WO2020048197A1 - 点焊用电极拆卸装置 - Google Patents

点焊用电极拆卸装置 Download PDF

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Publication number
WO2020048197A1
WO2020048197A1 PCT/CN2019/093459 CN2019093459W WO2020048197A1 WO 2020048197 A1 WO2020048197 A1 WO 2020048197A1 CN 2019093459 W CN2019093459 W CN 2019093459W WO 2020048197 A1 WO2020048197 A1 WO 2020048197A1
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WO
WIPO (PCT)
Prior art keywords
rotating body
electrode
piston rod
operation space
rotated
Prior art date
Application number
PCT/CN2019/093459
Other languages
English (en)
French (fr)
Inventor
刘军良
杨贤德
Original Assignee
广州市极动焊接机械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州市极动焊接机械有限公司 filed Critical 广州市极动焊接机械有限公司
Priority to EP19857416.2A priority Critical patent/EP3838469B1/en
Priority to CN201980055647.5A priority patent/CN112912196B/zh
Priority to KR1020217008480A priority patent/KR102428391B1/ko
Priority to JP2021536130A priority patent/JP7127911B2/ja
Publication of WO2020048197A1 publication Critical patent/WO2020048197A1/zh
Priority to US17/188,366 priority patent/US11992893B2/en

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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
    • B23K11/3072—Devices for exchanging or removing electrodes or electrode tips
    • 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
    • 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
    • B23K11/36—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
    • B25B27/14—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same

Definitions

  • the present invention relates to an electrode removing device for spot welding used in, for example, an automobile production line.
  • a thin rod-shaped shank is screw-connected to a gun body for spot welding, and an electrode for pressurizing and supplying power to a welding target is fitted and fitted at the tip of the shank.
  • This spot welding electrode needs to be replaced regularly to stabilize the welding quality.
  • the electrode removal device is usually used to remove the electrode from the front end of the shank while rotating around its central axis.
  • a welding gun that performs spot welding with a pair of opposing electrodes sandwiching a welding object has the following problems: When using an electrode removal device that only rotates in one direction with a disassembly mechanism, the electrodes are removed from the front ends of the handles so that the handles do not leave the gun body.
  • the electrode disassembling device disclosed in Patent Document 1 adopts a structure that does not need to significantly change the postures of the welding torch and the electrode disassembling device when the disassembling operation of a pair of opposite electrodes is performed.
  • the electrode detaching device of Patent Document 1 includes a ring-shaped first rotating body and a second rotating body, and the rotation axes of the first rotating body and the second rotating body are set at the center of the detaching operation space.
  • the second rotating body rotates relative to each other, and is disposed inside the first rotating body.
  • Three first cutout recesses are formed at equal intervals in the circumferential direction of the center of the rotation axis at one open side of the first rotating body, and each of the first cutout recesses follows the bottom. A shape in which the first rotating body moves forward in the reverse direction and gradually becomes shallower.
  • three second cutout recesses are formed at equal intervals in the circumferential direction around the center of the rotation axis at one half of the other open side of the peripheral surface of the first rotating body, and each second cutout recess has a bottom. A shape that gradually becomes shallower as it advances in the forward rotation direction of the first rotating body.
  • a first roller accommodating portion is formed at a position corresponding to each of the first cutout recesses of the second rotating body, and the first roller accommodating portion accommodates the first rotating roller serving as a gripper, so that the first rotating roller can rotate. And does not fall off, on the other hand, a second roller accommodating portion is formed at a position of the second rotating body corresponding to each second notch recessed portion, and the second roller accommodating portion accommodates a second rotating roller that becomes a gripping body So that the second rotating roller can rotate without falling off.
  • the first and second rotating rollers can move in the diameter direction of the second rotating body in the first and second roller accommodating portions, respectively.
  • each first rotating roller follows each first rotating roller.
  • One notch recess moves while being pushed by each first notch recess to move toward the disassembly operation space side to clamp the electrode, and the electrode is rotated together with the second rotor by the rotation action of the first rotation body in the forward rotation direction. Remove from the front of the handle.
  • each second rotating roller The second cutout recesses move while being pushed by the second cutout recesses toward the dismounting operation space side to sandwich the electrode, and further, the electrode is rotated together with the second rotating body by the rotating operation of the first rotating body in the reverse direction. Remove from the front of the handle.
  • a pair of electrodes can be sequentially removed from the welding gun without greatly changing the postures of the welding gun and the electrode removing device.
  • the gripper body group composed of each first rotary roller and the gripper body group composed of each second rotary roller are spaced apart from each other along the rotation axis, so that the device is mounted on the rotation axis.
  • the large size in the center direction requires a large installation space.
  • each electrode to be disassembled requires a dedicated gripping body group, not only the number of components increases, the structure is complicated, but also the problem of high component costs.
  • Patent Document 1 International Publication No. 2015/118573
  • the present invention has been made in view of the foregoing points, and an object thereof is to provide an electrode disassembly device for spot welding with a compact and uncomplicated structure and low cost.
  • the present invention is characterized in that one gripping body group is arranged in a row in a ring shape around the axis of rotation of the gripping body, so that whether the first rotating body and the second rotating body face to one side or the other The electrode can be removed by rotating it in any direction.
  • the electrode welding device for spot welding includes a first rotating body having a rotation axis set at the center of the disassembly operation space and equally spaced around the rotation axis.
  • the ground has a plurality of fitting portions; a second rotating body is configured to be able to rotate relative to each other about the rotation axis with respect to the first rotating body; and a driving unit drives the first rotating body and the second rotating body At least one of the rotations; and a plurality of gripping bodies disposed at positions respectively corresponding to the respective fitting portions, and supported by the second rotating body so as to be in the same direction as the center of the rotating shaft
  • the extended rotating shaft rotates, the front end of the gripping body is provided with a claw portion, and the base of the gripping body is mated with the corresponding fitting portion;
  • the electrode disassembly device for spot welding is configured by: In the driving operation of the driving unit, if the first rotating body and the second rotating body are relatively rotated to one side from the first relative
  • the claw portion advances into the detaching operation space to be able to contact the electrode placed in the detaching operation space.
  • the gripping body rotates to the other side, and the claw portion advances to The detaching operation space is capable of contacting the electrode placed in the detaching operation space.
  • the invention of the second aspect is the invention of the first aspect, wherein the first relative positional relationship and the second relative positional relationship are a positional relationship between the first rotating body and the second rotating body
  • the claws are configured as follows: if the first rotating body and the second rotating body are from the first relative positional relationship Starting to rotate relative to one side until it becomes the second relative position relationship, the grasping body rotates to one side, and after the claw portion advances into the disassembly operation space, it exits the disassembly operation space, and On the one hand, if the first rotating body and the second rotating body are relatively rotated to the other side from the second relative position relationship to the first relative position, the gripping body is oriented toward After the other side rotates, the claw portion advances into the removal operation space, and then exits the removal operation space.
  • a third aspect of the invention is the first aspect of the invention, wherein the first relative positional relationship and the second relative positional relationship are a positional relationship between the first rotating body and the second rotating body
  • a pair of the claw portions are formed at intervals in the circumferential direction centered on the rotation axis, and the claw portions are configured such that if the first rotation body and the second rotation body follow If the relative position relationship is relatively rotated to one side, the grasping body is rotated to one side, and the one claw portion is advanced into the disassembly operation space.
  • the gripping body is rotated to the other side, and the other claw portion is advanced into the detaching operation space.
  • the fourth aspect of the invention is in any one of the first to third aspects, wherein the drive unit includes a first fluid pressure cylinder having a first piston rod whose front end is connected to the first rotating body, The first rotating body is rotated to one side by the extension operation of the first piston rod, and the first rotating body is rotated to the other side by the contraction operation of the first piston rod; and
  • the braking mechanism has a braking body and a force applying unit, the braking body is movable along the rotation axis, and the force applying unit pushes the braking body toward the second rotating body side to cause the braking The body slidably contacts the second rotating body.
  • a fifth aspect of the invention is the fourth aspect of the invention, wherein the second rotating body is provided with an extension portion extending outward, and a detectable unit is provided outside the second rotating body.
  • the second rotating body is configured to: when the first rotating body and the second rotating body are in a first relative position relationship and a second relative position relationship, the extending portion The extension portion is located at a position corresponding to the detection sensor, and in a state where the electrode is rotated from one side or the other to remove the electrode from the front end of the handle, the extension portion is located at a position that does not correspond to the detection sensor.
  • the sixth aspect of the invention is in any one of the first to third aspects, wherein the drive unit includes a first fluid pressure cylinder and a second fluid pressure cylinder, and the first fluid pressure cylinder has a front end and The first piston rod connected to the first rotating body rotates the first rotating body to one side through an extension action of the first piston rod, and on the other hand, causes the The first rotating body rotates to the other side, the second fluid pressure cylinder has a second piston rod whose front end is connected to the second rotating body, and the force during expansion and contraction is set to be smaller than the first fluid pressure cylinder.
  • the electrode disassembly device for spot welding is configured to start the first fluid pressure cylinder and the second fluid pressure cylinder when the first rotation body and the second rotation body are relatively rotated to one side.
  • the first piston rod and the second piston Together, on the other hand, when the first rotating body and the second rotating body are relatively rotated to the other side, the first fluid pressure cylinder and the second fluid pressure cylinder are activated to cause the first A piston rod and the second piston rod contract together.
  • the electrode mounted on the front end of the handle is placed in the disassembly operation space, and then the first rotating body and the first rotating body When the two rotating bodies are relatively rotated to one side, the claws of the grasping bodies are advanced to clamp the electrodes in the removal operation space.
  • the electrode is twisted relative to the front end of the handle, and the electrode is removed from the front end of the handle.
  • the electrode mounted on the front end of the handle is placed in the disassembly operation space, and then the first rotating body and the second rotating body are oriented toward When the other side is relatively rotated, the claw portion of each grasping body advances to the electrode in the detaching operation space.
  • the electrode is twisted relative to the front end of the handle, and the electrode is removed from the front end of the handle. Therefore, the electrode can be removed from the handle regardless of whether the electrode is rotated in any direction with respect to the handle on one side or the other.
  • the rotation direction of the electrode with respect to the handle can be set to the opposite side to the direction in which the handle is mounted on the gun body, so that the handle can be prevented from falling off from the gun body accidentally.
  • the plurality of grasping bodies for disassembling the electrodes are arranged only in a row around the axis of rotation, and there is no provision of a plurality of groups of grasping bodies in a direction along the axis of rotation as in Patent Document 1, so that the device can It is compact in the direction of the rotation axis.
  • the device there is only one set of a plurality of grasping bodies arranged in a row in the circumferential direction centered on the axis of rotation, and there is no provision for grasping each electrode to be disassembled like in Patent Document 1.
  • the electrode holding part can reduce the number of parts and simplify the structure, so that the cost of parts can be kept low.
  • the one claw provided on the gripper is used for holding the electrode while rotating the first rotating body and the second rotating body to one side, and for rotating the first rotating body.
  • the electrode is clamped when the body and the second rotating body rotate to the other side. Therefore, the structure of each gripping body can be simplified, and the component cost can be reduced.
  • the electrodes are held by different claws of a holding body. Therefore, when the detaching operation of the electrode is repeatedly performed, the load applied to each claw portion of the grasping body can be halved, so that the claw portion of the device is not easily broken.
  • the force of each urging unit applied to the second rotating body in the direction of the rotation axis makes the second rotating body more difficult to rotate around the rotation axis than the first rotating body. Therefore, if the first piston rod is extended, the first rotating body is rotated to one side relative to the second rotating body, and if the first piston rod is contracted, the first rotating body is rotated to the other side relative to the second rotating body. The first rotating body and the second rotating body are rotated relative to each other with one driving source, so that each grasping body is rotated to grasp or release the electrodes, thereby reducing the cost of the device.
  • the electrode when the second rotating body and the first rotating body rotate together to one side, the electrode is twisted to the side with respect to the front end of the handle to be detached from the front end of the handle, and the extension portion is at the non-corresponding detection sensor. s position.
  • the electrode when the second rotating body and the first rotating body are rotated to the other side together, the electrode is twisted to the other side with respect to the front end of the handle and removed from the front end of the handle, and the extended portion is located at a position that does not correspond to the detection sensor. .
  • the first rotating body and the second rotating body are rotated relative to each other by the first and second piston rods being retracted and retracted, respectively, so that each grasping body can be rotated to grasp or release the electrode. electrode.
  • the first rotating body and the second rotating body are opposed to each other. In the force in the rotation direction, each grasping body grasps the electrode, and since the force when the second piston rod is retracted is smaller than the first piston rod, the first piston rod is extended or contracted against the telescopic force of the second piston rod.
  • the first rotating body and the second rotating body rotate integrally, so that the electrodes can be reliably removed from the front end of the handle. Therefore, the relative rotation operation and the integrated rotation operation of the first rotating body and the second rotating body can be performed only by the telescoping operation of the respective piston rods of the two fluid pressure cylinders. Therefore, the device can be configured by low-cost components, thereby further Reduce the cost of the device.
  • FIG. 1 is a perspective view of an electrode removal device for spot welding according to Embodiment 1 of the present invention.
  • FIG. 2 is an exploded perspective view of a spot welding electrode detaching device according to the first embodiment of the present invention.
  • FIG. 3 is a cross-sectional view taken along the line III-III in FIG. 1.
  • FIG. 4 is a diagram showing a state in which one electrode is removed from the front end of the handle after FIG. 3.
  • FIG. 5 is a view showing a state where one electrode is detached from the front end of the handle after FIG. 4.
  • FIG. 6 is a diagram showing a state in which, after FIG. 5, each component starts to switch to an initial configuration for removing another electrode from the tip of the handle.
  • FIG. 7 is a diagram showing a state in which, after FIG. 6, each component is switched to an initial arrangement process for removing another electrode from the front end of the handle.
  • FIG. 8 is a diagram showing a state in which, after FIG. 7, each constituent component is switched to an initial arrangement process for detaching another electrode from the front end of the handle.
  • FIG. 9 is a diagram showing a state where, after FIG. 8, each constituent member is switched to an initial arrangement for removing another electrode from the tip of the handle.
  • FIG. 10 is a diagram showing a state in which another electrode is removed from the front end of the handle after FIG. 9.
  • FIG. 11 is a diagram showing a state after the other electrode is removed from the tip of the handle after FIG. 10.
  • FIG. 12 is a diagram showing a state in which, after FIG. 11, each constituent member starts to switch to an initial arrangement for removing one electrode from the tip of the handle.
  • FIG. 13 is a diagram showing a state in which, after FIG. 12, each constituent member is switched to an initial arrangement process for removing one electrode from the tip of the handle.
  • FIG. 14 is a diagram showing a state in which, after FIG. 13, each constituent member is switched to an initial arrangement process for removing one electrode from the front end of the handle.
  • FIG. 15 is a diagram showing a state where, after FIG. 14, each constituent member is switched to an initial arrangement for removing one electrode from a tip of the handle.
  • FIG. 16 is a diagram corresponding to FIG. 1 according to the second embodiment of the present invention.
  • FIG. 17 is a cross-sectional view taken along the line XVII-XVII in FIG. 16.
  • FIG. 18 is a diagram showing a state in which one electrode is removed from the front end of the handle after FIG. 17.
  • FIG. 19 is a view showing a state where one electrode is detached from the tip of the handle after FIG. 18.
  • FIG. 20 is a view showing a state before removing one electrode from the electrode removal space after FIG. 19 and then removing the other electrode from the front end of the handle.
  • FIG. 21 is a diagram showing a state in which another electrode is removed from the front end of the handle after FIG. 20.
  • FIG. 22 is a diagram showing a state after the other electrode is removed from the tip of the handle after FIG. 21.
  • Electrode disassembly device for spot welding 3. First fluid pressure cylinder; 3a, first piston rod; 4. Second fluid pressure cylinder; 4a, second piston rod; 5. Drive unit; 6. A rotating body; 6c, a fitting part; 7, a second rotating body; 7d, an extension part; 8, a gripping body; 8b, a rotating shaft; 8c, a claw part; 8d, a protrusion (base); 10, an electrode; 21, detection sensor; 22, brake mechanism; 22a, brake body; 22c, coil spring (force application unit); C1, rotation axis; G, welding torch; G1, handle; R1, first relative position relationship; R2 2. The second relative position relationship; S1. Disassembly operation space.
  • FIG. 1 shows an electrode removing device 1 for spot welding according to the first embodiment of the present invention.
  • This electrode disassembling device 1 is provided on the side of the conveying path R of an automobile production line, and removes each electrode 10 mounted on the tip of a pair of opposing handles G1 on a spot welding torch G attached to the tip of an industrial robot's arm. Electrode removal operation.
  • the electrode disassembling device 1 includes a plate-like casing 2 having a thickness that is approximately rectangular in plan view. As shown in FIG. 2, an upper surface of the conveyance path R side on the upstream side of the production line conveying direction of the casing 2 is formed in an approximately rectangular shape in plan view.
  • the upper-side through hole 2 a is communicated with the inside of the housing 2.
  • Four screw holes 20 are formed around the upper through-hole 2a on the upper surface of the casing 2 at predetermined intervals.
  • a lower through hole 2b is formed on the lower surface of the housing 2 corresponding to the upper through hole 2a, and the lower through hole 2b communicates with the inside of the housing 2, as shown in FIG. 3, at the upper through hole 2a
  • a detaching operation space S1 is set between the lower side through hole 2b and the detaching operation space S1 is a position where the detaching operation of the electrode 10 is performed.
  • a storage space S2 on the side of the transfer path R is formed, and a storage space S3 on the opposite side of the transfer path R is formed by dividing the rotation restricting wall portion 2 c located at a substantially central portion of the housing 2.
  • the storage spaces S3 are connected to each other on the upstream side and the downstream side of the production line conveyance direction, respectively.
  • the disassembly operation space S1 is set on the upstream side in the production line conveyance direction in the accommodation space S2, and a communication hole 2d communicating with the accommodation space S3 is formed at an end portion on the opposite side of the conveyance path R of the housing 2.
  • a detection sensor 21 is mounted on the upstream side in the production line conveyance direction of a portion of the lower surface of the housing 2 corresponding to the storage space S3.
  • a first fluid pressure cylinder 3 that is driven by the supply and discharge of compressed air is attached to an end on the opposite side of the conveying path R on the downstream side in the conveying direction of the production line of the casing 2.
  • the first fluid pressure cylinder 3 is in a posture where the first piston rod 3a of the first fluid pressure cylinder 3 extends in a horizontal direction crossing the conveying direction of the production line.
  • the first piston rod 3a faces the inside of the housing 2 through the communication hole 2d. Telescopic.
  • a first rotating body 6 and a second rotating body 7 extending in the up-down direction are provided in the storage space S2, and the first rotating body 6 and the second rotating body 7 are provided. It is set in the center of the removal operation space S1.
  • the first rotating body 6 and the second rotating body 7 are configured to be rotatable relative to each other around the rotation axis C1.
  • the first rotating body 6 includes an annular portion 6a whose center line is consistent with the rotation axis C1, and a boom arm portion 6b extending from the outer peripheral edge portion of the annular portion 6a to the downstream side in the production line conveying direction.
  • the extended end portion is connected to the front end of the first piston rod 3 a via a connecting member 11.
  • the annular portion 6a is supported on the inner surface of the housing 2 by a pair of upper and lower annular bearings 12, and is rotatable about a rotation axis C1.
  • the strong arm rod portion 6b is rotated to one side, so that the ring portion 6a is rotated toward one side (direction X1).
  • the first piston rod 3a is retracted by a large amount of force.
  • the arm portion 6b is rotated to the other side, so that the ring portion 6a is rotated toward the other side (direction X2).
  • fitting portions 6c are provided at equal intervals around the rotation axis C1, and the fitting portions 6c have a concave shape opening toward the inside of the annular portion 6a.
  • the second rotating body 7 includes plate-shaped upper and lower bodies 7 a and 7 b located on the upper and lower sides of the first rotating body 6, respectively.
  • the upper side body 7 a has a circular plate shape, and a circular through hole 7 e corresponding to the removal operation space S1 is formed in the center thereof.
  • the lower body 7b includes a circular plate portion 7c whose center line coincides with the rotation axis C1, and an extended portion 7d extending from the outer peripheral edge portion of the circular plate portion 7c toward the opposite side of the conveyance path R.
  • a front end portion 7g extending in the circumferential direction around the rotation axis C1 is provided at an extension end of the extension portion 7d, and the detection sensor 21 can detect the front end portion 7g.
  • a circular through hole 7f corresponding to the removal operation space S1 is formed in the center of the circular plate portion 7c, and a space corresponding to the through hole 7e and the through hole 7f becomes the removal operation space S1.
  • the position of the rotating body 7 is the first removal start position P1 at which the removal operation of one (lower) electrode 10 is started, and the relative positional relationship between the first rotating body 6 and the second rotating body 7 at the first removal start position P1 becomes The first relative positional relationship R1 of the present invention.
  • the position is the second removal start position P2 at which the removal operation of the other (upper) electrode 10 is started.
  • the relative positional relationship between the first rotation body 6 and the second rotation body 7 at the second removal start position P2 becomes the present invention.
  • first relative positional relationship R1 and the second relative positional relationship R2 in the first embodiment are relative positional relationships in which the positional relationships of the first rotating body 6 and the second rotating body 7 are different.
  • the extended portion 7d of the second rotating body 7 is in a position corresponding to the detection sensor 21.
  • a gripping body group 80 composed of four gripping bodies 8 is arranged inside the annular portion 6 a and between the upper body 7 a and the lower body 7 b, and each gripping body 8 It is provided in the position corresponding to each fitting part 6c, respectively.
  • An insertion hole 8a is formed at approximately the center of each gripping body 8, and a rotation shaft 8b extending in the same direction as the rotation axis C1 is inserted into the insertion hole 8a.
  • Each end of the rotating shaft 8b is fixed to the upper body 7a and the lower body 7b, respectively.
  • the gripping body 8 is supported by the second rotating body 7 so as to be rotatable about the rotating shaft 8b.
  • claw portions 8 c are protruded toward the removal operation space S1 side.
  • a pair of bay curved surfaces 8 e are formed on both sides of the claw portions 8 c of the gripping body 8, and the bay curved surfaces 8 e correspond to the outer peripheral surface of the electrode 10 Gentle Bay Song.
  • a protrusion 8d (base) protruding toward the opposite side of the detachment operation space S1 is provided at the center of the base end side of the gripping body 8, and the protrusion 8d is loosely fitted with the corresponding fitting portion 6c.
  • a pair of inclined surfaces 8f are formed continuously with the protrusion 8d, and the pair of inclined surfaces 8f gradually separate from each other as they leave the protrusion 8d.
  • a brake mechanism 22 is attached to each screw hole 20 of the housing 2.
  • the brake mechanism 22 and the first fluid pressure cylinder 3 constitute a drive unit 5 according to the first embodiment of the present invention.
  • the braking mechanism 22 includes a cylindrical braking body 22 a that can be moved along the rotation axis C1, a screw 22 b screwed with the screw hole 20, and a brake body 22 a and the screw 22 b.
  • a coil spring 22c biasing unit
  • the biasing force of the coil spring 22c can be changed.
  • a control unit 9 for controlling the first fluid pressure cylinder 3 is connected to the first fluid pressure cylinder 3 and the detection sensor 21.
  • the control unit 9 expands and contracts the first piston rod 3 a by outputting an operating signal to the first fluid pressure cylinder 3, thereby rotating the first rotating body 6 toward one side or the other.
  • the control section 9 When removing the electrode 10 mounted on the handle G1 located on the lower side, as shown in FIG. 3, when the electrode 10 is placed on the first rotating body 6 and the second rotating body 7 is in the first removal start position P1 and is in the first opposite position In the state in the disassembly operation space S1 of the positional relationship R1, the control section 9 extends the first piston rod 3a by outputting an operating signal to the first fluid pressure cylinder 3, thereby causing the first rotating body 6 to be opposed to the brake mechanism 22
  • the second rotating body 7 which has stopped rotating under the action of the rotating force rotates to one side, and each of the engaging portions 6c pushes the protrusions 8d to the side, and each gripping body 8 rotates to the side, and each claw portion 8c advances into the removal operation space S1 to contact the electrode 10, and thereby each claw portion 8c grips the electrode 10.
  • the control portion 9 controls the first fluid pressure cylinder 3 to further extend the first piston rod 3 a to resist the braking mechanism 22.
  • the force is applied to rotate the first rotating body 6 and the second rotating body 7 together with the electrode 10 to one side, thereby removing the electrode 10 from the front end of the handle G1.
  • the second rotating body 7 is rotated to one side so that the extended portion 7 d is located at a position that does not correspond to the detection sensor 21.
  • the control unit 9 moves the The hydraulic pressure cylinder 3 outputs an operating signal to extend the first piston rod 3a, so that the first rotating body 6 rotates to one side relative to the second rotating body 7 that has stopped rotating due to the braking mechanism 22, and passes through each fitting portion 6c.
  • each gripper 8 c is advanced into the removal operation space S1, and then the removal is withdrawn. Operating space S1.
  • each claw portion 8c exits the disassembly operation space S1
  • the control portion 9 continues to control the first fluid pressure cylinder 3 to further extend the first piston rod 3a.
  • one inclined surface of each gripping body 8 8f contacts the inner peripheral surface of the annular portion 6a, so that the first rotating body 6 and the second rotating body 7 are integrally rotated to one side against the force of the braking mechanism 22, and are in the second disassembly starting position P2 and in the second relative position.
  • Relationship R2
  • the control portion 9 controls the first fluid pressure cylinder 3 to further shrink the first piston rod 3a, and the first rotating body 6 and the first The two rotating bodies 7 are integrally rotated with the electrode 10 to the other side against the force of the braking mechanism 22, so that the electrode 10 is removed from the front end of the handle G1.
  • the second rotating body 7 is rotated to the other side so that the extended portion 7 d is located at a position that does not correspond to the detection sensor 21.
  • the control unit 9 moves the The hydraulic pressure cylinder 3 outputs an operating signal to contract the first piston rod 3a, so that the first rotating body 6 is rotated to the other side with respect to the second rotating body 7 which has stopped rotating due to the braking mechanism 22, and passes through each fitting portion 6c.
  • each claw portion 8c advances into the removal operation space S1, and then exits, as each pressing body 8 is pushed toward the other side by the pressing action of each protrusion 8d.
  • each claw portion 8c exits the disassembly operation space S1
  • the control portion 9 continues to control the first fluid pressure cylinder 3 to further shrink the first piston rod 3a.
  • the other inclined surface of each gripping body 8 8f contacts the inner peripheral surface of the annular portion 6a, so that the first rotating body 6 and the second rotating body 7 are integrally rotated to the other side against the force of the braking mechanism 22, and are in the first disassembly starting position P1 and in the first relative position.
  • Positional relationship R1 is shown in FIG. 15, the other inclined surface of each gripping body 8 8f contacts the inner peripheral surface of the annular portion 6a, so that the first rotating body 6 and the second rotating body 7 are integrally rotated to the other side against the force of the braking mechanism 22, and are in the first disassembly starting position P1 and in the first relative position.
  • the welding gun G moves from below to set the lower electrode 10 In the removal operation space S1, the control unit 9 then controls the first fluid pressure cylinder 3 to extend the first piston rod 3a. Then, the first rotating body 6 rotates to one side with respect to the second rotating body 7 which has stopped rotating under the force of the braking mechanism 22, and each fitting portion 6c pushes the protrusion 8d of each holding body 8 to one side. Since each gripping body 8 pushing the protrusion 8d to one side rotates to one side, the claw portion 8c of each gripping body 8 advances into the removal operation space S1 to contact the electrode 10, and grips the electrode 10.
  • the control portion 9 controls the first fluid pressure cylinder 3 to further extend the first piston rod 3a. Then, as shown in FIGS. 4 and 5, the first rotating body 6 and the second rotating body 7 are integrally rotated together with the electrode 10 against the force of the braking mechanism 22, and the electrode 10 is separated from the front end of the handle G1. At this time, the extension portion 7d moves from a position corresponding to the detection sensor 21 to a position not corresponding to the detection sensor 21, so the control portion 9 recognizes that the electrode 10 has been removed from the front end of the handle G1.
  • the control unit 9 controls the first fluid pressure cylinder 3 to contract the first piston rod 3a. Then, in a state where the second rotating body 7 is stopped by the urging force of the braking mechanism 22, the first rotating body 6 is rotated to the other side, and each gripping body 8 is rotated to the other side. After that, the other inclined surface 8f of each gripping body 8 contacts the inner peripheral surface of the annular portion 6a, so that the first rotating body 6 and the second rotating body 7 rotate integrally to the other side against the force of the braking mechanism 22 As shown in FIG. 6, it returns to a state where it is in the first disassembly start position P1 and in the first relative position relationship R1. At this time, as the second rotating body 7 rotates to the other side, the extended portion 7 d returns to a position corresponding to the detection sensor 21.
  • the control unit 9 controls the first fluid pressure cylinder 3 to extend the first piston rod 3a.
  • the first rotating body 6 rotates to one side with respect to the second rotating body 7 that has stopped rotating under the force of the braking mechanism 22.
  • Each of the grasping bodies 8 is rotated to one side by the rotation operation of the first rotating body 6.
  • each claw portion 8c advances into the removal operation space S1
  • one inclined surface 8 f of each gripping body 8 contacts the inner peripheral surface of the annular portion 6 a. Therefore, the first rotating body 6 and the second rotating body 7 resist the force of the braking mechanism 22 integrally.
  • the welding torch G is moved from above to place the upper electrode 10 in the removal operation space S1, and then the control section 9 controls the first fluid pressure cylinder 3 to contract the first piston rod 3a. Then, the first rotating body 6 is rotated to the other side with respect to the second rotating body 7 which has stopped rotating under the force of the braking mechanism 22, and each fitting portion 6c pushes the protrusion 8d of each holding body 8 to the other side. Since each gripping body 8 pushing the protrusion 8d to the other side rotates toward the other side, the claw portion 8c of each gripping body 8 advances into the removal operation space S1 to contact the electrode 10, and grips the electrode 10.
  • the control portion 9 controls the first fluid pressure cylinder 3 to further shrink the first piston rod 3a. Then, as shown in FIGS. 10 and 11, the first rotating body 6 and the second rotating body 7 are rotated together with the electrode 10 against the force of the braking mechanism 22 toward the other side, and the electrode 10 is separated from the front end of the handle G1. At this time, the extension portion 7d moves from a position corresponding to the detection sensor 21 to a position not corresponding to the detection sensor 21, so the control portion 9 recognizes that the electrode 10 has been removed from the front end of the handle G1.
  • the control unit 9 controls the first fluid pressure cylinder 3 to extend the first piston rod 3a. Then, in a state where the second rotating body 7 is stopped by the urging force of the braking mechanism 22, the first rotating body 6 is rotated to one side, and each gripping body 8 is rotated to one side. After that, one inclined surface 8f of each gripping body 8 contacts the inner peripheral surface of the annular portion 6a, so that the first rotating body 6 and the second rotating body 7 are integrally rotated to one side against the force of the braking mechanism 22, such as As shown in FIG. 12, it is returned to the state in the second disassembly start position P2 and in the second relative position relationship R2. At this time, as the second rotating body 7 rotates to one side, the extended portion 7d returns to a position corresponding to the detection sensor 21.
  • the control unit 9 controls the first fluid pressure cylinder 3 to contract the first piston rod 3a.
  • the first rotating body 6 rotates to the other side with respect to the second rotating body 7 that has stopped rotating under the force of the braking mechanism 22, and passes the The rotation of the first rotating body 6 causes each gripping body 8 to rotate to the other side.
  • each claw portion 8c advances into the removal operation space S1
  • the other inclined surface 8 f of each gripping body 8 contacts the inner peripheral surface of the annular portion 6 a, so that the first rotating body 6 and the second rotating body 7 are integrated against the force of the braking mechanism 22.
  • Embodiment 1 of the present invention if the first rotating body 6 and the second rotating body 7 are in the first relative position relationship R1, the electrode 10 mounted on the front end of the handle G1 is placed in the disassembly operation space.
  • S1 when the first rotating body 6 and the second rotating body 7 are relatively rotated to one side, the claw portions 8c of the grasping bodies 8 are advanced to the electrode 10 in the detaching operation space S1.
  • the electrode 10 is twisted relative to the front end of the handle G1, and the electrode 10 is removed from the handle. G1 front end removed.
  • the electrode 10 mounted on the front end of the handle G1 is placed in the removal operation space S1, and then the first rotating body 6 and the second rotating body 7 are relatively rotated to the other side, the claw portion 8c of each gripping body 8 advances to the electrode 10 in the removal operation space S1.
  • the electrode 10 is twisted relative to the front end of the handle G1, and the electrode 10 Remove from the front end of the handle G1.
  • the electrode 10 can be removed from the handle G1 regardless of whether the electrode 10 is rotated in one direction or the other with respect to the handle G1. Therefore, in the disassembling operation of the electrode 10, the rotation direction of the electrode 10 with respect to the handle G1 can be set to the opposite side to the direction in which the handle G1 is mounted on the gun body, so that the handle G1 can be prevented from accidentally falling off the gun body.
  • the plurality of grasping bodies 8 for disassembling the electrode 10 are arranged only in a row around the rotation axis C1, and there is no provision of a plurality of grasping body groups 80 in the direction along the rotation axis C1 as in the patent document, so it is possible to
  • the electrode-disassembly device 1 for spot welding is made compact in the direction along the rotation axis C1.
  • the electrode disassembly device 1 for spot welding there is only one group of a plurality of grasping bodies arranged in a row in the circumferential direction centered on the rotation axis C1, and there is no one specifically designed for each standby as in Patent Document 1.
  • the disassembled electrodes are each provided with a portion to hold the electrodes, so the number of parts can be reduced and the structure can be simplified, so that the cost of parts can be kept low.
  • each gripping body 8 is provided with only one claw portion 8c.
  • Each claw portion 8c is used for holding the electrode 10 when the first rotating body 6 and the second rotating body 7 are rotated to one side. The electrode 10 is clamped when the first rotating body 6 and the second rotating body 7 are rotated to the other side. Therefore, the structure of each gripping body 8 can be simplified, and the component cost can be reduced.
  • each of the grasping bodies 8 can be rotated by one driving source to grasp the electrodes 10 or release the electrodes, thereby reducing electrode disassembly for spot welding.
  • the electrode 10 when the second rotating body 7 and the first rotating body 6 are rotated together to one side, the electrode 10 is twisted toward the side with respect to the front end of the handle G1 and is removed from the front end of the handle G1, and the extension 7d is in a non-corresponding detection sensor 21 position.
  • the electrode 10 when the second rotating body 7 and the first rotating body 6 are rotated toward the other side together, the electrode 10 is twisted toward the other side with respect to the front end of the handle G1 to be removed from the front end of the handle G1, and the extension 7d is located at It does not correspond to the position of the detection sensor 21. Therefore, regardless of the rotation direction of the electrode 10 with respect to the front end of the handle G1, it can be known whether the electrode 10 has been removed from the front end of the handle G1 by detecting whether the sensor 21 detects the extension 7d.
  • the first rotating body 6 is rotated by the first fluid pressure cylinder 3, but the invention is not limited to this.
  • a servo motor with an encoder capable of controlling the rotation angle may be used. The rotation operation of the first rotating body 6 is performed.
  • the first rotating body 6 is rotated relative to the second rotating body 7 and the electrodes are grasped by the holding bodies 8.
  • the second rotating body 7 may be rotated relative to the first The body 6 rotates and the electrodes are grasped by each grasping body 8.
  • the first fluid pressure cylinder 3 is a type driven by the supply and discharge of compressed air, but a type driven by the supply and discharge of hydraulic oil may be used.
  • the coil spring 22c is used as the urging unit of the braking mechanism 22.
  • other urging units may be used.
  • it may be another kind of spring or a rubber material having elasticity. Of parts.
  • 16 to 22 show an electrode removing device 1 for spot welding according to a second embodiment of the present invention.
  • the difference between the second embodiment and the first embodiment is only that the second fluid pressure cylinder 4 is used instead of the brake mechanism 22, and the second rotary body 7 and the gripping body 8 are different in structure from the first embodiment, and other than the first embodiment Since they are the same, only the differences from the first embodiment will be described in detail below.
  • the casing 2 of the second embodiment is not provided with a screw hole 20 and the detection sensor 21 is not attached.
  • a second fluid pressure cylinder 4 is arranged in the storage space S3 in the housing 2 of the second embodiment, and the second piston rod 4 a of the second fluid pressure cylinder 4 is retracted toward the upstream side of the production line conveying direction.
  • This second fluid pressure cylinder 4 is selected to have a force smaller than the fluid pressure cylinder of the first fluid pressure cylinder 3 during expansion and contraction.
  • the base end side of the second fluid pressure cylinder 4 is pivotally supported on the housing 2 by a support shaft 4b extending in the up-and-down direction.
  • the second fluid pressure cylinder 4 is moved by one side, and the second piston rod 4a is conveyed toward The opposite side of the path R moves, and the second piston rod 4a moves toward the conveying path R side by the swinging motion on the other side.
  • the drive unit 5 includes a first fluid pressure cylinder 3 and a second fluid pressure cylinder 4.
  • the upper body 7a and the lower body 7b of the second rotating body 7 of the second embodiment have a vertically symmetrical shape.
  • the upper body 7a includes a circular plate portion 7c whose center line coincides with the rotation axis C1, and a small arm portion 7h extending from an outer peripheral edge portion of the circular plate portion 7c toward the opposite side of the conveying path R.
  • the small arm The extended end portion of the rod portion 7h is connected to the front end of the second piston rod 4a.
  • the lower body 7b has the same structure as the upper body 7a, and therefore is designated by the same reference numeral as the upper body 7a, and detailed description thereof is omitted.
  • the second fluid pressure cylinder 4 swings to one side and each small arm lever portion 7h rotates to one side, so that the upper body 7a and the lower body 7b are directed to one side (direction X1) ) Rotation, on the other hand, the second fluid pressure cylinder 4 swings to the other side and each of the small force arm portion 7h rotates to the other side under the elongation action of the second piston rod 4a, so that the upper body 7a and The lower body 7b rotates to the other side (X2 direction).
  • a pair of claw portions 8g are protruded toward the removal operation space S1 side of the front end of the grip body 8 of the second embodiment, and the claw portions 8g are separated in the circumferential direction around the rotation axis C1.
  • the position of the second rotator 7 in the state is the first detachment start position P1 at which the detachment operation of one (lower) electrode 10 is started.
  • the first rotator 6 and the second rotator 7 at the first detachment start position P1 are The relative positional relationship becomes the first relative positional relationship R1 of the present invention.
  • the position of the second rotating body 7 in the state is the second detaching start position P2 at which the detaching operation of the other electrode 10 is started.
  • the relative positional relationship between the first rotating body 6 and the second rotating body 7 at the second detaching start position P2 This becomes the second relative positional relationship R2 of the present invention.
  • first relative positional relationship R1 and the second relative positional relationship R2 of the second embodiment are relative positional relationships in which the positional relationship of the first rotating body 6 and the second rotating body 7 is the same.
  • the control unit 9 is connected to the second fluid pressure cylinder 4 and outputs a working signal to the second fluid pressure cylinder 4 to expand and contract the second piston rod 4 a so that the second rotating body 7 rotates to one side or the other.
  • the control unit 9 controls the first fluid pressure cylinder 3 and the second fluid pressure cylinder 4 to extend the first piston rod 3a and the second piston rod 4a together, so that the first A rotating body 6 rotates to one side with respect to the second rotating body 7 that has stopped rotating due to the small arm lever portion 7h contacting the wall portion 2f, and the pressing action of each fitting portion 6c to push the protrusions 8d to one side,
  • Each gripping body 8 rotates to one side, and one claw portion 8c of each gripping body 8 advances into the detaching operation space S1 to contact the electrode 10.
  • one claw portion of each gripping body 8 8c grasping the electrode 10.
  • the control unit 9 controls the first fluid pressure cylinder 3 and the second fluid pressure cylinder 4 to make the first piston rod 3a and the second piston rod 4a continue to extend together, and the first piston rod 3a overcomes the elongation force of the second piston rod 4a to further extend, so that the first rotating body 6 and the second rotating body 7 are integrated with the electrode 10 toward the body. Rotate one side to remove the electrode 10 from the front end of the handle G1.
  • the control unit 9 controls the first fluid pressure cylinder 3 to extend the first piston rod 3a and controls the second fluid pressure cylinder 4 to contract the second piston rod 4a, thereby causing the first
  • the two rotating bodies 7 rotate to one side with respect to the first rotating body 6 that has stopped rotating, and each of the holding portions 8 rotates to the other side by the pressing action of each fitting portion 6c pressing the protrusion 8d to the other side.
  • one claw portion 8c of each gripping body 8 exits the disassembly operation space S1, removes the electrode 10 from the disassembly operation space S1, and becomes the first rotating body 6 and the second rotating body 7 in the first position.
  • the second disassembly start position P2 is in a state of the second relative position relationship R2.
  • the control unit 9 controls the first fluid pressure cylinder 3 and the second fluid pressure cylinder 4 to contract the first piston rod 3a and the second piston rod 4a together, Accordingly, the first rotating body 6 is rotated toward the other side with respect to the second rotating body 7 that has stopped rotating because the second piston rod 4a is located at the contracted end, and each of the fitting portions 6c pushes the protrusions 8d toward the other side.
  • each gripping body 8 rotates to the other side, and the other claw portion 8c of each gripping body 8 advances into the disassembly operation space S1 to contact the electrode 10, and as shown in FIG. 21, each gripping body 8 The other claw portion 8c of 8 holds the electrode 10.
  • the control unit 9 controls the first fluid pressure cylinder 3 and the second fluid pressure cylinder 4 to make the first piston
  • the rod 3a and the second piston rod 4a continue to contract, and the first piston rod 3a further contracts against the contraction force of the second piston rod 4a, so that the first rotating body 6 and the second rotating body 7 are integrated with the electrode 10 toward the other side. Rotate to remove the electrode 10 from the front end of the handle G1.
  • the control unit 9 controls the first fluid pressure cylinder 3 to contract the first piston rod 3a and controls the second fluid pressure cylinder 4 to extend the second piston rod 4a, so that the first The two rotating bodies 7 rotate to the other side with respect to the first rotating body 6 that has stopped rotating, and each of the engaging portions 6c pushes each protrusion 8d to one side, and each gripping body 8 rotates to one side.
  • the other claw portion 8 c of each gripping body 8 exits the disassembly operation space S1, removes the electrode 10 from the disassembly operation space S1, and becomes the first rotating body 6 and the second rotating body 7 in the first position.
  • a disassembly start position P1 is in a state of a first relative position relationship R1.
  • the welding gun G moves from below to set the lower electrode 10
  • the control unit 9 controls the first fluid pressure cylinder 3 and the second fluid pressure cylinder 4 to extend the first piston rod 3a and the second piston rod 4a, respectively.
  • the small arm arm portion 7h contacts the wall portion 2f
  • the first rotating body 6 rotates to one side relative to the second rotating body 7, and each of the fitting portions 6c holds each of the holding bodies 8
  • the projection 8d is pushed to one side.
  • Each of the grasping bodies 8 pushing the protrusion 8d to one side rotates to one side, as shown in FIG. 18, one claw portion 8c of each grasping body 8 advances into the removal operation space S1 to contact the electrode 10, and grasps Holding this electrode 10.
  • the control unit 9 controls the first fluid pressure cylinder 3 and the second fluid pressure cylinder 4 so that the first piston rod 3a and the second piston rod 4a continue to extend. Then, as shown in FIG. 19, the first piston rod 3a is extended against the elongation force of the second piston rod 4a, so that the first rotating body 6 and the second rotating body 7 are rotated together with the electrode 10 to one side, The electrode 10 is detached from the front end of the handle G1.
  • the control unit 9 controls the first fluid pressure cylinder 3 to extend the first piston rod 3a and controls the second fluid pressure cylinder 4 to contract the second piston rod 4a.
  • the second rotating body 7 rotates to one side with respect to the first rotating body 6 that has stopped rotating due to the contact of the boom arm portion 6b with the wall portion 2e, and each gripping body 8 rotates to the other side.
  • one claw portion 8c of each gripping body 8 exits the disassembly operation space S1
  • the first rotating body 6 and the second rotating body 7 are in the first position.
  • Two disassembly start positions P2 are in a second relative position relationship R2.
  • the welding torch G moves from above to place the upper electrode 10 in the removal operation space S1.
  • the control unit 9 controls the first fluid pressure cylinder 3 and the second fluid pressure cylinder 4 to make the first piston rod 3a
  • the second piston rod 4a is contracted, respectively.
  • the first rotating body 6 is rotated to the other side with respect to the second rotating body 7 which has stopped rotating because the second piston rod 4a is located at the contracted end, and each fitting portion 6c pushes the protrusion 8d of each holding body 8 toward the other.
  • the other claw portion 8c of each grasping body 8 advances into the removal operation space S1 and contacts the electrode 10 And hold the electrode 10.
  • the control unit 9 controls the first fluid pressure cylinder 3 and the second fluid pressure cylinder 4 so that the first piston rod 3a and the second piston rod 4a continue to contract. . Then, as shown in FIG. 22, the first piston rod 3a is contracted against the contraction force of the second piston rod 4a, and the first rotating body 6 and the second rotating body 7 are integrally rotated with the electrode 10 to the other side.
  • the electrode 10 is detached from the front end of the handle G1.
  • the control unit 9 controls the first fluid pressure cylinder 3 to contract the first piston rod 3a and controls the second fluid pressure cylinder 4 to extend the second piston rod 4a. Then, the second rotating body 7 is rotated to the other side with respect to the first rotating body 6 that has stopped rotating due to contact with the rotation restricting wall portion 2 c, and each gripping body 8 is rotated to one side. After that, as shown in FIG.
  • the other claw portion 8 c of each gripping body 8 exits the disassembly operation space S1, removes the electrode 10 from the disassembly operation space S1, and the first rotating body 6 and the second rotating body 7 are in
  • the first disassembly start position P1 is in the first relative position relationship R1, and the disassembly operation of the pair of electrodes 10 mounted on the welding gun G is completed.
  • Embodiment 2 of the present invention when the first rotating body 6 and the second rotating body 7 are rotated to one side to remove the electrode 10 from the front end of the handle G1, and the first rotating body 6 and the second When the rotating body 7 is rotated to the other side to remove the electrode 10 from the front end of the handle G1, the electrodes 10 are respectively held by different claw portions 8c of one holding body 8. Therefore, when the detaching operation of the electrode 10 is repeatedly performed, the load applied to each claw portion 8c of the grasping body 8 can be halved, and the claw portion 8c of the electrode welding device 1 for spot welding can be prevented from being easily broken.
  • each grasping body 8 can be rotated to grasp the electrode 10 or Release the electrode 10.
  • the electrode 10 when the electrode 10 is removed from the handle G1, if the first piston rod 3a and the second piston rod 4a are extended or contracted together while the electrode 10 is placed in the removal operation space, the first rotating body 6 and the second rotating body 7 exert a force in a relative rotation direction, and each gripping body 8 holds the electrode 10, and since the force of the second piston rod 4a is smaller than that of the first piston rod 3a, the first piston rod 3a is overcome
  • the second piston rod 4a expands or contracts due to the telescopic force. Therefore, in a state in which the electrode 10 is firmly held by the grasping bodies 8, the first rotating body 6 and the second rotating body 7 rotate integrally, and therefore the electrode 10 can be reliably removed from the front end of the handle G1.
  • the first rotating body 6 and the second rotating body 7 can be carried out only by the telescopic action of the first piston rod 3a and the second piston rod 4a of the two first fluid pressure cylinders 3 and the second fluid pressure cylinders 4.
  • the relative rotation operation and the integrated rotation operation allow the electrode disassembly device 1 for spot welding to be composed of low-cost components, thereby further reducing the cost of the electrode disassembly device 1 for spot welding.
  • first rotating body 6 and the second rotating body 7 are rotated by the first fluid pressure cylinder 3 and the second fluid pressure cylinder 4, respectively.
  • a relative rotation operation and an integrated rotation operation of the first rotating body 6 and the second rotating body 7 may be performed using a servo motor with an encoder capable of controlling a rotation angle.
  • the first fluid pressure cylinder 3 and the second fluid pressure cylinder 4 are driven by the supply and discharge of compressed air, but may be driven by the supply and discharge of hydraulic oil. type.
  • a pair of claw portions 8c are provided on the gripping body 8, and the first relative positional relationship R1 and the second relative positional relationship R2 of the first rotating body 6 and the second rotating body 7 are provided. Is the same relative positional relationship, but as in the first embodiment, only one claw portion 8c may be provided on the holding body 8, and the first relative positional relationship R1 and the first relative position of the first rotating body 6 and the second rotating body 7 may be provided.
  • the two relative positional relationships R2 are different relative positional relationships.
  • Embodiment 1 of the present invention only one claw portion 8c is provided on the gripping body 8, and the first relative position relationship R1 and the second relative position relationship R2 of the first rotating body 6 and the second rotating body 7 are provided.
  • a pair of claw portions 8c may be provided on the holding body 8 and the first relative positional relationship R1 and the first relative positional relationship of the first rotating body 6 and the second rotating body 7 may be provided.
  • the two relative positional relationships R2 are the same relative positional relationship.
  • the present invention is suitable for, for example, an electrode disassembly device for spot welding used in an automobile production line.

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Abstract

一种点焊用电极拆卸装置，其构成为：通过驱动单元（5）的驱动动作，如果第一旋转体（6）和第二旋转体（7）从第一相对位置关系（R1）向一侧相对旋转，则在嵌合部（6c）向一侧推压突起（8d）的推压动作下，抓持体（8）向一侧转动，爪部（8c）前进到拆卸操作空间（S1）内以能够接触置于拆卸操作空间（S1）中的电极（10），另一方面，如果第一旋转体（6）和第二旋转体（7）从第二相对位置关系（R2）向另一侧相对旋转，则在嵌合部（6c）向另一侧推压突起（8d）的推压动作下，抓持体（8）向另一侧转动，爪部（8c）前进到拆卸操作空间（S1）内以能够接触置于拆卸操作空间（S1）中的电极（10）。该点焊用电极拆卸装置结构紧凑，不复杂，而且成本低。

Description

点焊用电极拆卸装置 技术领域
本发明涉及例如在汽车生产线中使用的点焊用电极拆卸装置。
背景技术
以往，点焊用焊枪在枪主体上螺合连接有呈细棒状的柄(shank)，在柄前端嵌合安装有对焊接对象进行加压和供电的电极。该点焊用电极需要定期更换以使焊接质量稳定，在进行更换操作时，由于电极牢固地嵌合在柄前端，因此通常使用电极拆卸装置将电极边绕其中心轴旋转边从柄前端拆除。
然而，在进行电极的拆卸操作时，如果在柄相对于枪主体沿螺纹后退的方向上旋转电极，则有可能导致电极不从柄上脱离而是柄从枪主体上脱离。因此，由一对相向的电极夹着焊接对象进行点焊的焊枪存在如下问题：当使用拆卸机构部仅单向旋转的电极拆卸装置从各柄前端拆除电极时，为了使各柄不脱离枪主体，需要边改变焊枪或电极拆卸装置相对于各电极的姿势边依次进行各电极的拆卸操作，使得电极拆卸装置中的拆卸机构部的旋转方向遵循柄相对于枪主体沿螺纹前进的方向，各电极的拆卸操作耗费很多时间。
为了避免此问题，例如，专利文献1公开的电极拆卸装置采用了当进行相向的一对电极的拆卸操作时，无需大幅改变焊枪和电极拆卸装置的姿势的结构。具体而言，专利文献1的电极拆卸装置包括环状的第一旋转体和第二旋转体，所述第一旋转体和第二旋转体的旋转轴心设定在拆卸操作空间的中央，能够相对于彼此旋转，第二旋转体配设在第一旋转体的内侧。在第一旋转体内周面的一个开口侧二分之一处，在以旋转轴心为中心的周向上等间隔地形成有三个第一切口凹部，各第一切口凹部呈底部随着在第一旋转体的反转方向上前进而逐渐变浅的形状。另一方面，在第一旋转体内周面的另一个开口侧二分之一处，在以旋转轴心为中心的周向上等间隔地形成有三个第二切口凹部，各第二切口凹部呈底部随着在第一旋转体的正转方向上前进而逐渐变浅的形状。在第二旋转体的与各第一切口凹部相对应的位置上分别形成有第一辊收容部，第一辊收容部收容成为抓持体的第一旋转辊，使得第一旋转辊可以旋转且不会脱落，另一方面，在第二旋转体的与各第二切口凹部相对应的位置上分别形成有第二辊 收容部，第二辊收容部收容成为抓持体的第二旋转辊，使得第二旋转辊可以旋转且不会脱落。第一和第二旋转辊可以在第一和第二辊收容部中分别在第二旋转体的直径方向上移动。而且，如果在将一个电极置于电极拆卸空间内各第一旋转辊之间的状态下使第一旋转体相对于第二旋转体沿正转方向旋转，则各第一旋转辊沿着各第一切口凹部移动的同时被该各第一切口凹部推着朝向拆卸操作空间侧移动而夹住电极，进而通过第一旋转体的正转方向的旋转动作使电极与第二旋转体一起旋转而从柄前端拆除。然后，如果在将另一个电极置于电极拆卸空间内各第二旋转辊之间的状态下使第一旋转体相对于第二旋转体沿反转方向旋转，则各第二旋转辊沿着各第二切口凹部移动的同时被该各第二切口凹部推着朝向拆卸操作空间侧移动而夹住电极，进而通过第一旋转体的反转方向的旋转动作使电极与第二旋转体一起旋转而从柄前端拆除。如此，在专利文献1的电极拆卸装置中，无需大幅改变焊枪和电极拆卸装置的姿势即可从焊枪上依次拆卸一对电极。
但是，专利文献1的电极拆卸装置由于由各第一旋转辊构成的抓持体组和由各第二旋转辊构成的抓持体组沿着旋转轴心隔开配置，因此导致装置在旋转轴心方向上大型化，需要较大的设置空间。
另外，由于待拆卸的每个电极都需要专用的抓持体组，因此不但部件数量增加结构复杂化，而且还存在部件成本高的问题。
现有技术文献
专利文献
专利文献1：国际公开第2015/118573号
发明内容
本发明是鉴于上述各点而完成的，其目的在于提供一种结构紧凑而不复杂、而且成本低的点焊用电极拆卸装置。
为了实现上述目的，本发明的特征在于，利用抓持体围绕旋转轴心以环状排成一列的一个抓持体组，使得无论第一旋转体和第二旋转体向一侧或另一侧的任意方向旋转均可拆卸电极。
具体而言，在将点焊用枪的柄前端安装的电极从所述柄前端拆除的点焊用电极拆卸装置中，采用了如下解决方案。
即，在第一方面的发明中，其特征在于，所述点焊用电极拆卸装置包括：第一旋转体，其旋转轴心设定在拆卸操作空间的中央，围绕所述旋转轴心等间隔地具有多个嵌合部；第二旋转体，构成为可以相对于该第一旋转体绕所述旋转轴心彼此相对旋转；驱动单元，驱动所述第一旋转体和所述第二旋转体中的至少一个旋转；以及多个抓持体，配设在分别与所述各嵌合部对应的位置上，并且由所述第二旋转体轴支承而可绕与所述旋转轴心同向延伸的转动轴转动，所述抓持体的前端设置有爪部，并且所述抓持体的基部与对应的所述嵌合部间隙配合；所述点焊用电极拆卸装置构成为：通过所述驱动单元的驱动动作，如果所述第一旋转体和所述第二旋转体从第一相对位置关系向一侧相对旋转，则在所述嵌合部向一侧推压所述基部的推压动作下，所述抓持体向一侧转动，所述爪部前进到所述拆卸操作空间内以能够接触置于所述拆卸操作空间中的所述电极，另一方面，如果所述第一旋转体和所述第二旋转体从第二相对位置关系向另一侧相对旋转，则在所述嵌合部向另一侧推压所述基部的推压动作下，所述抓持体向另一侧转动，所述爪部前进到所述拆卸操作空间内以能够接触置于所述拆卸操作空间中的所述电极。
第二方面的发明是在第一方面的发明中，其特征在于，所述第一相对位置关系和所述第二相对位置关系是所述第一旋转体和所述第二旋转体的位置关系不同的相对位置关系，所述爪部在所述抓持体上形成有一个，所述爪部构成为：如果所述第一旋转体和所述第二旋转体从所述第一相对位置关系开始到变为所述第二相对位置关系为止向一侧相对旋转，则所述抓持体向一侧转动，所述爪部前进到所述拆卸操作空间内之后，退出该拆卸操作空间，另一方面，如果所述第一旋转体和所述第二旋转体从所述第二相对位置关系开始到变为所述第一相对位置为止向另一侧相对旋转，则所述抓持体向另一侧转动，所述爪部前进到所述拆卸操作空间内之后，退出该拆卸操作空间。
第三方面的发明是在第一方面的发明中，其特征在于，所述第一相对位置关系和所述第二相对位置关系是所述第一旋转体和所述第二旋转体的位置关系相同的相对位置关系，所述爪部在以所述旋转轴心为中心的周向上间隔开形成有一对，所述爪部构成为：如果所述第一旋转体和所述第二旋转体从所述相对位置关系向一侧相对旋转，则所述抓持体向一侧转动，所述一个爪部前进到所述拆卸操作空间内，另一方面，如果所述第一旋转体和所述第二旋转体从所 述相对位置关系向另一侧相对旋转，则所述抓持体向另一侧转动，所述另一个爪部前进到所述拆卸操作空间内。
第四方面的发明是在第一至三方面的任一发明中，其特征在于，所述驱动单元包括：第一流体压气缸，具有前端与所述第一旋转体连接的第一活塞杆，通过该第一活塞杆的伸长动作使所述第一旋转体向一侧旋转，另一方面，通过所述第一活塞杆的收缩动作使所述第一旋转体向另一侧旋转；以及制动机构，具有制动体和施力单元，所述制动体可沿所述旋转轴心移动，所述施力单元将该制动体推向所述第二旋转体侧使该制动体可滑动地接触该第二旋转体。
第五方面的发明是在第四方面的发明中，其特征在于，在所述第二旋转体上设置有向外侧延伸的延出部，在所述第二旋转体的外侧设置有可检测所述延出部的检测传感器，所述第二旋转体构成为：当所述第一旋转体和所述第二旋转体处于第一相对位置关系和第二相对位置关系时，所述延出部位于与所述检测传感器对应的位置，在向一侧或另一侧旋转而将所述电极从所述柄前端拆除的状态下，所述延出部位于不对应所述检测传感器的位置。
第六方面的发明是在第一至三方面的任一发明中，其特征在于，所述驱动单元包括第一流体压气缸和第二流体压气缸，所述第一流体压气缸具有前端与所述第一旋转体连接的第一活塞杆，通过该第一活塞杆的伸长动作使所述第一旋转体向一侧旋转，另一方面，通过所述第一活塞杆的收缩动作使所述第一旋转体向另一侧旋转，所述第二流体压气缸具有前端与所述第二旋转体连接的第二活塞杆，并且伸缩时的力设定为小于所述第一流体压气缸，通过所述第二活塞杆的收缩动作使所述第二旋转体向一侧旋转，另一方面，通过所述第二活塞杆的伸长动作使所述第二旋转体向另一侧旋转，所述点焊用电极拆卸装置构成为：当所述第一旋转体和所述第二旋转体向一侧相对旋转时，起动所述第一流体压气缸和所述第二流体压气缸使所述第一活塞杆和所述第二活塞杆一起伸长，另一方面，当所述第一旋转体和所述第二旋转体向另一侧相对旋转时，起动所述第一流体压气缸和所述第二流体压气缸使所述第一活塞杆和所述第二活塞杆一起收缩。
在第一方面的发明中，如果在第一旋转体和第二旋转体处于第一相对位置关系的情况下将安装在柄前端的电极置于拆卸操作空间中，然后使第一旋转体和第二旋转体向一侧相对旋转，则各抓持体的爪部前进到拆卸操作空间内夹持 电极。在此状态下，如果第一旋转体进一步向一侧旋转，则第一旋转体和第二旋转体一起向一侧旋转，电极相对于柄前端扭转，将该电极从柄前端拆除。另一方面，如果在第一旋转体和第二旋转体处于第二相对位置关系的情况下将安装在柄前端的电极置于拆卸操作空间中，然后使第一旋转体和第二旋转体向另一侧相对旋转，则各抓持体的爪部前进到拆卸操作空间内夹持电极。在此状态下，如果第一旋转体进一步向另一侧旋转，则第一旋转体和第二旋转体一起向另一侧旋转，电极相对于柄前端扭转，将该电极从柄前端拆除。由此，无论电极相对于柄向一侧或另一侧的任意方向旋转，均能从柄上拆除。因此，在电极的拆卸操作中，电极相对于柄的旋转方向可以设定为枪主体上安装柄的方向的相反侧，因而可以避免柄意外地从枪主体脱落。另外，用于拆卸电极的多个抓持体围绕旋转轴心仅排成一列，没有像专利文献1那样在沿着旋转轴心的方向上设置多个抓持体组，因此可以使装置在沿着旋转轴心的方向上结构紧凑。进而，在装置中，多个抓持体在以旋转轴心为中心的周向上排成一列的抓持体组只有一组，没有像专利文献1那样专门为每个待拆卸的电极均设置抓持电极的部分，因此可以减少部件数量而简化结构，从而可以维持较低的部件成本。
在第二方面的发明中，设置在抓持体上的一个爪部除了用于在使第一旋转体和第二旋转体向一侧旋转时夹持电极以外，还用于在使第一旋转体和第二旋转体向另一侧旋转时夹持电极。因此，可以简化各抓持体的结构，从而可以降低部件成本。
在第三方面的发明中，在使第一旋转体和第二旋转体向一侧旋转以从柄前端拆除电极时、以及使第一旋转体和第二旋转体向另一侧旋转以从柄前端拆除电极时，利用一个抓持体的不同爪部分别夹持电极。因此，当反复进行电极的拆卸操作时，可以将施加在抓持体的各爪部上的负荷减半，从而能够使装置的爪部不易破损。
在第四方面的发明中，通过在旋转轴心方向上对第二旋转体施加的各施力单元的作用力，使得第二旋转体比第一旋转体更难以绕旋转轴心旋转。因此，若第一活塞杆伸长则第一旋转体相对于第二旋转体向一侧旋转，而若第一活塞杆收缩则第一旋转体相对于第二旋转体向另一侧旋转，可以用一个驱动源使第一旋转体和第二旋转体相对于彼此旋转，从而使各抓持体转动而抓持电极或松开电极，因而可以降低装置的成本。
在第五方面的发明中，当第二旋转体和第一旋转体一起向一侧旋转时，电极相对于柄前端向一侧扭转而从该柄前端拆除，并且延出部处于不对应检测传感器的位置。另一方面，当第二旋转体和第一旋转体一起向另一侧旋转时，电极相对于柄前端向另一侧扭转而从该柄前端拆除，并且延出部位于不对应检测传感器的位置。由此，无论电极相对于柄前端的旋转方向如何，均可通过检测传感器是否检测到延出部来获知电极是否已从柄前端拆除。
在第六方面的发明中，由于通过第一和第二活塞杆分别伸缩而使第一旋转体和第二旋转体相对于彼此旋转，因此可以使各抓持体转动而抓持电极或者松开电极。另外，当从柄上拆除电极时，如果在将电极置于拆卸操作空间中的状态下使第一和第二活塞杆一起伸长或收缩，则对第一旋转体和第二旋转体施加相对旋转方向的力，各抓持体抓持电极，而且由于第二活塞杆伸缩时的力小于第一活塞杆，因此使第一活塞杆克服第二活塞杆的伸缩力而伸长或收缩。因此，在电极被各抓持体牢固地抓持的状态下，第一旋转体和第二旋转体一体地旋转，因此能够可靠地从柄前端拆除电极。由此，仅通过两个流体压气缸的各活塞杆的伸缩动作即可进行第一旋转体和第二旋转体的相对旋转动作和一体旋转动作，因此可以由低成本的部件构成装置，从而进一步降低装置的成本。
附图说明
图1是本发明的实施方式1涉及的点焊用电极拆卸装置的立体图。
图2是本发明的实施方式1涉及的点焊用电极拆卸装置的分解立体图。
图3是图1中III-III线的剖视图。
图4是表示在图3之后，从柄前端拆卸一个电极过程中的状态的图。
图5是表示在图4之后，从柄前端拆卸一个电极后的状态的图。
图6是表示在图5之后，各构成部件开始切换到用于从柄前端拆卸另一个电极的初始配置后的状态的图。
图7是表示在图6之后，各构成部件切换到用于从柄前端拆卸另一个电极的初始配置过程中的状态的图。
图8是表示在图7之后，各构成部件切换到用于从柄前端拆卸另一个电极的初始配置过程中的状态的图。
图9是表示在图8之后，各构成部件切换到用于从柄前端拆卸另一个电极的初始配置后的状态的图。
图10是表示在图9之后，从柄前端拆卸另一个电极过程中的状态的图。
图11是表示在图10之后，从柄前端拆卸另一个电极后的状态的图。
图12是表示在图11之后，各构成部件开始切换到用于从柄前端拆卸一个电极的初始配置后的状态的图。
图13是表示在图12之后，各构成部件切换到用于从柄前端拆卸一个电极的初始配置过程中的状态的图。
图14是表示在图13之后，各构成部件切换到用于从柄前端拆卸一个电极的初始配置过程中的状态的图。
图15是表示在图14之后，各构成部件切换到用于从柄前端拆卸一个电极的初始配置后的状态的图。
图16是本发明的实施方式2涉及的相当于图1的图。
图17是图16中XVII-XVII线的剖视图。
图18是表示在图17之后，从柄前端拆卸一个电极过程中的状态的图。
图19是表示在图18之后，从柄前端拆卸一个电极后的状态的图。
图20是表示在图19之后，从电极拆卸空间移除一个电极，然后从柄前端拆卸另一个电极之前的状态的图。
图21是表示在图20之后，从柄前端拆卸另一个电极过程中的状态的图。
图22是表示在图21之后，从柄前端拆卸另一个电极后的状态的图。
图中，1、点焊用电极拆卸装置；3、第一流体压气缸；3a、第一活塞杆；4、第二流体压气缸；4a、第二活塞杆；5、驱动单元；6、第一旋转体；6c、嵌合部；7、第二旋转体；7d、延出部；8、抓持体；8b、转动轴；8c、爪部；8d、突起(基部)；10、电极；21、检测传感器；22、制动机构；22a、制动体；22c、螺旋弹簧(施力单元)；C1、旋转轴心；G、焊枪；G1、柄；R1、第一相对位置关系；R2、第二相对位置关系；S1、拆卸操作空间。
具体实施方式
以下，根据附图对本发明的实施方式进行详细说明。应予说明，以下优选 实施方式的说明本质上仅为示例。
《发明的实施方式1》
图1表示本发明的实施方式1涉及的点焊用电极拆卸装置1。该电极拆卸装置1设置在汽车生产线的传送通路R的侧方，在安装于工业机器人的臂前端的点焊用焊枪G上，进行将安装于相向的一对柄G1前端的各电极10拆除的电极拆卸操作。
电极拆卸装置1包括俯视呈近似矩形的具有厚度的板状壳体2，如图2所示，在该壳体2的生产线传送方向上游侧的传送通路R侧上表面，形成有俯视呈近似矩形的上侧通孔2a，上侧通孔2a与壳体2的内部连通。
在壳体2上表面的上侧通孔2a周围，隔开规定间隔形成有四个螺孔20。
在壳体2下表面的与上侧通孔2a相对应之处形成有下侧通孔2b，下侧通孔2b与壳体2的内部连通，如图3所示，在上侧通孔2a与下侧通孔2b之间设定拆卸操作空间S1，拆卸操作空间S1成为进行电极10的拆卸操作的位置。
在壳体2的内部，以位于该壳体2大致中央部分的转动限制壁部2c为分界，形成传送通路R侧的收容空间S2、以及传送通路R相反侧的收容空间S3，收容空间S2和收容空间S3分别在生产线传送方向上游侧和下游侧彼此相连。
拆卸操作空间S1设定在收容空间S2中生产线传送方向上游侧，在壳体2的传送通路R的相反侧端部形成有与收容空间S3连通的连通孔2d。
另外，在壳体2下表面的与收容空间S3相对应的部分的生产线传送方向上游侧，安装有检测传感器21。
在壳体2的生产线传送方向下游侧的传送通路R相反侧端部，安装有通过压缩空气的供给和排出而驱动的第一流体压气缸(fluid pressure cylinder)3。
该第一流体压气缸3处于该第一流体压气缸3的第一活塞杆3a在与生产线传送方向交叉的水平方向上延伸的姿势，该第一活塞杆3a经由连通孔2d朝向壳体2内部伸缩。
如图2和图3所示，在收容空间S2内设置有旋转轴心C1在上下方向上延伸的第一旋转体6和第二旋转体7，第一旋转体6和第二旋转体7设定在拆卸操作空间S1的中央。
该第一旋转体6和第二旋转体7构成为可以绕旋转轴心C1相对于彼此旋转。
第一旋转体6包括中心线与旋转轴心C1一致的环形部6a、以及从该环形部6a的外周缘部向生产线传送方向下游侧延伸的大力臂杆部6b，该大力臂杆部6b的延出端部经由连结部件11连接至第一活塞杆3a的前端。
环形部6a由上下一对环状轴承12支承在壳体2的内表面上，可以绕旋转轴心C1旋转。在第一活塞杆3a的伸长动作下大力臂杆部6b向一侧转动，使得环形部6a朝着一侧(X1方向)旋转，另一方面，在第一活塞杆3a的收缩动作下大力臂杆部6b向另一侧转动，使得环形部6a朝着另一侧(X2方向)旋转。
如图5所示，当大力臂杆部6b转动至一侧时，大力臂杆部6b与壳体2的传送通路R侧的壁部2e接触而无法进一步转动。
另一方面，当大力臂杆部6b转动至另一侧时，如图3所示，大力臂杆部6b与转动限制壁部2c接触而无法进一步转动。
在环形部6a上，围绕旋转轴心C1等间隔地设置有四个嵌合部6c，嵌合部6c呈朝着该环形部6a的内侧开口的凹状。
第二旋转体7包括分别位于第一旋转体6的上侧和下侧的板状的上侧体7a和下侧体7b。
如图2所示，上侧体7a呈圆板形状，其中央形成有与拆卸操作空间S1相对应的圆形通孔7e。
另一方面，下侧体7b包括中心线与旋转轴心C1一致的圆板部7c、以及从该圆板部7c的外周缘部朝向传送通路R相反侧延伸的延出部7d。
在该延出部7d的延出端设置有围绕旋转轴心C1沿周向延伸的前端部7g，检测传感器21可以检测前端部7g。
圆板部7c的中央形成有与拆卸操作空间S1相对应的圆形通孔7f，该通孔7e与通孔7f之间所对应的空间成为拆卸操作空间S1。
而且，如图3、图6和图15所示，在大力臂杆部6b靠近转动限制壁部2c状态下第一旋转体6的位置、以及前端部7g的一端与检测传感器21对应的第二旋转体7的位置是开始一个(下侧)电极10的拆卸操作的第一拆卸开始位置P1，处于该第一拆卸开始位置P1的第一旋转体6和第二旋转体7的相对位置关系成为本发明的第一相对位置关系R1。
另外，如图9和图12所示，在大力臂杆部6b靠近壁部2e的状态下第一旋转体6的位置、以及前端部7g的另一端与检测传感器21对应的第二旋转体 7的位置是开始另一个(上侧)电极10的拆卸操作的第二拆卸开始位置P2，处于该第二拆卸开始位置P2的第一旋转体6和第二旋转体7的相对位置关系成为本发明的第二相对位置关系R2。
即，实施方式1中的第一相对位置关系R1和第二相对位置关系R2是第一旋转体6和第二旋转体7的位置关系不同的相对位置关系。
另外，当第一和第二旋转体6、7处于第一和第二相对位置关系R1、R2时，第二旋转体7的延出部7d处于与检测传感器21对应的位置。
如图2和图3所示，在环形部6a的内侧且上侧体7a与下侧体7b之间，配置有由四个抓持体8构成的抓持体组80，各抓持体8设置在分别与各嵌合部6c相对应的位置上。
在各抓持体8的大致中央形成有插孔8a，在与旋转轴心C1相同的方向上延伸的转动轴8b插入该插孔8a内。
转动轴8b的各端部分别固定在上侧体7a和下侧体7b上，抓持体8由第二旋转体7轴支承，可绕转动轴8b转动。
在抓持体8的前端，朝向拆卸操作空间S1侧突设有爪部8c，在抓持体8的爪部8c的两侧形成有一对湾曲面8e，湾曲面8e对应于电极10的外周面平缓地湾曲。
另一方面，在抓持体8的基端侧中央设置有朝着拆卸操作空间S1的相反侧突出的突起8d(基部)，该突起8d与对应的嵌合部6c间隙配合(loosely fit)。
另外，在抓持体8上突起8d的两侧，与突起8d连续地形成有一对倾斜面8f，一对倾斜面8f随着离开该突起8d而逐渐分离地倾斜。
而且，如图6至图9所示，如果第一旋转体6和第二旋转体7在第一相对位置关系R1下向一侧相对旋转，即第一旋转体6相对于第二旋转体7向一侧旋转，则通过该嵌合部6c向一侧推压突起8d的推压动作，抓持体8向一侧转动，爪部8c前进到拆卸操作空间S1中之后，退出该拆卸操作空间S1。
另一方面，如图12至图15所示，如果第一旋转体6和第二旋转体7在第二相对位置关系R2下向另一侧相对旋转，即第一旋转体6相对于第二旋转体7向另一侧旋转，则通过嵌合部6c向另一侧推压突起8d的推压动作，抓持体8向另一侧转动，爪部8c前进到拆卸操作空间S1中之后，退出该拆卸操作空间S1。
在壳体2的各螺孔20中安装有制动机构22，该制动机构22和第一流体压气缸3构成本发明的实施方式1的驱动单元5。
如图2所示，制动机构22包括：可沿旋转轴心C1移动的呈圆柱形的制动体22a、与螺孔20螺合的螺钉22b、以及设置在制动体22a与螺钉22b之间的螺旋弹簧22c(施力单元)，螺旋弹簧22c将制动体22a推向第二旋转体7侧，使制动体22a可滑动地接触该第二旋转体7。通过改变螺钉22b的拧入量，可以改变螺旋弹簧22c的作用力。
在第一流体压气缸3和检测传感器21上，连接有控制第一流体压气缸3的控制部9。
控制部9通过向第一流体压气缸3输出工作信号而使第一活塞杆3a伸缩，从而使第一旋转体6朝向一侧或另一侧旋转。
在拆卸位于下侧的柄G1上安装的电极10时，如图3所示，在将电极10置于第一旋转体6和第二旋转体7处于第一拆卸开始位置P1并处于第一相对位置关系R1的拆卸操作空间S1内的状态下，控制部9通过向第一流体压气缸3输出工作信号使第一活塞杆3a伸长，从而使第一旋转体6相对于在制动机构22的作用力下停止旋转的第二旋转体7向一侧旋转，通过各嵌合部6c向一侧推压各突起8d的推压动作，各抓持体8向一侧转动，并且各爪部8c前进到拆卸操作空间S1内而接触电极10，由此使各爪部8c抓持电极10。
另外，当由各爪部8c抓持电极10时，如图4和图5所示，控制部9控制第一流体压气缸3使第一活塞杆3a进一步继续伸长，抵抗制动机构22的作用力而使第一旋转体6和第二旋转体7一体地与电极10一起向一侧旋转，从而将电极10从柄G1前端拆除。此时，第二旋转体7向一侧旋转，使得延出部7d位于不对应检测传感器21的位置。
另外，如图6所示，在未将电极10置于第一旋转体6和第二旋转体7处于第一拆卸开始位置P1的拆卸操作空间S1内的状态下，控制部9通过向第一流体压气缸3输出工作信号使第一活塞杆3a伸长，从而使第一旋转体6相对于由于制动机构22而停止旋转的第二旋转体7向一侧旋转，通过各嵌合部6c向一侧推压各突起8d的推压动作，各抓持体8向一侧转动，由此如图7和图8所示，各爪部8c前进到拆卸操作空间S1中之后，退出该拆卸操作空间S1。
进而，在各爪部8c退出拆卸操作空间S1之后，控制部9继续控制第一流 体压气缸3使第一活塞杆3a进一步伸长，如图9所示，各抓持体8的一个倾斜面8f接触环形部6a的内周面，使第一旋转体6和第二旋转体7抵抗制动机构22的作用力一体地向一侧旋转，处于第二拆卸开始位置P2并处于第二相对位置关系R2。
另一方面，在拆卸位于上侧的柄G1上安装的另一个电极10时，如图9所示，在将电极10置于第一旋转体6和第二旋转体7处于第二拆卸开始位置P2并处于第二相对位置关系R2的拆卸操作空间S1内的状态下，控制部9通过向第一流体压气缸3输出工作信号使第一活塞杆3a收缩，从而使第一旋转体6相对于在制动机构22的作用力下停止旋转的第二旋转体7向另一侧旋转，通过各嵌合部6c向另一侧推压各突起8d的推压动作，各抓持体8向另一侧转动，并且各爪部8c前进到拆卸操作空间S1内而接触电极10，由此使各爪部8c抓持电极10。
另外，当由各爪部8c抓持电极10时，如图10和图11所示，控制部9控制第一流体压气缸3使第一活塞杆3a进一步继续收缩，第一旋转体6和第二旋转体7抵抗制动机构22的作用力一体地与电极10一起向另一侧旋转，从而将电极10从柄G1前端拆除。此时，第二旋转体7向另一侧旋转，使得延出部7d位于不对应检测传感器21的位置。
另外，如图12所示，在未将电极10置于第一旋转体6和第二旋转体7处于第二拆卸开始位置P2的拆卸操作空间S1内的状态下，控制部9通过向第一流体压气缸3输出工作信号使第一活塞杆3a收缩，从而使第一旋转体6相对于由于制动机构22而停止旋转的第二旋转体7向另一侧旋转，通过各嵌合部6c向另一侧推压各突起8d的推压动作，各抓持体8向另一侧转动，由此如图13和图14所示，各爪部8c前进到拆卸操作空间S1中之后，退出该拆卸操作空间S1。
进而，在各爪部8c退出拆卸操作空间S1之后，控制部9继续控制第一流体压气缸3使第一活塞杆3a进一步收缩，如图15所示，各抓持体8的另一个倾斜面8f接触环形部6a的内周面，使第一旋转体6和第二旋转体7抵抗制动机构22的作用力一体地向另一侧旋转，处于第一拆卸开始位置P1并处于第一相对位置关系R1。
接着，对使用实施方式1的点焊用电极拆卸装置1拆卸安装在焊枪G上 的一对电极10的操作进行详细说明。
首先，如图3所示，在第一旋转体6和第二旋转体7处于第一拆卸开始位置P1并处于第一相对位置关系R1的状态下，焊枪G移动从下方将下侧电极10置于拆卸操作空间S1中，然后控制部9控制第一流体压气缸3使第一活塞杆3a伸长。于是，第一旋转体6相对于在制动机构22的作用力下停止旋转的第二旋转体7向一侧旋转，各嵌合部6c将各抓持体8的突起8d推向一侧。由于将突起8d推向一侧的各抓持体8向一侧转动，因此各抓持体8的爪部8c前进到拆卸操作空间S1内而接触电极10，并抓持该电极10。
各爪部8c抓持电极10之后，控制部9控制第一流体压气缸3进一步使第一活塞杆3a继续伸长。于是，如图4和图5所示，第一旋转体6和第二旋转体7抵抗制动机构22的作用力一体地与电极10一起向一侧旋转，该电极10脱离柄G1前端。此时，延出部7d从与检测传感器21对应的位置移动到不对应检测传感器21的位置，因此控制部9识别出电极10已从柄G1前端拆除。
然后，控制部9控制第一流体压气缸3使第一活塞杆3a收缩。于是，在第二旋转体7由于制动机构22的作用力而停止的状态下，第一旋转体6向另一侧旋转，各抓持体8向另一侧转动。之后，各抓持体8的另一个倾斜面8f接触环形部6a的内周面，从而使第一旋转体6和第二旋转体7抵抗制动机构22的作用力一体地向另一侧旋转，如图6所示，回到处于第一拆卸开始位置P1并处于第一相对位置关系R1的状态。此时，随着第二旋转体7向另一侧旋转，延出部7d回到与检测传感器21对应的位置。
接着，控制部9控制第一流体压气缸3使第一活塞杆3a伸长。通过该第一活塞杆3a的伸长动作，如图7所示，第一旋转体6相对于在制动机构22的作用力下停止旋转的第二旋转体7向一侧旋转，并且通过该第一旋转体6的旋转动作各抓持体8向一侧转动。于是，各爪部8c前进到拆卸操作空间S1中之后，退出该拆卸操作空间S1。之后，如图8所示，各抓持体8的一个倾斜面8f接触环形部6a的内周面，因此第一旋转体6和第二旋转体7抵抗制动机构22的作用力一体地向一侧旋转，然后如图9所示，成为处于第二拆卸开始位置P2并处于第二相对位置关系R2的状态。此时，第二旋转体7从第一拆卸开始位置P1的状态向一侧旋转，但延出部7d仍保持在与检测传感器21对应的位置。
接下来，焊枪G移动从上方将上侧电极10置于拆卸操作空间S1中，然后控制部9控制第一流体压气缸3使第一活塞杆3a收缩。于是，第一旋转体6相对于在制动机构22的作用力下停止旋转的第二旋转体7向另一侧旋转，各嵌合部6c将各抓持体8的突起8d推向另一侧。由于将突起8d推向另一侧的各抓持体8向另一侧转动，因此各抓持体8的爪部8c前进到拆卸操作空间S1内而接触电极10，并抓持该电极10。
各爪部8c抓持电极10之后，控制部9控制第一流体压气缸3进一步使第一活塞杆3a继续收缩。于是，如图10和图11所示，第一旋转体6和第二旋转体7抵抗制动机构22的作用力一体地与电极10一起向另一侧旋转，该电极10脱离柄G1前端。此时，延出部7d从与检测传感器21对应的位置移动到不对应检测传感器21的位置，因此控制部9识别出电极10已从柄G1前端拆除。
然后，控制部9控制第一流体压气缸3使第一活塞杆3a伸长。于是，在第二旋转体7由于制动机构22的作用力而停止的状态下，第一旋转体6向一侧旋转，各抓持体8向一侧转动。之后，各抓持体8的一个倾斜面8f接触环形部6a的内周面，从而使第一旋转体6和第二旋转体7抵抗制动机构22的作用力一体地向一侧旋转，如图12所示，回到处于第二拆卸开始位置P2并处于第二相对位置关系R2的状态。此时，随着第二旋转体7向一侧旋转，延出部7d回到与检测传感器21对应的位置。
接着，控制部9控制第一流体压气缸3使第一活塞杆3a收缩。通过该第一活塞杆3a的收缩动作，如图13所示，第一旋转体6相对于在制动机构22的作用力下停止旋转的第二旋转体7向另一侧旋转，并且通过该第一旋转体6的旋转动作各抓持体8向另一侧转动。于是，各爪部8c前进到拆卸操作空间S1中之后，退出该拆卸操作空间S1。之后，如图14所示，各抓持体8的另一个倾斜面8f接触环形部6a的内周面，因此第一旋转体6和第二旋转体7抵抗制动机构22的作用力一体地向另一侧旋转，然后如图15所示，成为处于第一拆卸开始位置P1并处于第一相对位置关系R1的状态，结束安装在焊枪G上的一对电极10的拆卸操作。此时，虽然第二旋转体7从第二拆卸开始位置P2的状态向另一侧旋转，但延出部7d仍保持在与检测传感器21对应的位置。
综上所述，根据本发明的实施方式1，如果在第一旋转体6和第二旋转体7处于第一相对位置关系R1的情况下将安装在柄G1前端的电极10置于拆卸 操作空间S1中，然后使第一旋转体6和第二旋转体7向一侧相对旋转，则各抓持体8的爪部8c前进到拆卸操作空间S1内夹持电极10。在此状态下，如果第一旋转体6进一步向一侧旋转，则第一旋转体6和第二旋转体7一起向一侧旋转，电极10相对于柄G1前端扭转，将该电极10从柄G1前端拆除。另一方面，如果在第一旋转体6和第二旋转体7处于第二相对位置关系R2的情况下将安装在柄G1前端的电极10置于拆卸操作空间S1中，然后使第一旋转体6和第二旋转体7向另一侧相对旋转，则各抓持体8的爪部8c前进到拆卸操作空间S1内夹持电极10。在此状态下，如果第一旋转体6进一步向另一侧旋转，则第一旋转体6和第二旋转体7一起向另一侧旋转，电极10相对于柄G1前端扭转，将该电极10从柄G1前端拆除。由此，无论电极10相对于柄G1向一侧或另一侧的任意方向旋转，均能从柄G1上拆除。因此，在电极10的拆卸操作中，电极10相对于柄G1的旋转方向可以设定为枪主体上安装柄G1的方向的相反侧，因而可以避免柄G1意外地从枪主体脱落。
另外，用于拆卸电极10的多个抓持体8围绕旋转轴心C1仅排成一列，没有像专利文献那样在沿着旋转轴心C1的方向上设置多个抓持体组80，因此可以使点焊用电极拆卸装置1在沿着旋转轴心C1的方向上结构紧凑。
进而，点焊用电极拆卸装置1中，多个抓持体在以旋转轴心C1为中心的周向上排成一列的抓持体组只有一组，没有像专利文献1那样专门为每个待拆卸的电极均设置抓持电极的部分，因此可以减少部件数量而简化结构，从而可以维持较低的部件成本。
另外，在各抓持体8上仅设置有一个爪部8c，各爪部8c除了用于在使第一旋转体6和第二旋转体7向一侧旋转时夹持电极10以外，还用于在使第一旋转体6和第二旋转体7向另一侧旋转时夹持电极10。因此，可以简化各抓持体8的结构，从而可以降低部件成本。
进而，由于采用了通过在沿着旋转轴心C1的方向上对第二旋转体7施加的各螺旋弹簧22c的作用力，使得第二旋转体7比第一旋转体6更难以绕旋转轴心旋转的结构，因此，若第一活塞杆3a伸长则第一旋转体6相对于第二旋转体7向一侧旋转，而若第一活塞杆3a收缩则第一旋转体6相对于第二旋转体7向另一侧旋转。因此，通过使第一旋转体6和第二旋转体7相对于彼此旋转，可以用一个驱动源使各抓持体8转动而抓持电极10或松开电极，因而可 以降低点焊用电极拆卸装置1的成本。
另外，当第二旋转体7和第一旋转体6一起向一侧旋转时，电极10相对于柄G1前端朝向一侧扭转而从该柄G1前端拆除，并且延出部7d处于不对应检测传感器21的位置。另一方面，当第二旋转体7和第一旋转体6一起向另一侧旋转时，电极10相对于柄G1前端朝向另一侧扭转而从该柄G1前端拆除，并且延出部7d位于不对应检测传感器21的位置。由此，无论电极10相对于柄G1前端的旋转方向如何，均可通过检测传感器21是否检测到延出部7d来获知电极10是否已从柄G1前端拆除。
应予说明，在本发明的实施方式1中，利用第一流体压气缸3使第一旋转体6旋转，但并不限于此，例如还可以使用带有可控制旋转角度的编码器的伺服电机来进行第一旋转体6的旋转动作。
另外，在本发明的实施方式1中，使第一旋转体6相对于第二旋转体7旋转并由各抓持体8抓持电极，但也可以使第二旋转体7相对于第一旋转体6旋转并由各抓持体8抓持电极。
另外，在本发明的实施方式1中，第一流体压气缸3采用通过压缩空气的供给和排出来驱动的类型，但也可以采用通过液压油的供给和排出来驱动的类型。
另外，在本发明的实施方式1中，使用螺旋弹簧22c作为制动机构22的施力单元，但也可以使用其他施力单元，例如可以是其他种类的弹簧或由橡胶材料制成的具有弹性的部件。
《发明的实施方式2》
图16至图22表示本发明的实施方式2涉及的点焊用电极拆卸装置1。实施方式2与实施方式1的区别仅在于，使用第二流体压气缸4代替制动机构22，并且第二旋转体7和抓持体8的局部结构与实施方式1不同，其他与实施方式1相同，因此以下仅对与实施方式1不同的部分进行详细说明。
在实施方式2的壳体2上未设置螺孔20，而且也未安装检测传感器21。
如图17所示，在实施方式2的壳体2中的收容空间S3内配设有第二流体压气缸4，第二流体压气缸4的第二活塞杆4a朝向生产线传送方向上游侧伸缩，该第二流体压气缸4选择伸缩时的力小于第一流体压气缸3的流体压气缸。
第二流体压气缸4的基端侧由在上下方向上延伸的支轴4b可摆动地轴支 承在壳体2上，第二流体压气缸4通过一侧的摆动动作，第二活塞杆4a朝向传送通路R的相反侧移动，通过另一侧的摆动动作，第二活塞杆4a朝向传送通路R侧移动。
应予说明，本发明的实施方式2的驱动单元5由第一流体压气缸3和第二流体压气缸4构成。
实施方式2的第二旋转体7的上侧体7a和下侧体7b呈上下对称的形状。
上侧体7a包括中心线与旋转轴心C1一致的圆板部7c、以及从该圆板部7c的外周缘部朝向传送通路R的相反侧延伸的小力臂杆部7h，该小力臂杆部7h的延出端部连接至第二活塞杆4a的前端。
下侧体7b具有与上侧体7a相同的结构，因此用与上侧体7a同样的附图标记表示，其详细说明省略。
在第二活塞杆4a的收缩动作下第二流体压气缸4向一侧摆动且各小力臂杆部7h向一侧转动，从而使得上侧体7a和下侧体7b向一侧(X1方向)旋转，另一方面，在第二活塞杆4a的伸长动作下第二流体压气缸4向另一侧摆动且各小力臂杆部7h向另一侧转动，从而使得上侧体7a和下侧体7b向另一侧(X2方向)旋转。
当小力臂杆部7h向另一侧转动时，如图17和图18所示，与壳体2的生产线传送方向上游侧的壁部2f接触而无法进一步转动。
在实施方式2的抓持体8的前端，朝向拆卸操作空间S1侧突设有一对爪部8g，该各爪部8g在以旋转轴心C1为中心的周向上分开。
而且，如图17所示，在第一流体压气缸3的第一活塞杆3a收缩的状态下第一旋转体6的位置、以及在第二流体压气缸4的第二活塞杆4a伸长的状态下第二旋转体7的位置是开始一个(下侧)电极10的拆卸操作的第一拆卸开始位置P1，处于该第一拆卸开始位置P1的第一旋转体6和第二旋转体7的相对位置关系成为本发明的第一相对位置关系R1。
另外，如图20所示，在第一流体压气缸3的第一活塞杆3a伸长的状态下第一旋转体6的位置、以及在第二流体压气缸4的第二活塞杆4a收缩的状态下第二旋转体7的位置是开始另一个电极10的拆卸操作的第二拆卸开始位置P2，处于该第二拆卸开始位置P2的第一旋转体6和第二旋转体7的相对位置关系成为本发明的第二相对位置关系R2。
即，实施方式2的第一相对位置关系R1和第二相对位置关系R2是第一旋转体6和第二旋转体7的位置关系相同的相对位置关系。
然后，如图17和图18所示，如果第一旋转体6和第二旋转体7在第一拆卸开始位置P1且第一相对位置关系R1下向一侧相对旋转，即第一旋转体6相对于第二旋转体7向一侧旋转，则通过嵌合部6c向一侧推压突起8d的推压动作，抓持体8向一侧转动，使一个爪部8c前进到拆卸操作空间S1内。
另一方面，如图20至图21所示，如果第一旋转体6和第二旋转体7在第二拆卸开始位置P2且第二相对位置关系R2下向另一侧相对旋转，即第一旋转体6相对于第二旋转体7向另一侧旋转，则通过嵌合部6c向另一侧推压突起8d的推压动作，抓持体8向另一侧转动，使另一个爪部8c前进到拆卸操作空间S1内。
实施方式2的控制部9与第二流体压气缸4连接，通过向第二流体压气缸4输出工作信号使第二活塞杆4a伸缩，使得第二旋转体7向一侧或另一侧旋转。
在拆卸位于下侧的柄G1上安装的电极10时，如图17所示，在将电极10置于第一旋转体6和第二旋转体7处于第一拆卸开始位置P1并处于第一相对位置关系R1的拆卸操作空间S1内的状态下，控制部9通过控制第一流体压气缸3和第二流体压气缸4使第一活塞杆3a和第二活塞杆4a一起伸长，从而使第一旋转体6相对于由于小力臂杆部7h接触壁部2f而停止旋转的第二旋转体7向一侧旋转，通过各嵌合部6c向一侧推压各突起8d的推压动作，各抓持体8向一侧转动，并且各抓持体8的一个爪部8c前进到拆卸操作空间S1内而接触电极10，由此如图18所示，各抓持体8的一个爪部8c抓持电极10。
另外，在由各抓持体8的一个爪部8c抓持电极10的状态下，如图19所示，控制部9控制第一流体压气缸3和第二流体压气缸4使第一活塞杆3a和第二活塞杆4a继续一起伸长，第一活塞杆3a克服第二活塞杆4a的伸长力进一步伸长，使第一旋转体6和第二旋转体7一体地与电极10一起向一侧旋转，将电极10从柄G1前端拆除。
另外，从柄G1前端拆除下侧电极10之后，控制部9控制第一流体压气缸3使第一活塞杆3a伸长并控制第二流体压气缸4使第二活塞杆4a收缩，从而使第二旋转体7相对于停止旋转的第一旋转体6向一侧旋转，通过各嵌合部 6c向另一侧推压各突起8d的推压动作，各抓持体8向另一侧转动，由此如图20所示，各抓持体8的一个爪部8c退出拆卸操作空间S1，将电极10从拆卸操作空间S1移除，并且成为第一旋转体6和第二旋转体7处于第二拆卸开始位置P2并处于第二相对位置关系R2的状态。
另一方面，在拆卸位于上侧的柄G1上安装的电极10时，如图20所示，在将电极10置于第一旋转体6和第二旋转体7处于第二拆卸开始位置P2并处于第二相对位置关系R2的拆卸操作空间S1内的状态下，控制部9通过控制第一流体压气缸3和第二流体压气缸4使第一活塞杆3a和第二活塞杆4a一起收缩，从而使第一旋转体6相对于由于第二活塞杆4a位于收缩端而停止旋转的第二旋转体7向另一侧旋转，通过各嵌合部6c向另一侧推压各突起8d的推压动作，各抓持体8向另一侧转动，并且各抓持体8的另一个爪部8c前进到拆卸操作空间S1内而接触电极10，由此如图21所示，各抓持体8的另一个爪部8c抓持电极10。
另外，在由各抓持体8的另一个爪部8c抓持电极10的状态下，如图22所示，控制部9控制第一流体压气缸3和第二流体压气缸4使第一活塞杆3a和第二活塞杆4a继续收缩，第一活塞杆3a克服第二活塞杆4a的收缩力进一步收缩，使第一旋转体6和第二旋转体7一体地与电极10一起向另一侧旋转，将电极10从柄G1前端拆除。
另外，从柄G1前端拆除上侧电极10之后，控制部9控制第一流体压气缸3使第一活塞杆3a收缩并控制第二流体压气缸4使第二活塞杆4a伸长，从而使第二旋转体7相对于停止旋转的第一旋转体6向另一侧旋转，通过各嵌合部6c向一侧推压各突起8d的推压动作，各抓持体8向一侧转动，由此如图17所示，各抓持体8的另一个爪部8c退出拆卸操作空间S1，将电极10从拆卸操作空间S1移除，并且成为第一旋转体6和第二旋转体7处于第一拆卸开始位置P1并处于第一相对位置关系R1的状态。
接着，对使用实施方式2的点焊用电极拆卸装置1拆卸安装在焊枪G上的一对电极10的操作进行详细说明。
首先，如图17所示，在第一旋转体6和第二旋转体7处于第一拆卸开始位置P1并处于第一相对位置关系R1的状态下，焊枪G移动从下方将下侧电极10置于拆卸操作空间S1中，然后控制部9控制第一流体压气缸3和第二流 体压气缸4使第一活塞杆3a和第二活塞杆4a分别伸长。于是，小力臂杆部7h接触壁部2f，第二旋转体7停止旋转，并且第一旋转体6相对于第二旋转体7向一侧旋转，各嵌合部6c将各抓持体8的突起8d推向一侧。由于将突起8d推向一侧的各抓持体8向一侧转动，因此如图18所示，各抓持体8的一个爪部8c前进到拆卸操作空间S1内而接触电极10，并抓持该电极10。
各抓持体8的一个爪部8c抓持电极10之后，控制部9控制第一流体压气缸3和第二流体压气缸4使第一活塞杆3a和第二活塞杆4a继续伸长。于是，如图19所示，第一活塞杆3a克服第二活塞杆4a的伸长力而伸长，使第一旋转体6和第二旋转体7一体地与电极10一起向一侧旋转，该电极10从柄G1前端脱离。
然后，从柄G1前端拆除下侧电极10之后，控制部9控制第一流体压气缸3使第一活塞杆3a伸长并控制第二流体压气缸4使第二活塞杆4a收缩。于是，第二旋转体7相对于由于大力臂杆部6b接触壁部2e而停止旋转的第一旋转体6向一侧旋转，各抓持体8向另一侧转动。之后，如图20所示，各抓持体8的一个爪部8c退出拆卸操作空间S1，将电极10从拆卸操作空间S1中移除，并且第一旋转体6和第二旋转体7处于第二拆卸开始位置P2并处于第二相对位置关系R2。
接着，焊枪G移动从上方将上侧电极10置于拆卸操作空间S1中，然后如图20所示，控制部9控制第一流体压气缸3和第二流体压气缸4使第一活塞杆3a和第二活塞杆4a分别收缩。于是，第一旋转体6相对于由于第二活塞杆4a位于收缩端而停止旋转的第二旋转体7向另一侧旋转，各嵌合部6c将各抓持体8的突起8d推向另一侧。由于将突起8d推向另一侧的各抓持体8向另一侧转动，因此如图21所示，各抓持体8的另一个爪部8c前进到拆卸操作空间S1内而接触电极10，并抓持该电极10。
当由各抓持体8的另一个爪部8c抓持电极10时，控制部9控制第一流体压气缸3和第二流体压气缸4使第一活塞杆3a和第二活塞杆4a继续收缩。于是，如图22所示，第一活塞杆3a克服第二活塞杆4a的收缩力而收缩，使第一旋转体6和第二旋转体7一体地与电极10一起向另一侧旋转，该电极10从柄G1前端脱离。
然后，从柄G1前端拆除上侧电极10之后，控制部9控制第一流体压气 缸3使第一活塞杆3a收缩并控制第二流体压气缸4使第二活塞杆4a伸长。于是，第二旋转体7相对于由于接触转动限制壁部2c而停止旋转的第一旋转体6向另一侧旋转，各抓持体8向一侧转动。之后，如图17所示，各抓持体8的另一个爪部8c退出拆卸操作空间S1，将电极10从拆卸操作空间S1中移除，并且第一旋转体6和第二旋转体7处于第一拆卸开始位置P1并处于第一相对位置关系R1，安装在焊枪G上的一对电极10的拆卸操作结束。
综上所述，根据本发明的实施方式2，在使第一旋转体6和第二旋转体7向一侧旋转以从柄G1前端拆除电极10时、以及使第一旋转体6和第二旋转体7向另一侧旋转以从柄G1前端拆除电极10时，利用一个抓持体8的不同爪部8c分别夹持电极10。因此，当反复进行电极10的拆卸操作时，可以将施加在抓持体8的各爪部8c上的负荷减半，从而能够使点焊用电极拆卸装置1的爪部8c不易破损。
另外，由于通过第一活塞杆3a和第二活塞杆4a分别伸缩而使第一旋转体6和第二旋转体7相对于彼此旋转，因此可以使各抓持体8转动而抓持电极10或松开电极10。
另外，当从柄G1上拆除电极10时，如果在将电极10置于拆卸操作空间中的状态下使第一活塞杆3a和第二活塞杆4a一起伸长或收缩，则对第一旋转体6和第二旋转体7施加相对旋转方向的力，各抓持体8抓持电极10，而且由于第二活塞杆4a伸缩时的力小于第一活塞杆3a，因此使第一活塞杆3a克服第二活塞杆4a的伸缩力而伸长或收缩。因此，在电极10被各抓持体8牢固地抓持的状态下，第一旋转体6和第二旋转体7一体地旋转，因而能够可靠地从柄G1前端拆除电极10。由此，仅通过两个第一流体压气缸3和第二流体压气缸4的第一活塞杆3a和第二活塞杆4a的伸缩动作即可进行第一旋转体6和第二旋转体7的相对旋转动作和一体旋转动作，因此可以由低成本的部件构成点焊用电极拆卸装置1，从而进一步降低点焊用电极拆卸装置1的成本。
应予说明，在本发明的实施方式2中，分别利用第一流体压气缸3和第二流体压气缸4使第一旋转体6和第二旋转体7旋转，但并不限于此，例如还可以使用带有可控制旋转角度的编码器的伺服电机来进行第一旋转体6和第二旋转体7的相对旋转动作和一体旋转动作。
另外，在本发明的实施方式2中，第一流体压气缸3和第二流体压气缸4 采用通过压缩空气的供给和排出来驱动的类型，但也可以采用通过液压油的供给和排出来驱动的类型。
另外，在本发明的实施方式2中，在抓持体8上设置一对爪部8c，并且第一旋转体6和第二旋转体7的第一相对位置关系R1和第二相对位置关系R2为相同的相对位置关系，但也可以像实施方式1那样，在抓持体8上仅设置一个爪部8c，并且第一旋转体6和第二旋转体7的第一相对位置关系R1和第二相对位置关系R2为不同的相对位置关系。
进而，在本发明的实施方式1中，在抓持体8上仅设置一个爪部8c，并且第一旋转体6和第二旋转体7的第一相对位置关系R1和第二相对位置关系R2为不同的相对位置关系，但也可以像实施方式2那样，在抓持体8上设置一对爪部8c，并且第一旋转体6和第二旋转体7的第一相对位置关系R1和第二相对位置关系R2为相同的相对位置关系。
-产业上的可利用性-
本发明适合于例如汽车生产线中使用的点焊用电极拆卸装置。

Claims (6)

  1. 一种点焊用电极拆卸装置，其是将点焊用枪的柄前端安装的电极从所述柄前端拆除的点焊用电极拆卸装置，其特征在于，
    所述点焊用电极拆卸装置包括：
    第一旋转体，其旋转轴心设定在拆卸操作空间的中央，围绕所述旋转轴心等间隔地具有多个嵌合部；
    第二旋转体，构成为可以相对于该第一旋转体绕所述旋转轴心彼此相对旋转；
    驱动单元，驱动所述第一旋转体和所述第二旋转体中的至少一个旋转；以及
    多个抓持体，配设在分别与所述各嵌合部对应的位置上，并且由所述第二旋转体轴支承而可绕与所述旋转轴心同向延伸的转动轴转动，所述抓持体的前端设置有爪部，并且所述抓持体的基部与对应的所述嵌合部间隙配合；
    所述点焊用电极拆卸装置构成为：通过所述驱动单元的驱动动作，如果所述第一旋转体和所述第二旋转体从第一相对位置关系向一侧相对旋转，则在所述嵌合部向一侧推压所述基部的推压动作下，所述抓持体向一侧转动，所述爪部前进到所述拆卸操作空间内以能够接触置于所述拆卸操作空间中的所述电极，另一方面，如果所述第一旋转体和所述第二旋转体从第二相对位置关系向另一侧相对旋转，则在所述嵌合部向另一侧推压所述基部的推压动作下，所述抓持体向另一侧转动，所述爪部前进到所述拆卸操作空间内以能够接触置于所述拆卸操作空间中的所述电极。
  2. 根据权利要求1所述的点焊用电极拆卸装置，其特征在于，
    所述第一相对位置关系和所述第二相对位置关系是所述第一旋转体和所述第二旋转体的位置关系不同的相对位置关系，
    所述爪部在所述抓持体上形成有一个，所述爪部构成为：如果所述第一旋转体和所述第二旋转体从所述第一相对位置关系开始到变为所述第二相对位置关系为止向一侧相对旋转，则所述抓持体向一侧转动，所述爪部前进到所述拆卸操作空间内之后，退出该拆卸操作空间，另一方面，如果所述第一旋转体 和所述第二旋转体从所述第二相对位置关系开始到变为所述第一相对位置为止向另一侧相对旋转，则所述抓持体向另一侧转动，所述爪部前进到所述拆卸操作空间内之后，退出该拆卸操作空间。
  3. 根据权利要求1所述的点焊用电极拆卸装置，其特征在于，
    所述第一相对位置关系和所述第二相对位置关系是所述第一旋转体和所述第二旋转体的位置关系相同的相对位置关系，
    所述爪部在以所述旋转轴心为中心的周向上间隔开形成有一对，所述爪部构成为：如果所述第一旋转体和所述第二旋转体从所述相对位置关系向一侧相对旋转，则所述抓持体向一侧转动，所述一个爪部前进到所述拆卸操作空间内，另一方面，如果所述第一旋转体和所述第二旋转体从所述相对位置关系向另一侧相对旋转，则所述抓持体向另一侧转动，所述另一个爪部前进到所述拆卸操作空间内。
  4. 根据权利要求1至3中任一项所述的点焊用电极拆卸装置，其特征在于，
    所述驱动单元包括：
    第一流体压气缸，具有前端与所述第一旋转体连接的第一活塞杆，通过该第一活塞杆的伸长动作使所述第一旋转体向一侧旋转，另一方面，通过所述第一活塞杆的收缩动作使所述第一旋转体向另一侧旋转；以及
    制动机构，具有制动体和施力单元，所述制动体可沿所述旋转轴心移动，所述施力单元将该制动体推向所述第二旋转体侧使该制动体可滑动地接触该第二旋转体。
  5. 根据权利要求4所述的点焊用电极拆卸装置，其特征在于，
    在所述第二旋转体上设置有向外侧延伸的延出部，
    在所述第二旋转体的外侧设置有可检测所述延出部的检测传感器，
    所述第二旋转体构成为：当所述第一旋转体和所述第二旋转体处于第一和第二相对位置关系时，所述延出部位于与所述检测传感器对应的位置，在向一侧或另一侧旋转而将所述电极从所述柄前端拆除的状态下所述延出部位于不对应所述检测传感器的位置。
  6. 根据权利要求1至3中任一项所述的点焊用电极拆卸装置，其特征在 于，
    所述驱动单元包括：
    第一流体压气缸，具有前端与所述第一旋转体连接的第一活塞杆，通过该第一活塞杆的伸长动作使所述第一旋转体向一侧旋转，另一方面，通过所述第一活塞杆的收缩动作使所述第一旋转体向另一侧旋转；以及
    第二流体压气缸，具有前端与所述第二旋转体连接的第二活塞杆，并且伸缩时的力设定为小于所述第一流体压气缸，通过所述第二活塞杆的收缩动作使所述第二旋转体向一侧旋转，另一方面，通过所述第二活塞杆的伸长动作使所述第二旋转体向另一侧旋转；
    所述点焊用电极拆卸装置构成为：当所述第一旋转体和所述第二旋转体向一侧相对旋转时，起动所述第一流体压气缸和所述第二流体压气缸使所述第一活塞杆和所述第二活塞杆一起伸长，另一方面，当所述第一旋转体和所述第二旋转体向另一侧相对旋转时，起动所述第一流体压气缸和所述第二流体压气缸使所述第一活塞杆和所述第二活塞杆一起收缩。
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