 11 advances and retreats with respect to the electrode 10, the electrode 11 is a movable electrode and the electrode 10 is a fixed electrode.
- the electrode 10 can be a movable electrode and the electrode 11 can be a fixed electrode. It is also possible to advance and retract both electrodes 10 and 11.
- the lower arm member 6 and the upper arm member 7 are arranged in a posture extending substantially in the horizontal direction.
- the end of the high-rigidity part 6A opposite to the electrode 10 is an upright base member 6C
- the end of the high-rigidity part 7A opposite to the electrode 11 is a base member 7C extending downward.
- the base member 6C and the base member 7C are coupled by the shaft 12, and the upper arm member 7 is swung with respect to the lower arm member 6, whereby the electrode 11 is advanced and retracted.
- An air cylinder 13 which is a swinging means is disposed between the protruding piece 6D provided on the base member 6C and the protruding piece 7D provided on the base member 7C.
- the air cylinder 13 outputs, the upper arm member 7 is It swings.
- the welding machine 5 in which the upper arm member 7 and the lower arm member 6 are coupled by the shaft 12 as described above is generally called an X gun.
- the welding machine 5 in which the base members 7C and 6C of the upper arm member 7 and the lower arm member 6 are integrally coupled is generally called a C gun.
- an air cylinder is attached to the tip of the upper arm member 7, and the electrode 11 is advanced and retracted by the output of this air cylinder.
- the robot device 14 is a general one such as a six-axis type, which is simply illustrated, but is coupled to the lower arm member 6.
- the operation of the robot apparatus 14 moves the welding machine 5 in the direction of up / down, left / right, and rotation.
- welder means a unit mainly composed of an upper arm member and a lower arm member having electrodes, that is, an X gun and a C gun, and “welding device” means “welder”.
- welding Means a whole unit in which a component supply device (to be described later) is mounted and a robot device is coupled to a “welding machine”.
- the support member 16 plays a role of attaching a component supply device 100 described later to the lower arm member 6 or the upper arm member 7, and is a member including a vertical member 16A and a horizontal member 16B.
- a bar having a circular cross section is formed into an L shape.
- the vertical member 16A is arranged in a posture extending in a substantially vertical direction
- the horizontal member 16B is arranged in a posture extending in a substantially horizontal direction.
- the lateral member 16 ⁇ / b> B is disposed below the lower arm member 6.
- the vertical member 16A is coupled to the highly rigid portion 6A via the vertical member coupling portion 17.
- the vertical member coupling portion 17 may be any unit as long as the vertical member 16A and the high-rigidity portion 6A are integrated, and has a structure shown in FIGS. 2A to 2C here. That is, the high-rigidity portion 6A is accommodated in a U-shaped main body 18 that opens downward, and the pressing bolt 19 is screwed in a state of passing through both pieces 18A of the main body 18, and the pressing piece 20 at the tip thereof. Is pressed against both lateral sides of the high-rigidity portion 6A. This prevents the main body 18 from tilting in the left-right direction in FIG. 2A with respect to the high-rigidity portion 6A.
- the main body 18 is couple
- the main body 18 exists in a state of being pressed against the high-rigidity portion 6A, and the vertical member is coupled to the high-rigidity member 6A through the main body 18 as a medium.
- the square base plate 22 is fixed to the one side member 18 ⁇ / b> A using the fixing bolt 23, and the two clamp members 24 are welded to the base plate 22.
- the two clamp members 24 are arranged in the vertical direction, and the insertion hole 25 is formed in the vertical direction.
- a slit 26 communicating with the insertion hole 25 is formed, and a tightening bolt 27 that acts in a direction of narrowing the gap of the slit 26 is screwed.
- the longitudinal member 16A is firmly tightened on the inner surface of the insertion hole 25, and the longitudinal member 16A is tightened. Is attached to the highly rigid portion 6A. Therefore, by adjusting the position of the vertical member 16A, the entire component supply device 100 can be moved and adjusted in the vertical direction.
- the base plate 22 is insulated from the main body 18.
- An insulating plate 29 made of a material such as bakelite is interposed between the single member 18A which is a horizontal plate of the main body 18 and the base plate 22, and the fixing bolt 23 is an insulating cylinder 30 made of the same material.
- An insulating washer 31 made of a similar material is interposed between the head of the fixing bolt 23 and the base plate 22.
- the main body 18 is also prevented from slipping with respect to the longitudinal direction of the highly rigid portion 6A. This is illustrated in FIGS. 8A-8C.
- An elongated displacement preventing member 32 is welded to the distal end of the main body 18, and a hook portion 32A at the distal end is caught on the distal end surface of the high-rigidity portion 6A. This prohibits the main body 18 from moving to the right in FIGS. 8A and 8B.
- the engagement surface 32B formed at the center of the anti-slip member 32 is in contact with the projection 33 formed on the lateral side surface of the high-rigidity portion 6A, whereby the main body 18 moves to the left in FIGS. 8A and 8B. It is prohibited to move.
- the joining between the high-rigidity portion 6A and the electrode bar 6B or the joining between the high-rigidity portion 7A and the electrode bar 7B is performed at the joining portions 8 and 9, but various specific structures can be adopted.
- a so-called insertion type is adopted. As shown in FIGS. 3 and 1, an insertion hole 34 is opened in the longitudinal direction at the distal end portion of the high-rigidity portion 6 ⁇ / b> A, and a slit 35 is formed in a state communicating with the insertion hole 34 from the outside. A tightening bolt 36 acting in the direction of narrowing the gap of the cut 35 is screwed.
- the vertical member 16A is coupled to the high-rigidity portion 6A or 7A via the vertical member coupling portion 17.
- the vertical member 16A is coupled to a portion of the lower arm member 6 or the upper arm member 7 that is separated from the electrodes 10 and 11 and has high rigidity.
- the component supply device 100 is attached to the transverse member 16B via the transverse member coupling portion 38. Therefore, the transverse member coupling portion 38 may be a mechanism that performs such a function. Here, it is a form of a joint member that couples the horizontal member 16B and the horizontal base member 39 constituting a part of the component supply apparatus 100.
- a main body member 40 formed of a rectangular parallelepiped block-shaped steel material is provided with an insertion hole 41 into which the transverse member 16B is inserted, and a slit 42 communicating with the insertion hole 41 from the outside. Is provided.
- a tightening bolt (not shown) that acts in the direction of narrowing the gap between the slits 42 is screwed into the screw hole 43.
- the transverse member 16B When the tightening bolt is tightened after the tightening bolt is loosened and the transverse member 16B is inserted into the insertion hole 41, the transverse member 16B is firmly tightened on the inner surface of the insertion hole 41, and the transverse member 16B is attached to the main body member 40. Combined.
- another insertion hole 44 is opened in a direction that crosses at right angles to the insertion hole 41, and a slit 45 communicating with the outside from the insertion hole 44 is provided.
- a tightening bolt 46 acting in the direction of narrowing the gap of the slit 45 is screwed into the main body member 40.
- the horizontal base member 39 is formed by forming a thick stainless steel plate into a rectangular shape, and a support shaft 47 formed of a round bar is welded to the center thereof, and the support shaft 47 is arranged in the vertical direction. It is.
- the horizontal base member 39 that is a basic member of the component supply device 100 is coupled to the horizontal member 16 ⁇ / b> B via the main body member 40.
- the component supply device 100 is attached to the lower arm member 6 as described above.
- This “attachment structure portion” is a structure in which the support member 16, the vertical member coupling portion 17, and the horizontal member coupling portion 38 are integrated, and is denoted by reference numeral 200.
- An air cylinder 49 as an insertion driving means is attached to the horizontal base member 39.
- the piston rod 50 protruding downward is fixed to the central portion of the horizontal base member 39, and when the working air is supplied to and discharged from the cylinder 51, the cylinder body 52 is moved to the electrode axis OO (see FIG. 1). ) In the same direction as).
- the cylinder body 52 moves forward and backward.
- Reference numerals 54 and 55 denote air supply / discharge passages.
- two guide rods 56 are fixed to the lateral base member 39, and the guide rods 56 slide through the cylinder body 52. Since the air cylinder 49 is configured as described above, when operating air is supplied and discharged, the cylinder body 52 advances and retreats in the same direction as the electrode axis OO while the piston rod 50 is stopped.
- a vertical base member 57 is attached to the side surface of the cylinder body 52 by bolting or the like.
- the vertical base member 57 is made of a thick stainless steel plate, is rectangular, and has two window holes 58 at the top and bottom for weight reduction.
- the vertical base member 57 extends upward in the vertical direction, and an intermediate bracket 59 is coupled to the upper end portion thereof by bolting or the like.
- This mediation bracket 59 is made by processing a long block-shaped member.
- the mediation bracket 59 has a main body portion 60 that is in close contact with the vertical base member 57 and a protrusion 61 that protrudes in the width direction from the main body portion 60 to secure a space for arranging a bolt supply unit described later.
- the notch 62 is formed.
- a stop passage unit to be described later is attached to the lower side of the protrusion 61, and a bolt supply unit is attached to the upper side thereof.
- the target part is a projection nut
- the bolt supply unit is replaced with a nut supply unit as described later.
- the entire stop-passing unit is indicated by reference numeral 64, and the bolt 1 transferred from the parts feeder 65 at a high speed is temporarily stopped or sent after being stopped.
- Such a function prevents the bolt 1 from colliding with the inner end surface of the holding head, which will be described later, at high speed, thereby avoiding abnormal deformation of the back portion of the head recess.
- Reference numeral 66 denotes an air injection pipe arranged for conveying the bolt 1 with the injection air, and as shown in FIG. 7, the air is injected into the supply hose 67.
- the supply hose 67 is made of a flexible synthetic resin material such as urethane resin or polypropylene resin, and can follow the movement of the robot apparatus 14.
- the stop passage unit 64 has an elongate external form having an advancing / retracting type opening / closing member 68 for stopping and passing at least the bolt 1 and an advancing / retreating stroke means 69 for advancing / retreating the opening / closing member 68.
- the advance / retreat stroke means 69 comprises an air cylinder.
- the opening / closing member 68 is formed of an elongated block-like member, and is formed with a solid stopper member 70 and a passage hole 71 for temporarily stopping the bolt 1 that has moved at a high speed.
- the opening / closing member 68 is accommodated in an elongate case 72 so as to be able to advance and retract, and is advanced and retracted by an air cylinder 69 fixed to the end of the case 72.
- Reference numeral 73 denotes a piston rod that transmits an advance / retreat operation to the opening / closing member 68.
- a vent hole 70A is opened at the location of the stopper member 70.
- the inlet side component supply pipe 74 and the outlet side component supply pipe 75 are fixed to the case 72 in a coaxial state.
- the supply hose 67 is connected to the inlet side component supply pipe 74.
- a spacer flange 76 having a sufficient thickness in the longitudinal direction of the tube is formed in the outlet side component supply pipe 75, and the lower side of the spacer flange 76 penetrates the protrusion 61 of the mediation bracket 59.
- the upper side of the spacer flange 76 passes through an inclined mounting member described later.
- the elongated stop passage unit 64 has a longitudinal direction parallel to the lower arm member 6, and the inlet side component supply pipe 74 and the supply hose 67 extend along the lower arm member 6.
- the part feeder 65 is reached.
- the stop passage unit 64, the inlet-side component supply pipe 74, the supply hose 67, and the like are extended along the lower arm member 6, so that the entire apparatus can be made compact. Further, by arranging a long member such as the supply hose 67 along the lower arm member 6, even if the welding machine 5 is turned in various directions by the robot apparatus 14, the supply hose 67 is in the vicinity. Interference with the member can be avoided.
- the stop passage unit 64, the inlet side component supply pipe 74, the supply hose 67, and the like are extended along the lower arm member 6 and are viewed in plan view.
- a supply hose 67 is disposed within the interval width between the lower arm member 6 and the lower end of the bolt supply unit 78 (lower end of the air cylinder 79), and extends in the interval width toward the right in FIG. 5A. . Therefore, even if the welding machine 5 is turned in various directions by the robot apparatus 14, it is possible to avoid the supply hose 67 from interfering with neighboring members.
- the expression “viewed in a plane” means that the vertical member 16 ⁇ / b> A is arranged in the vertical direction with respect to the lower arm member 6 arranged in the horizontal direction. This means that the arm member 6 is viewed from directly above in the vertical direction.
- the supply hose 67 extending along the lower arm member 6 is provided near the right end of the lower arm member 6 shown in FIG. It can be carried out by fastening with.
- the state where the supply hose 67 is arranged in parallel along the lower arm member 6 is shown in FIG. 5A.
- the entire bolt supply unit is denoted by reference numeral 78, and is a long air cylinder 79 that is a forward / backward drive means, a supply rod 80 that is advanced / retracted by the air cylinder 79, and a holding head 81 provided at the tip of the supply rod 80.
- Etc. are the main members.
- the bolt supply unit 78 has an elongated external form that allows the bolt 1 held by the holding head 81 by the air cylinder 79 to reach the electrode 10 from the outlet side component supply pipe 75 of the stop passage unit 64 described above. That is, the bolt supply unit 78 has a long and narrow shape because it is necessary to supply the bolt 1 to a distant place away from the bolt 1.
- the holding head 81 is formed with a circular recess 82 opened downward, and the flange portion 3 of the bolt 1 is seated on the inner end face 83 at the back thereof.
- the attractive force necessary for the seating is secured by a permanent magnet 84 embedded in the holding head 81.
- the bolt 1 seated on the inner end face 83 is coaxial with the electrode axis OO when the supply rod 80 is advanced. It is held vertically.
- An air passage 85 is opened at the back of the recess 82, and when the tip 2A of the shaft portion 2 slightly enters the receiving hole 10A of the electrode 10, air is injected to the bolt 1 to the back of the receiving hole 10A. It is designed to enter.
- a coiled expansion / contraction hose 87 that can expand and contract in accordance with the advance / retreat of the holding head 81 connects the air supply source (not shown) and the air passage 85.
- the inclined mounting member 88 disposed on the upper side of the spacer flange 76 is formed of a thick plate-like member having a bent shape, and includes a horizontal fixing portion 89 and an inclined inclined portion 90. It is assumed to be a letter shape.
- the air cylinder 79 is attached to the inclined portion 90, and the inclination angle of the supply rod 80 is determined by selecting the inclination angle of the inclined portion 90.
- the inclination angle of the supply rod 80 is an angle formed by a horizontal line (center line XX, see FIG. 6A) and the axis of the supply rod 80, which is indicated by reference sign ⁇ 3 and is 45 degrees here. As shown in FIG.
- the fixing part 89 through which the outlet side component supply pipe 75 passes, the spacer flange 76, the protrusion 61, and the case 72 have a connecting bolt at a position indicated by a two-dot chain line. Integrated through. Four such connecting bolts are indicated by reference numeral 91 in FIG. 5A.
- the component supply apparatus 100 includes the horizontal base member 39 fixed to the horizontal member 16B, and the air cylinder 49 that is an insertion drive unit that is coupled to the horizontal base member 39 and outputs advancing and retreating in the vertical direction.
- a vertical base member 57 attached to the insertion drive means 49 and extending upward in the vertical direction; an intermediate bracket 59 coupled to the upper portion of the vertical base member 57; and an intermediate bracket 59 attached to the lower side of the intermediate bracket 59.
- a stop passing unit 64 that temporarily stops and sends out the supplied projection bolt 1, and a bolt supply unit 78 that includes an advancing / retracting supply rod 80 attached to the upper side of the intermediate bracket 59.
- the horizontal base member 39, the air cylinder 49, the vertical base member 57, the intermediate bracket 59, the stop passage unit 64, the bolt supply unit 78, and the like are “component members” of the component supply device 100.
- FIG. 9 shows the welded state of the bolt 1.
- the above-described receiving hole 10A is opened in the electrode 10, and a permanent magnet 92 for attracting the bolt 1 is provided in the back thereof. Since the bolt 1 is attracted by the permanent magnet 92, the bolt 1 is not easily dropped by the operation of the robot device 14 in the vertical and horizontal rotation directions.
- the steel plate part 94 and the bolt 1 held by the clamp mechanism 93 are pressurized by both electrodes 10 and 11, and when a welding current is applied in this state, the welding protrusion 4 is welded to the steel plate part 94.
- the member which protects each unit etc. which comprise the component supply apparatus 100 is arrange
- the members that perform the protective function are the vertical base member 57 and the lower arm member 6 as viewed in plan as shown in FIG. 5A.
- the member to be protected is a main constituent member of the component supply apparatus 100 arranged between the vertical base member 57 and the lower arm member 6 when viewed in plan as shown in FIG. 5A.
- the main constituent members are a horizontal base member 39 fixed to the horizontal member 16B, an air cylinder 49 which is an insertion driving means coupled to the horizontal base member 39 and outputs advancing and retreating in the vertical direction, and the insertion driving means 49.
- the vertical base member 57 is attached to the vertical base member 57 and extends upward in the vertical direction, the intermediate bracket 59 coupled to the upper portion of the vertical base member 57, and the projection bolt attached to the lower side of the intermediate bracket 59 and fed.
- 1 is a bolt supply unit 78 provided with a stop passing unit 64 that temporarily stops 1 and then sends it, and an advancing / retracting supply rod 80 attached to the upper side of the intermediate bracket 59.
- the vertical base member 57 which is a part of the component supply apparatus 100 forms a protective member. On the other hand, as described later, it is also possible to arrange a member dedicated to the protective function.
- the vertical base member 57 is arranged in a vertical posture, and the interval between the vertical base member 57 and the lower arm member 6 forms a wedge-shaped space in which the electrode 10 side is narrowed.
- the narrow angle ⁇ 2 formed by the lower arm member 6 and the vertical base member 57 in plan view is 35 degrees. 5A, since the bolt supply unit 78 is parallel to the vertical base member 57, the narrow angle formed by the bolt supply unit 78 and the lower arm member 6 is similarly ⁇ 2.
- the bolt supply unit 78 is inclined in two directions of an angle ⁇ 3 and an angle ⁇ 2 with respect to the center line XX.
- the vertical base member 57 is arranged in parallel to the inclined bolt supply unit 78 as described above. Therefore, the vertical base member 57 and the lower arm member 6 are V-shaped with the electrode 10 side narrowed. Will be placed. That is, the vertical base member 57 and the lower arm member 6 are arranged in a V-shaped positional relationship using the arrangement posture of the bolt supply unit 78.
- the component supply apparatus 100 may come into contact with a nearby member. There is. In such a case, the main component member of the component supply apparatus 100 exists between the vertical base member 57 and the lower arm member 6, and therefore the vertical base member 57 and the lower arm member 6 are included in the adjacent members. Touch like a protector. Therefore, the main constituent member itself does not come into contact with a nearby member, and damage to the constituent members of the apparatus can be prevented.
- the vertical base member 57 is provided with a window hole 58 for weight reduction.
- the window hole 58 is reduced or the window hole 58 is reduced. It is desirable to stop the hole 58.
- an extension portion 95 is provided by extending the electrode 10 side of the vertical base member 57 toward the electrode 10. It is desirable to provide a bent portion 96.
- the members constituting the component supply apparatus 100 in plan view include a vertical base member 57 that is a protective member or a protective plate 101 that is a protective member coupled to the mounting structure 200, a bar 102, and the vertical base member.
- An intermediate bracket 59 coupled to the upper portion of 57, bolt or nut supply units 78 and 78A fixed to the intermediate bracket 59, and a stop passage unit 64 coupled to the intermediate bracket 59 to temporarily stop and pass the bolts again.
- the arrangement order of the constituent members is as follows. Protective members 57, 101, 102, the intermediate bracket 59, the bolt or nut supply unit DOO 78,78A, the supply hose 67, and is and the lower arm member 6 or the upper arm member 7.
- the supply hose 67 extends from the parts feeder 65, which is a part supply source, toward the part supply apparatus 100, and is connected to the inlet side part supply pipe 74 as shown in FIGS.
- This connecting portion is configured such that a supply hose 67 is pushed into an insertion portion 74 ⁇ / b> A formed at an end portion of the inlet side component supply pipe 74.
- the supply hose 67 is made of a flexible synthetic resin material such as urethane resin or polypropylene resin, and is given flexibility so as to follow the movement operation of the robot apparatus 14.
- the supply hose 67 has a circular cross section.
- the length of the lower arm member 6 and the upper arm member 7 of the welding machine 5 becomes 1 m to 1.5 m. Since the large-sized welding machine 5 moves as described above, the parts feeder 65 is installed at a location 10 m away from the welding machine 5. For this reason, the supply hose 67 is set to a length of 10 m or more in consideration of the curved deformation.
- the length of the supply hose 67 from the parts feeder 65 to the welding machine 5 can be set to a length that can sufficiently follow the moving operation of the welding machine 5.
- the supply hose 67 that reaches the welding machine 5 and is assembled to the welding machine 5 must be piped so as not to contact the lower arm member 6, the component supply device 100, the mounting structure 200, and the like. Further, in order to improve the durability of the supply hose 67, it is important that the supply hose 67 is not repeatedly bent excessively.
- the supply hose 67 is disposed in the same direction as the longitudinal direction of the lower arm member 6, and via the fastener 128 so that the relative position of the lower arm member 6 in the distance direction is unchanged.
- the interval between the lower arm member 6 and the supply hose 67 is set to a predetermined interval.
- the stopper 128 performs the function as described above, the stopper 128 having various structures such as a member in which a pipe member for holding the supply hose is coupled to a round bar member, a member wound around the lower arm member 6 with a band member, and the like. Can be adopted.
- FIG. 5C is a cross-sectional view taken along the line CC of FIG. 5A.
- the fastener 128 shown in this cross-sectional view inserts the lower part of the high-rigidity part 6A into the fixing part 129 that opens upward, and presses the fixing bolt 130 screwed into the fixing part 129 against the high-rigidity part 6A.
- the holding piece 131 is welded to the fixed portion 129.
- the holding piece 131 is formed of an elongated strip-shaped steel plate, and the supply hose 67 is passed through the holding portion 132 curved in a circular shape without a gap.
- Reference numeral 133 denotes a sawtooth slip stopper.
- 5D is a fastener 128 in which the holding piece 131 is directly fixed to the high-rigidity portion 6A by a fixing bolt 134.
- FIG. 5E is a cross-sectional view taken along the line EE of FIG. 5A, and the fastener 128 shown here is attached to the fixed band 135 integrated with the high-rigidity portion 6A so as to surround the high-rigidity portion 6A.
- the fixed piece 131 is coupled.
- Reference numeral 136 denotes a fixing bolt that fixes the fixing band 135 to the highly rigid portion 6A.
- 5C to 5E have the same fixing piece 131, and the pipe position of the supply hose 67 can be selected by selecting the length and bending shape of the fixing piece 131.
- the supply hose 67 and the fastener 128 are simply illustrated with a two-dot chain line.
- the supply hose 67 is attached to the lower arm member 6 with a stopper 128, but the number of attachment points can also be increased on the vertical member 16A via the stopper 128.
- the supply hose 67 is arranged in a space along the lower arm member 6.
- the horizontal width of this space is a distance W1 between the lower arm member 6 and the outer portion 137 of the component supply device 100 as viewed in plan as shown in FIG. 5A.
- the outer portion 137 is an outer corner portion of the vertical base member 57.
- the vertical width of the space is a distance W2 between the lower arm member 6 and the outer portion 138 of the mounting structure portion 200 as viewed from the side as shown in FIG.
- the outer portion 138 is a lower end portion of the support shaft 47.
- the supply hose 67 is disposed in an elongated virtual space having a lateral width W1 and a height W2, so that the supply hose 67 is substantially in the same direction as the longitudinal direction of the lower arm member 6. Is arranged. Accordingly, the supply hose 67 is positioned in the space at the site of the welding machine 5 and does not come into contact with the lower arm member 6, the support member 16, the component supply device 100, and the like. Further, when the welding machine 5 moves forward, the supply hose 67 is positioned and protected behind the component supply device 100 and the mounting structure portion 200, and is prevented from contacting peripheral members.
- the bolt 1 held by the holding head 81 is coaxial with the electrode axis OO, and the tip of the bolt 1 is positioned close to the electrode 10.
- the vertical position of the vertical member 16 ⁇ / b> A with respect to the lower arm member 6 is obtained at the vertical member coupling portion 17.
- the transverse member 16B is displaced in the swing direction around the longitudinal member 16A.
- the horizontal member coupling portion 38 is adjusted to move the component supply device 100 in the horizontal direction or to rotate the horizontal base member 39 around the support shaft 47 to rotate the component supply device 100. By repeating these adjustment operations, the bolt 1 is aligned with the electrode axis OO as described above.
- the bolt 1 fed at high speed from the parts feeder 65 is received by the stopper member 70 of the stop passage unit 64. Thereafter, when the opening / closing member 68 is moved by the operation of the air cylinder 69 and the passage hole 71 matches the outlet side component supply pipe 75, the bolt 1 is held at a low speed by the air flow continuously injected from the air injection pipe. It is held by the head 81 and the impact force on the holding head 81 is reduced. At this time, the direction of the shaft portion 2 is set to the vertical direction as shown in FIG. Thus, in a state where the bolt 1 is held by the holding head 81, the cylinder body 52 of the air cylinder 49 is at the highest position.
- the supply rod 80 advances by the operation of the air cylinder 79, and stops at a position where the shaft portion 2 is coaxial with the electrode axis OO, as shown in FIG.
- the stop passage unit 64 and the bolt supply unit 78 are integrally lowered, and the cylinder is located at the position where the tip 2A of the bolt 1 enters the vicinity of the entrance of the receiving hole 10A. The lowering of the body 52 stops.
- the robot device 14 When the bolt 1 is supplied to the electrode 10 in this manner, the robot device 14 operates this time, the robot device 14 stops at a position corresponding to a predetermined position of the steel plate component 94, and then the air cylinder 13 operates. As shown in FIG. 9, the steel plate part 94 and the welding protrusion 4 are pressurized between the electrodes 10 and 11, the welding current is applied, and the welding is completed.
- the above-described advance / retreat operation and air injection operation of the supply rod can be easily performed by a generally employed control method.
- a predetermined operation can be ensured by combining an air switching valve that operates with a signal from the control device or the sequence circuit, a sensor that emits a signal at a predetermined position of the air cylinder, and transmits the signal to the control device.
- the component supply apparatus 100 is usually an insertion drive means for holding a supply rod 80 having a holding head 81, an air cylinder 79 as advance / retreat drive means for moving it forward and backward, and a bolt 1 in the receiving hole 10A of the electrode 10.
- a mechanism such as an air cylinder 49 is unitized and has a predetermined mass.
- the attachment strength for the lower arm member 6 must be sufficiently ensured.
- the component supply device 100 since the component supply device 100 has its own size, it is necessary to arrange the component supply device 100 close to the electrode 10 when the lower arm member 6 is long. Furthermore, it is important that the relative position between the component supply device 100 and the electrode 10 to which the bolt 1 is supplied can be adjusted accurately and with simple operations. Further, when disassembling the welding apparatus, a structure in which only the electrode 10 or only the component supply apparatus 100 can be removed is important in terms of simplifying maintenance.
- a component supply device 100 for supplying the projection bolt 1 welded to the steel plate component 94 to the electrode 10 is attached to the horizontal member 16B, and the vertical member 16A has a height at a location separated from the electrode 10 of the lower arm member 6. It is attached to the rigid portion 6A.
- a large inertial load acts on the part where the component supply device 100 is coupled to the lower arm member 6 due to various movements such as right and left and up and down rotation of the robot device 14. Since 16A is attached to the high-rigidity portion 6A of the arm, a large inertial force does not act on the high-rigidity portion 6A to cause a lack of coupling strength at the coupling portion, and a highly reliable component The mounting rigidity of the supply device 100 can be ensured.
- the support member 16 having the vertical member 16A and the horizontal member 16B it is possible to avoid attaching the component supply device 100 to the electrode bar 6B, and the deformation of the electrode bar 6B or the relative relationship between the electrodes 10 and 11 can be avoided. Positional displacement can be prevented. When such a displacement is generated, the projection bolt 1 is displaced from the electrode axis OO, so that a normal welding current is not supplied to the projection bolt 1 and a welding failure occurs. Furthermore, when the component supply device 100 is attached to the electrode bar 6B, the inertial load of the component supply device 100 acts on the joint 8 where the electrode bar 6B is joined to the high rigidity portion 6A.
- the component supply device 100 can be easily moved in the horizontal direction along the horizontal member 16B or moved in the vertical direction along the vertical member 16A, the component supply device 100 is disposed close to the electrode 10. Things will be easier to do.
- the support member 16 includes the vertical member 16A and the horizontal member 16B, the mounting position of the component supply device 100 is easily adjusted by position adjustment along the vertical member 16A or position adjustment along the horizontal member 16B. be able to.
- the support member 16 having the vertical member 16A and the horizontal member 16B can be structurally simple, the rigidity of the support member 16 itself can be easily set high. Therefore, it is possible to ensure sufficient coupling rigidity when the component supply device 100 is indirectly coupled to the high-rigidity portion 6A via the support member 16. In particular, if a deformation phenomenon occurs in the support member 16 due to the operation of the robot apparatus 14, it becomes impossible to accurately supply the projection bolt 1 to the electrode 10, but such a problem is caused by the high-rigidity support member 16. Can be avoided.
- the component supply device 100 is coupled to the high-rigidity portion 6A through the vertical member 16A.
- the electrode 10 is provided on an electrode bar 6B joined to the high rigidity portion 6A. Therefore, when the electrode bar 6B and the electrode 10 are maintained, the electrode bar 6B can be removed from the high-rigidity portion 6A while the component supply device 10 is left on the high-rigidity portion 6A side. Further, when performing maintenance of the component supply device 100, only the component supply device 100 can be maintained by removing the vertical member 16A from the high-rigidity portion 6A while leaving the electrode 10 and the electrode bar 6B. As described above, since maintenance can be performed with only necessary portions independent from each other, it is effective for improving workability without removing unnecessary portions.
- the lower arm member 6 is coupled in a state where it can be opened and closed by a shaft 12 at a base portion 6C formed on the side opposite to the electrode 10.
- the lower arm member 6 and the upper arm member 7 may be integrally coupled on the base portions 6C and 7C side, and the robot apparatus 14 may be coupled in the vicinity of the coupling portion.
- the connecting portion of the vertical member 16A can be brought close to the connecting portion of the shaft 12 and the robot device 14, the excessive load can be reduced, and the durability of the entire device can be improved. It is effective.
- the vertical member 16A is attached in a state where the position can be adjusted in the vertical direction with respect to the high-rigidity part 6A, and the component supply device 100 is attached to the horizontal member 16B in a state where the position can be adjusted in the horizontal direction. ing.
- the position of the entire component supply device 100 relative to the electrode 10 can be adjusted in the vertical direction.
- the position of the whole component supply apparatus 100 with respect to the electrode 10 can be adjusted in the horizontal direction by moving the entire component supply apparatus 100 with respect to the transverse member 16B.
- a high-rigidity portion 6A is housed in a body 18 having a U-shaped cross section, and the inner surface of the body 18 is highly rigid by a fastening bolt 21 that penetrates the lower part of both pieces 18A of the body 18. It is pressed against the outer surface of the part 6A. That is, without drilling or deforming the high-rigidity portion 6A, a required member (main body 18) is attached to the high-rigidity portion 6A in a pressurized state, and the clamp member 24 or the like is coupled to this member. Yes.
- the component supply device 100 is protected from both sides by a protective member that is a part of the component supply device 100, that is, the vertical base member 57 and the lower arm member 6. Therefore, the operation trajectory of the welding apparatus deviates from the normal trajectory for some reason such as trouble of the operation signal of the robot apparatus 14, and the component supply apparatus 100 bends the neighboring member, for example, the steel plate component 94. Even if the part or the machine frame holding the steel plate component 94 is contacted, the component supply device 100 can be protected from damage.
- the component supply apparatus 100 generally includes a supply rod 80 having a holding head 81, advance / retreat driving means such as an air cylinder 79 that advances and retracts the supply rod 80, a supply hose 67 that guides the bolt 1, and the bolt 1 to the electrode 10.
- advance / retreat driving means such as an air cylinder 79 that advances and retracts the supply rod 80
- supply hose 67 that guides the bolt 1, and the bolt 1 to the electrode 10.
- constituent members such as an insertion driving means such as an air cylinder 49 for holding are integrated.
- These components are likely to be damaged when the welding apparatus collides with or comes into contact with the steel plate part 94 or the machine frame by drawing an abnormal operation trajectory, but the vertical base member 57 and the lower arm member 6 which are protective members.
- the protective function prevents damage to the constituent members.
- the above-described components such as the supply rod 80 and the air cylinder 79 are for supplying the bolt 1 to the electrode 10 by an accurate operation, and thus are formed by a precise mechanism.
- the component having such a character is in an environment in which, when the welding machine 5 having a large mass follows an abnormal trajectory and collides with or comes into contact with the steel plate component 94 or the machine frame, it is easily damaged. It is in For example, when the welding machine 5 welds parts such as projection bolts to the floor panel of an automobile, the welding machine 5 mainly composed of the lower arm member 6 and the upper arm member 7 is enlarged, while the supply rod 80
- the structural members such as the air cylinder 79 function as precision instruments.
- the distance between the protective member 57 and the lower arm member 6 in the plan view is set narrower on the side close to the electrode 10.
- the welding machine 5 enters a narrow part and the parts are welded accurately at a predetermined part of the steel plate part 94.
- the distance between the protective member 57 and the lower arm member 6 is set narrower on the side close to the electrode 10 in a plan view, so that it is easy to enter the welding machine into a narrow place with a large space restriction.
- the component supply apparatus 100 is protected from both sides by the protective member 57 and the lower arm member 6, and the protective member 57 and the lower arm member 6 are in a V-shape when viewed in plan. Therefore, it is possible to avoid entry into a narrow place and interference with neighboring members as described above.
- the supply hose 67, the stop passage unit 64, the supply pipe 110, etc. which lead the components from the parts feeder 65 are connected to the lower arm member 6 or the upper arm.
- the arm member 7 can be arranged almost in parallel, and the unit of this portion becomes compact, and in particular, the supply hose 67 can be prevented from coming into contact with neighboring members.
- the bolt or nut supply units 78 and 78A must be inclined in two directions of the angle ⁇ 2 and the angle ⁇ 3 with respect to the upper arm member 6 or the lower arm member 7 in order to supply parts to the electrode 10.
- the mediation bracket 59 having the function of setting the inclination angle is fixed to the vertical base member 57, the arrangement of the main members forming the component supply device 100 is made compact.
- the stop passage unit 64, the supply pipe 110, and the supply hose 67 are arranged substantially parallel to the lower arm member 6 or the upper arm member 7 in plan view.
- Bolt or nut supply units 78 and 78A are arranged on the left side, an intermediate bracket 59 is arranged next to them, and protective members 57, 101, and 102 are arranged next to them, so that the entire component supply device 100 has a protective structure. And it becomes a simple unit.
- the supply hose 67 extending from the parts feeder 65, which is a parts supply source, to the parts supply apparatus 100 is substantially in the same direction as the longitudinal direction of the lower arm member 6, and the relative position in the spacing direction with respect to the lower arm member 6 is It is attached to the lower arm member 6 via a stopper 128 so that it does not change.
- the arrangement position of the supply hose 6 is substantially the same as the longitudinal direction of the lower arm member 6 and the predetermined interval between the lower arm member 6 and the supply hose 67 does not change.
- the position of the supply hose 67 does not change due to centrifugal force or the like, and contact with neighboring members can be prevented.
- the supply hose 67 extending from the parts feeder 65 may be at a distance of 10 m or more between the parts feeder 65 and the welding machine 5. Since the movement space of the supply hose 67 accompanying the movement operation can be sufficiently secured, it is possible to adapt to the movement of the welding machine 5 such as up / down / left / right rotation without any trouble.
- the supply hose 67 Since the supply hose 67 is attached to the lower arm member 6 via the fastener 128, the predetermined hose is not contacted with the component supply device 100, the attachment structure 200, etc. existing in the vicinity of the lower arm member 6. It can arrange
- the component supply device 100 and its mounting structure 200 are integrated on the lower arm member 6, the component supply device 100 is attached by the supply hose 67 being attached to the lower arm member 6 at such an integrated location.
- the unit as the welding machine 5 provided with is made compact.
- the supply hose 67 is disposed in a space along the lower arm member 6, and the horizontal width W ⁇ b> 1 of the space is an interval between the lower arm member 6 and the outer portion 137 of the component supply device 100.
- the supply hose 67 exists behind the component supply device 100 and the component supply device 100 functions to protect the supply hose 67, and the supply hose 67 is not in contact with a nearby member during the movement of the welding machine. Can be prevented.
- the vertical width W2 of the space is the distance between the lower arm member 6 and the outer portion 138 of the mounting structure 200.
- the supply hose 67 exists in a space formed in a complex manner by the rear space viewed in the direction. That is, the supply hose 67 is arranged in a virtual space having a horizontal width W1 and a vertical height W2. For this reason, when the welding machine 5 moves forward, the supply hose 67 is positioned behind the component supply device 100 and the mounting structure 200, and is prevented from coming into contact with nearby members.
- the supply hose 67 is arranged in an elongated space having a width between the air cylinder 79 and the lower arm member 6 as viewed in plan. Therefore, the component supply apparatus 100 including the supply hose 67 can be formed compactly.
- the component supply device 100 is coupled to the high-rigidity portion 6A via the support member 16 having the vertical member 16A and the horizontal member 16B.
- the lower arm member 6 is protected as described above.
- the member such as the support member 16 is merely a means for attaching the component supply device 100 to the lower arm member 6. That is, the attachment means to the lower arm member 6 of the component supply device 100 is the support member 16 processed from a bar. That is, the mounting structure 200 is formed by a structure in which the support member 16, the vertical member coupling portion 17, and the horizontal member coupling portion 38 are integrated.
- the protection function is unchanged, and only the mounting structure portion 200 that is a mounting means is different from the first embodiment. That is, the plate-like lateral base member 39 is extended in the horizontal direction and then raised in the vertical direction to form the coupling member 97, and the coupling member 97 is coupled to the electrode bar 6B. Since the electrode bar 6B is a round bar-like member, a spacer member 98 is interposed to prevent rotation, and the electrode bar 6B is fastened with a fixing bolt 99.
- the protective member is constituted by the vertical base member 57 that forms a part of the component supply apparatus 100.
- the upper end of the coupling member 97 may be extended upward to assist the protective function of the lower arm member 6.
- Other configurations are the same as those of the first embodiment including the portions not shown, and members having the same functions are denoted by the same reference numerals.
- FIG. 12 and FIGS. 13A and 13B show Example 3 of the present invention.
- the protective member is constituted by the vertical base member 57 that constitutes a part of the component supply apparatus 100. That is, the vertical base member 57 has a protective function and a function of integrating the intermediate bracket 59, the bolt supply unit 78, the stop passage unit 64, and the like with the air cylinder 49.
- a member dedicated to the protective function is arranged, and the arrangement of the vertical base member 57 is changed.
- the vertical base member 57 is coupled to the right side of the air cylinder 49, and the upper part thereof is welded to the lower side of the intermediate bracket 59.
- a protection plate 101 as a protection member is welded to the horizontal base member 39 and stands upward in the vertical direction. Therefore, the horizontal base member 39 is a member included in the attachment structure portion 200, and the protective plate 101 welded to the horizontal base member 39 is coupled to the attachment structure portion 200.
- the other configuration is the same as that of the second embodiment including parts not shown in the figure, and members having similar functions are denoted by the same reference numerals.
- FIG. 13A is a diagram showing the shape of the protective member 101.
- FIG. 13B shows a structure in which a plurality of rods 102 are combined vertically and horizontally in place of the plate-shaped protective member. Further, although not shown, a type in which a wire mesh is integrated with a frame member may be used.
- FIG. 14, FIG. 15 and FIGS. 16A to 16C show Example 4 of the present invention.
- the projection bolt is the object to be welded
- the projection nut is the object to be welded
- the iron projection nut 103 has a screw hole 105 formed at the center of the square nut body 104, and welding projections 106 are formed at four corners on one side of the nut body 104.
- the dimensions of each part are such that one side of the nut body 104 is 12 mm, the thickness of the nut body 104 is 7 mm, and the inner diameter of the screw hole 105 is 6 mm.
- the projection nut may be simply expressed as a nut.
- a guide pin 107 is provided at the center of the electrode 10.
- a pilot hole 109 is opened in the stationary steel plate component 94 held by the holding mechanism 108, and the steel plate component 94 is placed on the electrode 10 moved by the robot device 14.
- the guide pin 107 passes through the pilot hole 109 of the steel plate component 94.
- the guide pin 107 relatively enters the screw hole 105. In this state, the electrode 11 advances and a welding current is applied to complete the nut welding.
- the supply pipe 110 made of stainless steel has a curved shape and a rectangular cross section adapted to the shape of the nut 103.
- the supply pipe 110 is arranged along the lower arm member 6 and is fixed on the protrusion 61 of the intermediate bracket 59 via the bracket 111.
- This fixing method is welding.
- the fixing portion 89 of the inclined mounting member 88 is fixed to the lower side of the intermediate bracket 59 by bolting or the like.
- the supply hose 67 joined to the supply pipe 110 is also rectangular in cross section. Therefore, the holding portion 132 of the stopper 128 also has a rectangular cross section.
- the holding head 81 is shown in FIGS. 16A to 16C. 16A and 16B are shown inverted for ease of viewing.
- the lower member 112 and the upper member 113 are coupled to each other due to processing and assembly circumstances of each part.
- the lower member 112 and the upper member 113 are manufactured by machining a block-shaped stainless steel member, and a holding recess 114 is formed in the lower member 112.
- the holding recess 114 is a housing space having three surfaces surrounded by holding walls 115, 116, and 117 and having a top surface 118 on which the nut 103 is seated, and an introduction opening portion 119 into which the nut 103 enters is a holding recess.
- the shape is open to the side of 114.
- the top surface 118 is disposed in the horizontal direction.
- the introduction opening portion 119 communicates with the outlet portion of the supply pipe 110.
- a relative position between the opening 119 and the supply pipe 110 is set.
- the holding wall 116 on the back side of the introduction opening portion 119 serves as a stopper surface of the nut 103 that has entered.
- a feed opening portion 120 for feeding the nut 103 to the guide pin 107 is formed in the lower portion of the holding recess 114. Therefore, the nut 103 enters from the lateral side of the holding recess 114 through the introduction opening portion 119 and is sent out toward the guide pin 107 through the delivery opening portion 120 opened downward.
- air injection ports 121 are opened on the bottom surface 118, and jets from the air injection ports 121 are sprayed to four locations on the end surface of the nut 103. There are a plurality of spray locations, and the position of the air injection port 121 is selected so that the nut 103 does not tilt. That is, the dynamic pressure of the blast air acts uniformly on the end surface of the nut 103.
- air injection is performed aiming at locations near the four corners of the end face.
- an air passage is formed in the upper member 113.
- the air passage 122 formed in the upper member 113 communicates with the four air injection ports 121 formed in the lower member 112.
- the upper member 113 and the lower member 112 are integrated by welding, and the air passage 122 communicates with the air injection port 121 by this integration.
- an air hose 123 is connected to the air passage 122, and in order to expand and contract in accordance with the advance and retreat of the holding head 81, as shown in FIG. The other end is connected to an air switching valve (not shown).
- the air injection method has been described as described above. However, instead of this, an extruding member that advances and retreats by a solenoid, an air cylinder, or the like can be used.
- a permanent magnet 125 is embedded in the lower member 112 in order to introduce the nut 103 from the introduction opening portion 119 into the holding recess 114.
- the attractive force of the permanent magnet 125 acts on the nut 103 and is drawn into the holding recess 114.
- the nut 103 is attracted to the holding wall 116 which is a stopper surface.
- the height of the holding head 81 is lowered by adjusting the vertical member coupling portion 17 and the position of the supply hose 67 is lowered. It exists within the range of W2.
- Other configurations are the same as those of the first embodiment including the portions not shown, and members having the same functions are denoted by the same reference numerals.
- the attachment structure 200 in the fourth embodiment is the same as that in the first embodiment. However, instead of this, the attachment structure 200 can be in the form of the second and third embodiments. is there.
- the holding head 81 holding the nut 103 with the magnet 125 advances into the holding recess 114, and the holding head 81 stops moving at a position where the screw hole 105 is coaxial with the guide pin 107. Then, when the nut supply unit 78 ⁇ / b> A is lowered by the operation of the air cylinder 49, the guide pin 107 relatively enters the screw hole 105 of the nut 103. As shown by the two-dot chain line in FIG. 16C, the lowering operation of the air cylinder 49 is stopped when the approach length becomes a slight length. After this stop, air is injected from the air injection port 121. By this injection, the nut 103 is held by the guide pin 107 by operating to push out four places on the end face of the nut with an air flow.
- the holding head 81 is subjected to the reverse operation, and the holding head 81 prepares for the arrival of the next nut 103. Then, when the electrode 11 advances and the welding projection 106 is pressurized to the steel plate component 94 and a welding current is applied, the welding projection 106 is welded to the steel plate component 94.
- the component supply device is lowered by the support member composed of the vertical member and the horizontal member. It is attached to the arm member or the upper arm member, a protective structure is formed by a part of the component supply device and any one of the arm members, and the supply hose is appropriately attached to any of the arm members. Therefore, stable attachment of the component supply device, protection of the component supply device, good attachment of the supply hose, and the like are realized. Therefore, it can be used in a wide range of industrial fields such as automobile body welding processes and home appliance sheet metal welding processes.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
- Resistance Welding (AREA)
Abstract
Description
2 軸部
3 フランジ部
4 溶着用突起
5 溶接機
6 下アーム部材
7 上アーム部材
10 電極
11 電極
14 ロボット装置
16 支持部材
16A 縦部材
16B 横部材
17 縦部材結合部
38 横部材結合部
39 横基部材
49 挿入駆動手段、エアシリンダ
52 シリンダボディ
57 縦基部材、保護部材
59 仲介ブラケット
64 停止通過ユニット
67 供給ホース
78 ボルト供給ユニット
78A ナット供給ユニット
80 供給ロッド
81 保持ヘッド
94 鋼板部品
97 結合部材
100 部品供給装置
101 保護板
102 棒材
103 プロジェクションナット
128 止めつけ具
137 外側部分
138 外側部分
200 取り付け構造部
W1 空間幅
W2 空間高さ
Claims (7)
- ほぼ水平方向に延びていて先端側に電極が設けられた下アーム部材と、ほぼ水平方向に延びていて先端側に電極が設けられた上アーム部材を有し、いずれか一方または両方の前記電極が進退する形式の溶接機が、ロボット装置に取り付けられた形式の溶接装置において、ほぼ鉛直方向に配置された縦部材とほぼ水平方向に配置された横部材を有する支持部材が形成され、前記縦部材が下アーム部材または上アーム部材の前記電極から離隔した箇所に取り付けられ、前記横部材にいずれかの前記電極に鋼板部品に溶接される部品を供給する部品供給装置が取り付けられていることを特徴とする溶接装置。
- 前記縦部材は、前記下アーム部材または上アーム部材に対して鉛直方向に位置調整ができる状態で取り付けられ、前記横部材には、前記部品供給装置が水平方向に位置調整ができる状態で取り付けられている請求項1記載の溶接装置。
- 前記部品供給装置が、部品供給装置の一部または前記支持部材に結合された保護部材と、前記下アーム部材または上アーム部材によって両側から保護されている請求項1または請求項2記載の溶接装置。
- 平面的に見て、前記部品供給装置の一部または前記保護部材と、前記下アーム部材または上アーム部材の間隔が、電極に近い側が狭く設定されている請求項3記載の溶接装置。
- 部品供給源から前記部品供給装置へ延びてきている供給ホースが、前記下アーム部材または上アーム部材の長手方向とほぼ同方向であるとともに、下アーム部材または上アーム部材との間隔方向の相対位置が不変となるように、止めつけ具を介して前記下アーム部材または上アーム部材に取り付けられている請求項1記載の溶接装置。
- 前記供給ホースは前記下アーム部材または上アーム部材に沿った空間内に配置され、前記空間の水平方向の幅は前記下アーム部材または上アーム部材と前記部品供給装置の外側部分の間の間隔とされている請求項5記載の溶接装置。
- 前記空間の鉛直方向の幅は前記下アーム部材または上アーム部材と取り付け構造部の外側部分の間の間隔とされている請求項6記載の溶接装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/058965 WO2015145685A1 (ja) | 2014-03-27 | 2014-03-27 | 溶接装置 |
CA2943907A CA2943907C (en) | 2014-03-27 | 2014-03-27 | Welding apparatus |
EP14887565.1A EP3124159B1 (en) | 2014-03-27 | 2014-03-27 | Welding apparatus |
US15/127,620 US10350700B2 (en) | 2014-03-27 | 2014-03-27 | Welding apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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PCT/JP2014/058965 WO2015145685A1 (ja) | 2014-03-27 | 2014-03-27 | 溶接装置 |
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WO2015145685A1 true WO2015145685A1 (ja) | 2015-10-01 |
Family
ID=54194276
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2014/058965 WO2015145685A1 (ja) | 2014-03-27 | 2014-03-27 | 溶接装置 |
Country Status (4)
Country | Link |
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US (1) | US10350700B2 (ja) |
EP (1) | EP3124159B1 (ja) |
CA (1) | CA2943907C (ja) |
WO (1) | WO2015145685A1 (ja) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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EP3980214A4 (en) * | 2019-06-06 | 2023-07-05 | Olsson, Joran | MULTIPURPOSE RESISTANCE WELDING ATTACHMENT |
Citations (6)
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US3598952A (en) * | 1964-12-23 | 1971-08-10 | Owens Corning Fiberglass Corp | Method and apparatus for producing a stream feeder |
JPH01143777A (ja) * | 1987-11-27 | 1989-06-06 | Miura Kogyo Kk | 溶接ガンの加圧シリンダー |
JPH0293710A (ja) * | 1988-09-29 | 1990-04-04 | Toshiba Corp | 軌道式点検ロボットシステム |
JP2005224860A (ja) * | 2004-02-14 | 2005-08-25 | Yoshitaka Aoyama | 部品供給装置の位置決め装置 |
JP2005246578A (ja) * | 2004-03-08 | 2005-09-15 | Mitsui Eng & Shipbuild Co Ltd | 水中ロボット操縦方法及び水中ロボット操縦システム |
JP2012218069A (ja) * | 2011-04-05 | 2012-11-12 | Yoshitaka Aoyama | プロジェクションボルト供給装置 |
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Publication number | Priority date | Publication date | Assignee | Title |
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JP2778138B2 (ja) | 1989-07-26 | 1998-07-23 | ブラザー工業株式会社 | 針棒釈放装置付ミシンの針位置反転装置 |
JP3700025B2 (ja) | 2000-05-06 | 2005-09-28 | 好高 青山 | プロジェクションボルトの溶接装置 |
JP3790887B2 (ja) | 2000-07-15 | 2006-06-28 | 好高 青山 | プロジェクションボルトの溶接装置 |
US6653590B1 (en) * | 2000-09-07 | 2003-11-25 | Yoshitaka Aoyama | Projection bolt welding device |
JP3684480B2 (ja) | 2002-05-08 | 2005-08-17 | 矢島技研株式会社 | 部品供給装置 |
-
2014
- 2014-03-27 CA CA2943907A patent/CA2943907C/en active Active
- 2014-03-27 US US15/127,620 patent/US10350700B2/en active Active
- 2014-03-27 EP EP14887565.1A patent/EP3124159B1/en active Active
- 2014-03-27 WO PCT/JP2014/058965 patent/WO2015145685A1/ja active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3598952A (en) * | 1964-12-23 | 1971-08-10 | Owens Corning Fiberglass Corp | Method and apparatus for producing a stream feeder |
JPH01143777A (ja) * | 1987-11-27 | 1989-06-06 | Miura Kogyo Kk | 溶接ガンの加圧シリンダー |
JPH0293710A (ja) * | 1988-09-29 | 1990-04-04 | Toshiba Corp | 軌道式点検ロボットシステム |
JP2005224860A (ja) * | 2004-02-14 | 2005-08-25 | Yoshitaka Aoyama | 部品供給装置の位置決め装置 |
JP2005246578A (ja) * | 2004-03-08 | 2005-09-15 | Mitsui Eng & Shipbuild Co Ltd | 水中ロボット操縦方法及び水中ロボット操縦システム |
JP2012218069A (ja) * | 2011-04-05 | 2012-11-12 | Yoshitaka Aoyama | プロジェクションボルト供給装置 |
Also Published As
Publication number | Publication date |
---|---|
EP3124159A1 (en) | 2017-02-01 |
EP3124159B1 (en) | 2021-01-27 |
CA2943907A1 (en) | 2015-10-01 |
CA2943907C (en) | 2020-12-01 |
EP3124159A4 (en) | 2018-01-24 |
US20170129045A1 (en) | 2017-05-11 |
US10350700B2 (en) | 2019-07-16 |
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