JPH04367379A - Industrial robot device - Google Patents

Abstract

PURPOSE:To offer the industrial robot device with a space occupied by the whole device decreased and also, improved in the workability. CONSTITUTION:This device is provided with a robot main body 1, a spot welding gun 2 attached to the robot main body 1 so as to be movable, and a pair of electrode tips 2a opposed to each other and provided at the tip of the spot welding gun 2. In such a state, a tip dresser 13 is fixed to a prescribed position of a base part 1a of the robot main body 1, and a fixed position of the tip dresser 13 is stored as a reference position of the spot welding gun 2 in a storage means of a control part.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot apparatus, and more particularly to a spot welding robot used in the automobile industry for welding automobile bodies.

0002

2. Description of the Related Art As a conventional industrial robot device of this type, there is a technique disclosed in Japanese Patent Application Laid-Open No. 2-100892.

FIG. 5 is a side view showing a conventional industrial robot device.

In the figure, 1 is a robot body installed at a fixed position in a factory, 2 is a spot welding gun that is attached to the robot body 1 and moved to a predetermined welding point position to perform spot welding on car bodies, etc., and 2a is a spot welding gun. A pair of electrode tips 3 are provided opposite to each other at the tip of the spot welding gun 2, and a tip dresser 3 is installed at a separate position from the robot body 1.

In the conventional industrial robot device configured as described above, as spot welding is repeated, the electrode tip 2a at the tip of the spot welding gun 2 gradually wears out and becomes rounded and thick, and a larger welding current is required. This has a negative impact on spot welding. In order to prevent this adverse effect, conventionally, the electrode tip 2a, which has become thicker, is ground by the tip dresser 3 so as to become sharp again, so that the welding conditions are always constant.

[0006]

[Problems to be Solved by the Invention] Since the conventional industrial robot device is configured as described above, the chip dresser 3 is installed at a separate position from the robot body 1, so the device as a whole requires a large space. was needed. Further, if the spot welding gun 2 or the like, which is a movable part of the industrial robot device, collides with or interferes with another structure, the welding point position of the spot welding gun 2 may be misaligned. In this case, using a trial work,
It is necessary to correct the dot position of the spot welding gun 2, and this special work may affect the overall welding work.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an industrial robot device that reduces the space occupied by the entire device and improves workability.

[0008]

[Means for Solving the Problems] An industrial robot device according to the present invention includes a robot body, a spot welding gun movably attached to the robot body, and an electrode tip provided on the spot welding gun. A tip dresser is fixed at a predetermined position on a robot body, and the fixed position of the tip dresser is stored in a storage means as a reference position of a spot welding gun.

[0009]

[Operation] In the present invention, by fixing the tip dresser to the robot body, the space for the tip dresser can be omitted. Furthermore, by storing the fixed position of the tip dresser in the robot body in the storage means as a reference position for controlling the movement of the spot welding gun, the spot welding gun is Automatically located at the reference position. Therefore, each time you finish grinding the electrode tip, you can check in advance whether the dot position of the spot welding gun has been distorted due to collision or interference with other structures, and you can confirm and correct the dot position. Easy to do. Furthermore, there is no need to prepare a trial workpiece to check whether there is any deviation in the dot position of the spot welding gun, which can shorten the time required for checking and reduce production costs.

0010

[Examples] Examples of the present invention will be described below.

FIG. 1 is a side view of an industrial robot device according to an embodiment of the present invention, FIG. 2 is a perspective view of a tip dresser, and FIG. 3 is a perspective view of a worn and rounded electrode tip at the tip of a spot welding gun. FIG. 4 is a perspective view of an electrode tip at the tip of a spot welding gun that has been ground to a sharp point by a tip dresser.

[0012] In the drawings, the same reference numerals and symbols as those in the conventional example indicate the same or corresponding parts as those in the conventional example, so a redundant explanation will be omitted here.

In the figure, reference numeral 1a denotes a base part as a fixed part that is immovably installed and fixed at a fixed position in the factory, 1b denotes a body part as a movable part placed on the base part 1a, and 1c.
is attached to the body portion 1b and has a spot welding gun 2 at its tip, and is a movable arm portion; 13 is a base portion 1;
a chip dresser integrally fixed at a predetermined position of a;
Reference numeral 3a indicates a die which is arranged on both sides of the chip dresser 13 in the thickness direction in correspondence with the pair of electrode tips 2a, and finishes grinding each electrode tip 2a, and 13b indicates a motor which rotates each of the above-mentioned dies 13a. The spot welding gun 2 is movable to a desired welding point position via the body portion 1b and arm portion 1c. In addition, a storage means (not shown) of the control unit that controls the operation of the industrial robot device of this embodiment
, the fixed position of the tip dresser 13 is stored as a reference position of the spot welding gun 2, and based on the reference position, the control section controls the movement of the spot welding gun 2 to a desired welding point position.

Next, the operation of the industrial robot device of this embodiment configured as described above will be explained.

First, the industrial robot device of this embodiment is as follows:
The control section controls the movement of the spot welding gun 2 to perform spot welding at a desired position on the workpiece. At this time, the dot position of the spot welding gun 2 is set to the tip dresser 1.
It is determined based on the reference position which is the fixed position of No. 3. When the electrode tip 2a at the tip of the spot welding gun 2 wears out and becomes round and thick due to repeated spot welding, as shown in FIG. to the fixed position of the chip dresser 13. Then, by rotating the motor 13b with the center of the die 13a of the chip dresser 13 sandwiched between the pair of opposing electrode tips 2a,
Both electrode tips 2a are finished by grinding. As a result, as shown in FIG. 4, the electrode tip 2a becomes sharp again and is ready for the next spot welding.

At this time, when finishing the grinding of the electrode tip 2a, the spot welding gun 2 is moved to the tip dresser 13.
Because it is automatically moved to the fixed position, that is, the reference position, each time the electrode tip 2a is finished by grinding, the movable parts such as the body part 1b, arm part 1c, or spot welding gun 2 are moved to other structures. It is possible to easily check whether the dot position of the spot welding gun 2 has been misaligned due to collision or interference with the welding gun, which simplifies the checking and correction work and improves the overall welding work efficiency. . That is, the tip dresser 13 of this embodiment can also be used as a simple mastering mechanism for positioning a reference position for controlling the movement of the spot welding gun 2. Furthermore, there is no need to prepare a special workpiece for trial striking, and production costs can be reduced.

As described above, the industrial robot device of the above embodiment includes a robot body 1, a spot welding gun 2 movably attached to the robot body 1, and a spot welding gun 2 provided at the tip of the spot welding gun 2. A tip dresser 13 is provided with a pair of opposing electrode tips 2a, and is fixed at a predetermined position on a base part 1a which is a fixed part of the robot body 1, and the fixed position of the tip dresser 13 is set at a reference position of the spot welding gun 2. This is stored in the storage means of the control unit as a.

Therefore, in the above embodiment, by integrally fixing the tip dresser 13 to the base portion 1a of the robot body 1, a special space for the tip dresser 13 can be omitted, and the space occupied by the entire device can be reduced. can be reduced. Further, by storing the fixed position of the tip dresser 13 on the base portion 1a of the robot body 1 in the storage means of the control unit as a reference position for controlling the movement of the spot welding gun 2, the electrode tip 2a of the spot welding gun 2 can be stored. When finishing the grinding, the spot welding gun 2 is automatically positioned at the reference position. Therefore, every time the electrode tip 2a is ground, the spot welding gun 2, etc., which is a movable part of the robot body 1, collides with or interferes with other structures, and the spot welding gun 2, etc.
By checking in advance whether there is any deviation in the dot position of the spot welding gun 2, the dot position of the spot welding gun 2 can be easily confirmed and corrected. Further, there is no need to prepare a trial workpiece to check whether there is any deviation in the welding point position of the spot welding gun 2, and it is possible to shorten the checking work time and reduce production costs.

[0019]

As described above, the industrial robot device of the present invention includes a robot body, a spot welding gun movably attached to the robot body, and an electrode tip provided on the spot welding gun. The tip dresser is fixed at a predetermined position on the robot body, and the fixed position of the tip dresser is stored in the storage means as the reference position of the spot welding gun. By fixing the tip dresser on the robot body, The space for the chip dresser can be omitted, and the space of the entire device can be reduced. Furthermore, by storing the fixed position of the tip dresser in the robot body in the storage means as a reference position for controlling the movement of the spot welding gun, the spot welding gun is Automatically located at the reference position. Therefore, each time you finish grinding the electrode tip, you can check in advance whether the dot position of the spot welding gun has been distorted due to collision or interference with other structures, and you can confirm and correct the dot position. Easy to do. Furthermore, there is no need to prepare a trial workpiece to check whether there is any deviation in the dot position of the spot welding gun, which can shorten the time required for checking and reduce production costs.

[Brief explanation of drawings]

FIG. 1 is a side view of an industrial robot device according to an embodiment of the present invention.

FIG. 2 is a perspective view of the tip dresser.

FIG. 3 is a perspective view of a worn and rounded electrode tip at the tip of a spot welding gun.

FIG. 4 is a perspective view of an electrode tip at the tip of a spot welding gun that has been ground to a sharp point by a tip dresser.

FIG. 5 is a side view showing a conventional industrial robot device.

[Explanation of symbols]

1 Robot body 2 Spot welding gun 2a　　　Electrode tip 13 Chip dresser

Claims (1)

[Claims] 1. A robot body, a spot welding gun movably attached to the robot body, an electrode tip provided on the spot welding gun, and a tip dresser fixed at a predetermined position on the robot body. 1. An industrial robot apparatus comprising: storage means for storing a fixed position of the tip dresser as a reference position of a spot welding gun.