JPH055271U - Conduit hanger switching device for welding robots - Google Patents

Abstract

(57) [Summary] [Purpose] When using a torch selected from multiple welding torches to cause the robot to perform welding work, do not let the conduit hangers that suspend the cables of each welding torch interfere with each other. Smoothly carry out the welding work. [Structure] Conduit hangers 8 and 9 are provided corresponding to the welding torches 2 and 3 arranged at the standby positions on both sides of the robot arm 1, and the standby positions of the welding torches 2 and 3 and the work area of the robot arm 1 It is possible to swing horizontally between them. Actuators 10 and 11 are provided to serve as a horizontal swing drive source for the conduit hangers 8 and 9. Actuator 1 so that the conduit hangers 8 and 9 do not interfere with each other
A control means 12 for controlling the operation of 0 and 11 is provided.

Description

[Detailed description of the device]

[0001]

[Industrial application]

 The present invention relates to a conduit hanger switching device for switching a conduit hanger that suspends a cable of each welding torch in an industrial welding robot that selectively performs welding work using a plurality of welding torches.

[0002]

[Prior Art]

 Conventionally, different types of welding torches are placed on both sides of the robot arm in a standby state to support welding robots for multiple types of welding work, and a conduit hanger for suspending the cable is provided for each welding torch. There is a device. In this device, each conduit hanger horizontally swings with one end near the robot arm installation point as a fulcrum so that it can move freely within a wide range between the standby position and the robot arm work area as the torch moves. It is supported freely.

[0003]

[Problems to be solved by the device]

 However, in the above device, since each conduit hanger freely swings and interferes with each other even when the conduit hanger is not reciprocating between the standby position and the arm working area, the welding wires are fed by the entanglement of the cables. However, there is a problem that the welding work of the robot is hindered because the torch held by the arm comes off. There is also a problem that noise is generated due to contact between the hangers.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a welding robot conduit capable of smoothly performing welding work of a robot without the conduit hangers interfering with each other. It is intended to provide a hanger switching device.

[0005]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention provides a plurality of welding torches which are detachably connected to a robot arm at respective standby positions on both sides of the robot arm, and a cable which is connected to each of the welding torches. For welding robots that are each hung on a conduit hanger and that can be horizontally swung between the standby position of this welding torch and the work area of the robot arm according to the movement of the corresponding welding torch. In a conduit hanger switching device, an actuator that horizontally oscillates each of the above hangers and, when using one welding torch, the above actuator so that the conduit hangers of other welding torches stand by at positions that do not interfere with other conduit hangers. And a control means for controlling the operation of the.

[0006]

[Action]

 With the above configuration, in the present invention, when the welding robot carries one welding torch on its arm, the actuator is actuated by the control of the control means, and the conduit hanger of the other welding torch does not. It can be placed in a position where it does not interfere with the conduit hanger. This avoids interference between conduit hangers.

[0007]

【Example】

 Embodiments of the present invention will be described below with reference to the drawings.

1 and 2 show a conduit hanger switching device for a welding robot according to an embodiment of the present invention. The conduit hanger switching device A is attached to the welding robot B, and the welding torches 2 and 3 are provided on the left and right sides of the arm 1 of the welding robot B, respectively, which serve as standby positions for non-welding. Are arranged. At the respective standby positions, the tips of the rest hangers 5, 5 extending from the support column 4 of the robot B to both sides come, and the welding is performed on the torch rests 6, 6 erected at these tips. The torches 2 and 3 are locked. The welding torches 2 and 3 are provided with joints 2a and 3a which are continuously provided on the side thereof, and the joints 2a and 3a are detachably connected to the tip portion 1a of the arm 1 by an air chuck. ing. Further, of the above welding torches 2 and 3, one torch 2 is for TIG welding and the other torch 3 is for MAG welding. Both torches 2 and 3 are both cables 7 which serve as conduits for electrodes, shield gas and the like. It is connected to the. Each of the cables 7 is suspended above the torch 2 or 3 on a rod-shaped conduit hanger 8 or 9 via two balancers 24, 24 each of which includes a band 26, 26 and a tension spring 25. ing. One end of each of the conduit hangers 8 and 9 is supported by a box body 19 attached to the fixed limb 1b of the arm 1, and the torch waiting position (near the torch rest 6) and the arm are supported by the box body 19 as a fulcrum. It is provided so as to be capable of swinging horizontally with respect to the first work area.

As shown in the enlarged view in FIG. 3, the conduit hangers 8 and 9 project in the extending direction of the hangers 8 and 9 at two positions above and below the fulcrum-side upright portions 8a and 9a. Has an upper stopper pin 14 and a lower stopper pin 15 protruding to both sides along the extending direction, and the upright portions 8a and 9a lower than the upper stopper pin 14 are located on the box body 19 above. Is rotatably housed in the shaft 16. The upper stopper pin 14 abuts on the stoppers 17 and 17 provided upright on the box body 19 to prevent excessive swinging of the hangers 8 and 9. On the other hand, as shown in FIG. 4, the lower stopper pin 15 moves within the slits 18, 18 provided in the peripheral wall of the shaft 16 within a predetermined range. The predetermined range of the slit 18 is a range in which the hangers 8 and 9 can be swung up to about 45 ° in both left and right directions (illustrated by a chain double-dashed line in FIG. 1). It swings freely according to the movements of the two or three. When the hangers 8 and 9 swing from the standby position toward the working area of the arm 1, the lower stopper pin 15 contacts the side end of the slit 18 and excessively swings the hangers 8 and 9. Suppress.

The shaft 16 is housed in a cylindrical stand 20 provided upright on the box body 19, and is mounted on a drive shaft 22 of the rotary actuator 10 or 11 housed in the box body 19. It is connected via a key 21 and rotates according to the drive of the actuators 10 and 11. The actuators 10 and 11 transmit the rotation of the shaft 16 to the conduit hangers 8 and 9 via the lower stopper pins 15 located in the slits 18, so that the torch standby position with respect to the hangers 8 and 9 is achieved. It acts as a drive source for rocking a wide range between the robot arm 1 and the robot arm 1.

Further, a control means 12 for controlling the operation timing of the rotary actuators 10 and 11 is connected to the rotary actuators 10 and 11.

A welding wire W (electrode wire) is inserted through the cable 7 to be connected to the MAG welding torch 3 of the present embodiment, and the welding wire W is supplied from a wire reel (not shown) to the robot. The wire feeder 13 installed on the side of the column 4 automatically feeds the wire W as the wire W is consumed. In the figure, 23 is a mounting table on which the wire feeding device 13 is mounted.

Next, the operation of this embodiment will be described. When robot B finishes using one welding torch 3 held by arm 1, arm 1 releases the suction of welding torch 3 after use. At this time, the conduit hanger 9 on the welding torch 3 side is located above the arm 1 and the control means 12 immediately actuates one actuator 11 to move the hanger 9 to the torch standby position (the position shown by the solid line in FIG. 1). Rotate to. When it is desired to continue using the other welding torch 2, the control means 12 sends a start signal to the other actuator 10 to move the conduit hanger 8 on the welding torch 2 side to the position of the arm 1 (see FIG. 1 to the position indicated by the one-dot chain line). At this time, since the start signal is not sent to the other actuator 11, the hanger 9 stands by at the torch standby position. As a result, interference between the hangers 8 and 9 can be avoided, and collision noise can be prevented. In addition, since the hangers 8 and 9 are always separated from each other in this way, the cables 7 and 7 are not entangled with each other, and it is possible to prevent the supply stop of the welding wire W and the release of the torch from the arm 1 due to this. Therefore, the welding work of the robot B can be smoothly advanced. Such control of the actuators 10 and 11 is performed every time the welding torches 2 and 3 are replaced.

In the above embodiment, two conduit hangers are provided with the left and right sides of the robot arm as the standby positions. However, the number of hangers provided and the standby positions thereof are not limited to the above, and additional ones can be added. Hangers may be provided according to the number of welding torches, and the standby position may be set so that the hangers do not interfere with each other.

In the above-described embodiment, the range in which the hanger can freely swing about 45 ° to the left and right in the horizontal direction is set. However, there is no special limitation on this range, which hinders the work of the arm. It suffices to make the hanger swingable to the extent that it does not give.

Further, in the above embodiment, the rotary actuator is used as the actuator for swinging the hanger, but the present invention is not limited to this, and other actuators such as a swing actuator utilizing the reciprocating motion of the piston are used. May be.

[0017]

[Effect of the device]

 As described above, according to the conduit hanger switching device for welding robots of the present invention, when the welding robot has one welding torch on its arm for welding work, the conduit hanger of another welding torch is operated by the actuator. Other than other conduit hangers, it can be rotated to a standby position so that noise due to collision between conduit hangers can be prevented, and welding wire supply stopped due to cable entanglement and torch release from the arm. Can be prevented, and the robot welding work can proceed smoothly.

[Brief description of drawings]

FIG. 1 is a plan view of a conduit hanger switching device showing an embodiment of the present invention.

FIG. 2 is a side view of the same.

FIG. 3 is an enlarged sectional view of a part of the conduit hanger switching device.

FIG. 4 is a view taken along the line II in FIG.

[Explanation of symbols]

 1 Robot Arm 2,3 Welding Torch 7 Cable 8,9 Conduit Hanger 10,11 Rotary Actuator 12 Control Means A Conduit Hanger Switching Device

Claims (1)

[Claims for utility model registration] [Claim 1] A plurality of welding torches that are detachably connected to the robot arm are provided at standby positions on both sides of the robot arm, and are connected to the welding torches. Each cable is hung on a conduit hanger,
Each of these conduit hangers is a welding robot conduit hanger switching device which is horizontally swingable between the standby position of the welding torch and the work area of the robot arm in accordance with the movement of the corresponding welding torch. An actuator that horizontally oscillates the conduit hanger, and a control means that controls the operation of the actuator so that when one welding torch is used, the conduit hangers of other welding torches stand by at positions where they do not interfere with other conduit hangers. A conduit hanger switching device for a welding robot, which is provided with.