Clamping Confirmation System, Welding Robot System, Clamping Tool Control Device, and Clamping Confirmation Method
A technology for clamping tools and control devices, which is applied in the direction of automatic control devices, auxiliary devices, positioning devices, etc., and can solve the problem that the clamping tool cannot confirm whether the clamping tool is normally in contact with the workpiece, etc.
Active Publication Date: 2014-10-01
KOBE STEEL LTD
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Problems solved by technology
[0009] Therefore, the present invention is to solve the following two problems: that is, in the conventional welding robot system for detecting oil pressure, even if the clamping tool is not normally in contact with the workpiece, the processing device may misjudge that the clamping tool is normally in contact with the workpiece. The problem of the workpiece, when the conventional monitoring camera cannot be placed on the fixed part, it is impossible to confirm whether the clamping tool is in contact with the workpiece normally. The purpose is to make the processing device accurately judge the contacting action of the clamping tool to the workpiece success or failure
Method used
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Embodiment Construction
[0035] Hereinafter, an embodiment (hereinafter referred to as "embodiment") for implementing the clamp confirmation system of the present invention will be described with reference to the drawings. The following chapters are divided into the following chapters and explained sequentially: 1. Outline of the clamping confirmation system; 2. Outline of the welding robot system; 3. Configuration example of the clamping tool; 4. Configuration example of the clamping tool control device; 5. Action of the welding robot system; 6. Action example of the clamping tool control device.
[0036] [1. Outline of clamp confirmation system]
[0037] against figure 1 and figure 2 The shown welding robot system 1, 1B, illustrates a clamp confirmation system. E.g, figure 1 The welding robot system 1 shown in (a) includes a clamping tool 2 and a system control panel (clamping tool control device) 8 as a clamping confirmation system.
[0038] Such as figure 1 As shown in (b), the clamping too...
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The welding robot system (clamp confirmation system) of the present invention includes a clamp tool and a system control panel (clamp tool control device). The clamping tool includes an engaging portion that engages with a workpiece, and a position detection sensor that detects a current position of the engaging portion. The system control panel includes: a moving distance database that stores the movement stop position of the engaging part for each workpiece; an arithmetic processing mechanism that detects whether the oil pressure of the driving source of the clamping tool is above the reference value and is detected by the position detection sensor The operation completion condition that the current position is within the allowable range of the stored operation stop position; the user interface part notifies abnormality when the operation completion condition is not met, and normal when the action completion condition is satisfied. Through this structure, it can be correctly judged whether the clamping tool clamps the workpiece successfully or not.
Description
technical field [0001] The present invention relates to a technique for controlling a clamping tool including an abutting portion that abuts on a workpiece, and more particularly to a technique for judging whether the abutting action of the clamping tool on the workpiece is successful or not in a welding robot system. Background technique [0002] Conventionally, in a welding robot system composed of a welding robot, a moving device, and a positioner, a clamping tool for holding a workpiece is attached to the positioner. The internal electric motor of the clamping tool is driven by hydraulic pressure, for example. In the welding robot system, assuming that the workpiece to be welded is, for example, the frame part of a construction machine used in civil engineering and construction work (engineering), since there are types of workpieces weighing several tons, in order to strengthen the clamping tool The hydraulic pump is used as the power of the clamping tool for the workpi...
Claims
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IPC IPC(8): B23K37/04B25J19/00B25J13/00B25J9/16
CPCB23K37/0443B23K37/047B23Q3/06B23Q3/16B23Q15/22
Inventor 田中伸明
Owner KOBE STEEL LTD