JPH0211994Y2 - - Google Patents

Description

[Detailed description of the invention] (Field of industrial application) This invention relates to a torch dummy in an industrial robot (for example, a laser processing robot) that automatically processes a workpiece by controlling the relative position between the torch and the workpiece. .

(Description and Problems of Prior Art) For example, when performing teaching work with an arc welding robot or a plasma cutting robot, a torch dummy is attached to the robot instead of an actual welding torch or cutting torch, and the torch and cutting torch are attached to the robot during teaching work. It is known to prevent expensive torches from being rendered unusable by collisions with workpieces.

In addition, the tip member of the torch dummy is biased to protrude in the direction of the torch axis by a spring, so that even if the tip of the torch dummy is accidentally pressed against the work surface, the tip member resists the spring force and retracts, making the teaching operation easier. It is also being done to

However, if the workpiece has a three-dimensional shape and requires three-dimensional processing, the torch dummy may accidentally collide with the workpiece in a direction that intersects with the axial direction of the workpiece. Unless countermeasures are taken in this case, teaching work for three-dimensional machining cannot be carried out with peace of mind.

(Purpose of the invention) Therefore, in this invented torch dummy, even if an external force is applied from a direction crossing the torch axis direction, the supported body is bent with respect to the main body, so that no large load is applied to the torch dummy etc. I did it like this,
The aim is to provide omnidirectional buffering.

(Structure of the invention) This is a torch dummy in which a supported body and a sliding body are connected to a supporting body via first and second bullets.

(Description of Embodiment) In this embodiment, a case will be described in which a torch dummy is used in a five-axis laser cutting robot RB of a rectangular coordinate system, but the invention is not limited to this embodiment.

Reference numeral 1 denotes a base, and on its upper surface is a mounting base 2 for a workpiece W that is moved in the X direction by a motor (not shown).
is provided.

Reference numeral 3 denotes a frame body which is erected in a gate shape on the base 1 with the mounting base 2 in between, and a moving body 4 that is moved in the Y direction by a motor My is provided on the upper side of the frame body.

5 is an elevating body supported by the movable body 4 and moved in the Z direction by a motor Mz.

Reference numeral 6 denotes a revolving body that is supported by the lower part of the elevating body 5 and rotates around the Z axis (in the θ direction) by a motor (not shown).

Reference numeral 7 denotes a rotating body that is supported by the lower part of the rotating body 6 and rotates around an axis (ψ direction) perpendicular to the Z axis by a motor (not shown). A cutting torch T is attached to the rotating body 7.

8 is a CO ₂ gas laser oscillator, and 9 is a control box.

The torch T of this embodiment includes a condensing lens 11 and a cooling circuit (not shown), and has a female thread 12 at the tip.
It is composed of a hollow torch body 12 having a shape a, a nozzle 13 having a male thread 13a which is screwed into the female thread 12a of the main body 12, and a nozzle tip 14 which is screwed into the tip of the nozzle 13.

The torch dummy D of this embodiment will be explained below.

Reference numeral 21 designates a hollow dummy support body formed with a male thread 21a that engages with the female thread 12a of the main body 12. Note that the dummy support 21 has a stepped portion 21 on its tip surface.
b is formed.

Reference numeral 22 denotes a hollow supported body whose base end is fitted into the stepped portion 21b and pressed by a first bullet 23 (two tension springs in the embodiment). Therefore, the supported body 2
2 is capable of bending against an external force from a direction crossing the torch axis direction. Further, the supported body 22 is
It includes a spring hanging member 24 and a refractive member 25 that is integral with this member 24 and has approximately the same external shape as the nozzle 13. A sliding body 2 is attached to the tip of this member 25 so as to be freely retractable.
6 is inserted and is urged to protrude by the second bullet 27 (compression spring). And the sliding body 26 is
It can be retracted by an external force applied approximately in the direction of the torch axis and from the tip side, and the outer shape of the tip is the same as the outer shape of the tip of the torch T, and is a hollow body.

Note that each ammunition 23 has pins 28a and 28 at both ends.
b, 29a, 29b, but one of them (for example, pins 28a, 29a) is a shear pin, and when an external force is applied, before the elastic machine 23 is plastically deformed, the shear pin 28a, 29a It is constructed so that it can be folded.

Next, the operation of this embodiment will be described.

When performing teaching work, use the nozzle 13.
is removed from the main body 12, and the support body 21 of the dummy D is attached to the main body 12 instead as shown in FIG.

Then, by operating a teaching tool (not shown), dummy D
While determining the relative position between the workpiece and the workpiece W, necessary information such as position and speed is sequentially taught and recorded in the memory of the control box 9. Now, suppose that the operator accidentally causes the dummy D to collide with the work W while moving the dummy D in the direction of the arrow C shown in FIG. 4.

In this case, an external force is applied to the supported body 22 from a direction crossing the direction of the torch axis, so the supported body 22 resists the force of the bullet 23 and moves away from the support body 21, as shown in FIG. It comes off. Moreover, when a large collision occurs, for example, the shear pins 28a and 29a break before the bullet 23 undergoes plastic deformation. Such a result is caused not only by the collision from the C direction, but also by
Similar results can be obtained even in the case of collisions from various directions intersecting the torch axis direction.

Further, when the operator accidentally presses the dummy D against the workpiece W substantially in the direction of the torch axis, the sliding body 26 resists the force of the bullet 27 and retracts.

In the end, no matter which direction an external force is applied to the dummy D, the supported body 22 will come off the support body 21 or the sliding body 26 will sink in, so there is no possibility of damaging the dummy D, workpiece W, or robot RB. There isn't.

Furthermore, since the dummy D is formed hollow, teaching can be performed by guiding visible light, helium neon gas laser light, etc. into the hollow part so that the teaching point can be easily confirmed.

(Effect of the device) Since this device is as described above, even if an external force acts on the supported body 22 from any direction, it will resist the force of the bombs 23 and 27 and will not act on the support body 21.
There is no chance that it will be refracted or immersed and cause damage to Dummy D, Workpiece W, and Robot RB.

[Brief explanation of drawings]

The figures all show one embodiment of this invention, and the first
2 is an explanatory diagram of a laser cutting torch, FIG. 3 is an explanatory diagram of a torch dummy, and FIG. 4 is an explanatory diagram of the operation. RB...Industrial robot (laser cutting robot in the example), T...Torch, W...Workpiece,
D...Torch dummy, 21...Support, 22...
Supported body, 23...first machine, 26...sliding body,
27...Second aircraft.

Claims (1)

[Claims for Utility Model Registration] (1) In a torch dummy for an industrial robot RB that automatically processes a workpiece W by controlling the relative position between the torch T and the workpiece W, the torch body 12
The dummy support 21 is screwed into the female thread 12a for attaching the torch nozzle 13 formed at the tip of the dummy support 21, and the base end of the supported body 22 is fitted into the step 21b formed at the tip of the dummy support 21. and is pressed into contact with the first bullet 23, furthermore, a sliding body 26 is inserted into the tip of the supported body 22 so as to be freely protrusive and retractable, and the second bullet 27 is biased to protrude. Torch dummy. (2) The industrial robot RB is a laser cutting robot, and the dummy support 21, the supported body 22, and the sliding body 26 are provided with a hollow portion in the direction of the torch axis. A torch dummy according to claim 1. (3) Pins 28 that support both ends of the first projectile 23
One of a, 29a, 28b, and 29b is a shearing pin, and the shearing pin is set to break with a force smaller than the force with which the first bullet 23 is plastically deformed. Torch dummy as described in section.