Hand-held welding gun assembling structure

Abstract

The hand-held welding gun attachment structure (SK) is provided with: an attachment part (111) fixed to an arm (861) of a robot (86); a rectangular base plate (12) which is integrally formed with the mounting part (111) and on which the hand-held welding gun (7) is placed; a first side plate (13) supported by a first edge portion (12a) of the base plate (12) so as to be capable of rotating in an opening direction from an upright position; and a second side plate (17) which is fixed to a second edge part (12b) opposite to the first edge part (12a) in a standing posture. The hand-held welding gun (7) is attached to the arm (861) by being held and held between a first side plate (13) and a second side plate (17), which are erected, while being placed on the base plate (12).

Description

Technical Field

[0001] This invention relates to the assembly structure of a handheld welding gun. Background Technology

[0002] A technique for automatically welding by mounting a welding gun at the front end of the arm of a multi-joint robot is known, and this technique is described in Patent Document 1.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 8-25274 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] As welding guns, there are so-called handheld welding guns that can be held by hand for welding. These handheld welding guns are useful for automated welding when mounted on the front end of the arm of a multi-joint robot. However, the current situation with handheld welding guns is that, due to their hand-held shape, they are difficult to assemble without wobbling over extended periods into the arm of a robot that repeatedly starts and stops with high acceleration. Therefore, a handheld welding gun assembly structure is desired that can reliably assemble the handheld welding gun into the robot arm without wobbling or misalignment.

[0008] Solution for solving the problem

[0009] One aspect of the present invention provides a handheld welding gun assembly structure comprising: a mounting portion fixed to a robot arm; a rectangular base plate integrally formed with the mounting portion and supporting the handheld welding gun; a first side plate rotatably supported on a first edge of the base plate from an upright position to an open position; and a second side plate fixed in an upright position to a second edge opposite to the first edge. The handheld welding gun is assembled to the arm by being clamped and held between the upright first side plate and the second side plate in a state of being mounted on the base plate.

[0010] In the handheld welding gun assembly structure of this solution, the handheld welding gun is clamped and held from the left and right by the first side plate and the second side plate. Therefore, the handheld welding gun can be reliably assembled without shaking or misalignment.

[0011] Invention Effects

[0012] According to one aspect of the present invention, the handheld welding gun assembly structure enables the handheld welding gun to be reliably assembled to the robot arm without shaking or misalignment. Attached Figure Description

[0013] Figure 1 This is a schematic diagram illustrating an example of how the assembly structure SK of the handheld welding gun according to an embodiment of the present invention is used.

[0014] Figure 2A This is a left-side view of welding torch 7.

[0015] Figure 2B This is the front view of welding torch 7.

[0016] Figure 3A This is a left-side view of the welding torch assembly 1.

[0017] Figure 3B This is a right-side view of the welding torch assembly 1.

[0018] Figure 3C This is the front view of welding torch assembly 1.

[0019] Figure 4A This is a left-side view showing the state in which the welding torch 7 is assembled in the welding torch assembly part 1.

[0020] Figure 4B This is a right-side view showing the state in which the welding torch 7 is assembled in the welding torch assembly part 1.

[0021] Figure 4C This is a front view showing the state in which the welding torch 7 is assembled in the welding torch assembly part 1.

[0022] Figure 5A This is a schematic left-side view showing the force exerted on the welding torch 7 by the welding torch assembly 1.

[0023] Figure 5B This is a front view showing the force exerted on the welding torch 7 by the welding torch assembly 1.

[0024] Figure 6 This is a block diagram showing the structure of the welding torch 7 and the welding torch control unit 62.

[0025] Figure 7 This is a left-side view of the welding torch assembly 1A used to illustrate a modified example. Detailed Implementation

[0026] The welding gun assembly section 1 of the handheld welding gun assembly structure SK, which is provided with an embodiment of the present invention, will be described. The welding gun assembly section 1 is, for example, mounted on... Figure 1 The arm of the 8ST multi-joint robot 86 in the laser welding chamber shown.

[0027] Figure 1This is a schematic diagram showing a multi-joint robot 86 equipped with a handheld welding gun 7 via a handheld welding gun assembly structure SK. The multi-joint robot 86 is housed in a laser welding chamber 8ST. The laser welding chamber 8ST is divided by a partition 81 with a door 811, which is a room to prevent the laser beam from leaking out. Hereinafter, the handheld welding gun 7 will also be referred to as the welding gun 7.

[0028] The laser welding chamber 8ST is equipped with a fixture table 82, an input / output device 83, a control device 84, and a multi-joint robot 86. The operator 85 enters and exits through a door 811. A welding gun 7 is mounted on the arm at the front end of the multi-joint robot 86 via a welding gun assembly section 1 with a handheld welding gun assembly structure SK.

[0029] The control device 84 includes a robot control unit 61, a welding torch control unit 62, and a laser oscillator 63. The fixture table 82 holds the workpiece (the part to be welded) and other components to be welded. The multi-joint robot 86 is a robot with multiple arms rotatably connected in series, and its movements are controlled by the robot control unit 61 included in the control device 84.

[0030] The welding torch 7 is a handheld welding torch that can be held by the operator 85, and is mounted on the front end of the arm of the multi-joint robot 86 via the welding torch mounting unit 1. The movement of the welding torch 7 is controlled by the welding torch control unit 62.

[0031] The welding torch control unit 62 and the robot control unit 61 control the movements of the welding torch 7 and the articulated robot 86, respectively. This control is linked through a collaborative control unit (not shown). The collaborative control unit outputs the control status of the welding torch control unit 62 and the robot control unit 61, as well as the movement status of the welding torch 7 and the articulated robot 86, to the input / output device 83. The input / output device 83 may have a display as an output device and a keyboard or a touch panel mounted on the display as an input device.

[0032] like Figure 6 As shown, the welding torch control unit 62 includes a CPU (Central Processing Unit) 621 as a central processing unit, a power-on detection unit 622, and a storage unit 623. The storage unit 623 stores the processing application AP, which provides the welding torch control unit 62 and the robot control unit 61 with welding programs related to the parts to be welded placed on the fixture table 82, and performs welding based on the cooperation between the welding torch 7 and the multi-joint robot 86.

[0033] (Welding torch 7)

[0034] Reference Figure 2A and Figure 2B The welding torch 7 will be explained. Figure 2A This is a left-side view of welding torch 7. Figure 2BThis is a front view of the welding torch 7. In the following description, the directions up, down, left, right, front, and back are defined as those indicated by the arrows in the respective figures. These directions are for ease of explanation and do not limit the usage posture or structural orientation of the welding torch 7.

[0035] The welding torch 7 is a welding torch that can be held with one hand and emits a laser beam LS from the front end of a fiber laser. The welding torch 7 has a main body 71, a nozzle chuck 72, and a nozzle 73. An optical fiber cable 74 is connected to the rear end of the main body 71 to supply the laser beam output from the laser oscillator 63. The laser beam supplied from the optical fiber cable 74 passes through an optical system (not shown) housed inside the main body 71 and is emitted as the laser beam LS from the front end of the nozzle 73.

[0036] The main body 71 has a housing 711. The cross-sectional shape of the housing 711 is formed as a flat, generally rectangular shape that is thin in the width direction (i.e., the left-right direction) and long in the vertical direction (with greater height). The housing 711 has a cable support portion 71d, a grip portion 71a, a protrusion 71b, and a front end portion 71c in the front-rear direction from the rear side.

[0037] The cable support portion 71d is the part connected to the optical fiber cable 74, and the grip portion 71a is a part shaped and cross-sectionally designed for easy handling. The protrusion 71b has a mountain-shaped portion 71b1, which accommodates optical systems such as mirrors and protrudes upward in a triangular shape. The mountain-shaped portion 71b1 is positioned between the thumb and forefinger when the grip portion 71a is held, providing a stable grip.

[0038] The front end portion 71c is designed so that the gripping portion 71a extends horizontally in the front-rear direction. Figure 2A When in the correct orientation, the nozzle 73 is tilted downwards towards the front end. A nozzle chuck 72 is provided at the front end of the front end 71c. The nozzle chuck 72 securely mounts and removes the nozzle 73 in an orientation that extends in the same tilt direction as the front end 71c. The nozzle 73 is a rod-shaped component with a carbon tip 731 at its front end. A laser beam LS is emitted from the front end of the carbon tip 731.

[0039] A trigger knob 712 and a contact portion 713 are provided on the bottom surface of the housing 711. The trigger knob 712 is located at the position where the index finger hooks when the grip portion 71a is held. When the laser beam LS can be emitted, pulling the trigger knob 712 with the index finger to press it into the housing 711 emits the laser beam LS. When the finger is released, it returns to its original position, stopping the emission of the laser beam LS. The contact portion 713 is the part that makes contact with the carbon tip portion 731 of the nozzle 73 and is the part that contacts the rod 321 of the second solenoid 32, which will be described later. Anti-slip pads 714 and 715 are respectively attached to the upper part of the grip portion 71a and the lower part from the grip portion 71a to the protrusion 71b by means of adhesive or the like.

[0040] like Figure 2B As shown, the maximum width of the housing 711 in the left and right directions is the distance between the left and right outer surfaces of the anti-slip pad 715, which is set as the housing width W7.

[0041] (Welding torch assembly section 1)

[0042] Next, refer to Figures 3A-3C The welding torch assembly part 1 will be described. Figure 3A This is a left-side view of the welding torch assembly 1. Figure 3B This is a right-side view of the welding torch assembly 1. Figure 3C This is the front view of welding torch assembly 1.

[0043] The multi-joint robot 86 has a fore-end arm 861, which is the foremost of its multiple arms. Figures 3A-3C In this description, the front arm 861 is shown extending vertically with its front end facing downwards. A fitting 862 is mounted on the front end of the front arm 861. The fitting 862 is a component that allows a flat plate to be fixed to the front arm 861 using bolts. Hereinafter, the front arm 861 will be simply referred to as arm 861.

[0044] The welding torch assembly 1 includes an arm plate 11, a base plate 12, a first side plate 13, a side plate 14, a second side plate 17, a clamping plate 18, a base box 15, and a rear box 16. The arm plate 11 is a plate-shaped component with a horizontal mounting portion 111 at its upper end, extending downwards from the right edge of the mounting portion 111 in a vertical and longitudinal direction. The mounting portion 111 is fastened to the fitting 862 by bolts.

[0045] The base plate 12 is a plate-shaped component fixed to the lower left surface of the arm plate 11 and extending horizontally with the longitudinal direction as its long side. The base plate 12 is generally rectangular when viewed from above. A flat, forward-protruding front buffer 122 is mounted on the front end face of the base plate 12. The front buffer 122 is, for example, formed of low-elasticity rubber.

[0046] The first side plate 13 is located at the left edge 12a of the base plate 12 (see reference). Figure 3A It is supported by a pair of pins 135 fixed to the base plate 12, allowing it to rotate freely about an axis CL13 extending horizontally along the front and rear (see reference). Figure 3C Arrow DR1). In this example, the left edge 12a is the first edge. Figure 3A and Figure 3C In the image, the first side plate 13 is shown in an upright position. In the upright position, the first side plate 13 is shaped such that it is generally rectangular on the rear side and has a protruding edge 13a that protrudes upward in a triangular shape on the front side.

[0047] A handle 131, a hook receiving part 132, and a bolt 133 are installed on the outer surface of the first side plate 13. The handle 131 can be held by hand, making it easy to operate the welding gun assembly 1 in the state of being installed on the front arm 861 by hand.

[0048] The hook receiving part 132 is installed on the upper part of the protruding edge 13a, hooking and locking the hook part 183 installed on the clamp 18. That is, the hook receiving part 132 and the hook part 183 constitute a so-called latch 19.

[0049] Bolt 133 has a hand-gripable head 133a and a threaded shaft portion 133b, and is threaded into the first side plate 13, allowing it to move in and out in the left-right direction. Bolt 133 is, for example, a resin bolt made of resin. When bolt 133 is tightened, the shaft portion 133b passes through the first side plate 13 and protrudes inward. A first buffer member 134, which is longer in the front-rear direction, is attached to the lower part of the inner surface of the first side plate 13. The first buffer member 134 is, for example, made of low-elasticity rubber. Side plate 14 is a plate-shaped component fixed to base plate 12 and fixed in a posture extending in the front-rear and vertical directions.

[0050] like Figure 3B As shown, the second side plate 17 has approximately the same shape and size as the first side plate 13. The second side plate 17 is fixed to the right edge 12b of the arm plate 11 in an upright position extending vertically and horizontally by positioning screws (not shown). In this example, the right edge 12b is the second edge. The base 182a of the hinge 182 and bolts 173 are mounted on the outer surface of the second side plate 17. A clamping plate 18 is mounted on the rotating portion 182b, which rotates relative to the base 182a of the hinge 182. Thus, the clamping plate 18 can rotate freely about an axis CL18 along the outline of the second side plate 17 of the hinge 182 (see reference). Figure 3C (arrow DR2).

[0051] The clamp 18 has a base 181 (see reference) Figure 3CThe plate 18 has a pair of side sections and a flattened U-shaped cross-section. The inner surface spacing of the pair of side sections is equal to the inner surface spacing of the first side plate 13 and the second side plate 17 in the upright position. The rotating part 182b of the hinge 182 is fixed to the outer surface of one of the pair of side sections of the plate 18. A hook 183 is fixed to the outer surface of the other side section. The hook 183 hooks and engages with the hook receiving part 132 of the first side plate 13. Thus, as Figure 3C As shown, when the clamping plate 18 rotates clockwise about the axis CL18, a pair of side parts abut against the upper surfaces of the first side plate 13 and the second side plate 17, respectively. Furthermore, the hook 183 can be hooked onto the hook receiving part 132 and fixed. That is, the first side plate 13, the clamping plate 18, and the second side plate 17 can form an integral door shape in the main view.

[0052] With the first side plate 13 and the second side plate 17 standing upright parallel to each other, the axis of bolt 133 and the axis of bolt 173 are aligned.

[0053] like Figure 3A As shown, the base box 15 is a box-shaped portion mounted on the lower surface of the base plate 12. The first solenoid 31 and the second solenoid 32 are housed and fixed inside the base box 15. The rods 311 and 321 of the first solenoid 31 and the second solenoid 32 respectively move in and out independently under the control of the welding torch control unit 62.

[0054] The rear housing 16 is a box-shaped portion extending from the base plate 12 and connected to the rear of the bottom housing 15. A limit switch 33 is housed and fixed inside the rear housing 16. The contact 331 of the limit switch 33 protrudes upward from the upper surface of the rear housing 16. The limit switch 33 is ON when the contact 331 is pressed downward. The limit switch 33 outputs an ON signal to the welding torch control unit 62.

[0055] Here, as Figure 3C As shown, with the first side plate 13 and the second side plate 17 erected parallel to each other, the distance between the inner surfaces of the first side plate 13 and the second side plate 17 in the left-right direction is defined as distance Wa, and the distance between the inner surfaces of the first buffer member 134 and the second buffer member 174 in the left-right direction is defined as distance Wb. Distance Wa is greater than the housing width W7 of the welding torch 7 (refer to...). Figure 2B The distance Wb is less than the shell width W7.

[0056] Next, refer to Figures 4A-4C This indicates the assembly of the welding torch 7 relative to the welding torch assembly part 1. Figure 4A This is a left-side view showing the state in which the welding torch 7 is assembled in the welding torch assembly part 1. Figure 4B This is a right-side view showing the state in which the welding torch 7 is assembled in the welding torch assembly part 1. Figure 4CThis is a front view showing the state in which the welding torch 7 is assembled in the welding torch assembly part 1.

[0057] First, regarding the welding torch assembly 1, the clamping plate 18 is as follows: Figure 3B and Figure 3C Rotate counterclockwise as shown to open it. Additionally, rotate the first side plate 13 along... Figure 3C The welding torch 7 is rotated clockwise to open. Then, the operator 85 places the welding torch 7 on the base plate 12 of the welding torch assembly 1 from the upper left side, so as to abut against the second side plate 17.

[0058] With the first side plate 13 and clamping plate 18 open, the welding torch 7 can be easily placed on the base plate 12. More specifically, a second buffer 174 is placed on the base plate 12 to press the anti-slip pad 715 of the right side of the welding torch 7 against the second side plate 17, and will become the inner side of the front end portion 71c of the main body 71 (see reference). Figure 2A The front buffer 122, which is installed at the front end of the base plate 12, is abutted against. At this time, the contact 331 of the limit switch 33 of the rear box 16 is pressed into the bottom surface of the cable support part 71d of the welding gun 7, and the limit switch 33 is turned on.

[0059] The rod 311 of the first solenoid 31 is in the pulled-in position, close to the trigger knob 712 of the welding torch 7. The rod 321 of the second solenoid 32 is in the pulled-in position, separated from the contact part 713.

[0060] After placing the welding torch 7 on the base plate 12, the first side plate 13 is moved along... Figure 3C It is closed by rotating counterclockwise. That is, it makes the first side plate 13 become Figures 4A-4C The standing position is shown. Next, the clamping plate 18 is closed, and the hook 183 is hooked onto the hook receiving part 132 and locked. As a result, the upper buffer 184 installed on the base 181 of the clamping plate 18 presses the upper surface of the protrusion 71b of the welding torch 7 diagonally downward and backward. In addition, the first buffer 134 of the first side plate 13 and the second buffer 174 of the second side plate 17 are elastically compressed because the distance Wb is smaller than the width W7 of the housing, and their rebound force presses the main body 71 of the welding torch 7 from the left and right sides in a clamping manner.

[0061] On the other hand, the distance Wa (reference) Figure 3CThe width of the welding torch 7 is larger than that of the housing 711, thus creating a gap between the first side plate 13 and the second side plate 17 and the housing 711. To address this, the operator 85 tightens bolts 133 and 173, screwing in the respective shaft portions 133b and 173b, securing the housing 711 by pressing it from both sides. As a result, the lower and upper parts of the welding torch 7 are pressed down from both sides by the first side plate 13 and the second side plate 17, preventing any wobbling or misalignment in the left-right direction. Furthermore, by using resin bolts 133 and 173, damage to the housing 711 is minimized.

[0062] As described above, with the first side plate 13 and clamping plate 18 open, the welding torch 7 is placed on the base plate 12, the first side plate 13 is raised (closed), and the clamping plate 18 is closed and the latch 19 is locked, thereby securely assembling the welding torch 7 to the welding torch assembly part 1.

[0063] Reference Figure 5A and Figure 5B This describes the application of force to the welding torch 7 when it is mounted in the welding torch assembly part 1. Figure 5A This is a schematic left-side view showing the force exerted on the welding torch 7 by the welding torch assembly 1. Figure 5B This is a front view showing the force exerted on the welding torch 7 by the welding torch assembly 1.

[0064] exist Figure 5A The diagram schematically illustrates the forces applied to the welding torch 7 in the up-down and back-and-forth directions. The upper buffer 184 mounted on the clamping plate 18, the base plate 12, and the front buffer 122 mounted on the base plate 12 are in contact with the welding torch 7. The center of gravity G of the welding torch 7 is subjected to its own weight Fg based on gravity.

[0065] In this state, the upper buffer 184 applies a force F1 to the welding torch 7 in a downward and rearward direction orthogonal to the tilt direction of the protrusion 71b. Force F1 is decomposed into a downward component F1v and a rearward component F1h. A forward force F2 is applied to the welding torch 7 from the front buffer 122 as a reaction force relative to the rearward component F1h, resulting in a balanced state. An upward force F3 is applied from the base plate 12 as a reaction force relative to the resultant force of the downward component F1v and the weight Fg, resulting in a balanced state.

[0066] according to Figure 5A It can be seen that the forces on the welding torch 7 in the front-back and up-down directions are balanced. In addition, the forward, backward, left-right movement (linear motion) and rotation of the welding torch 7 caused by unexpected external forces are limited by the upper buffer 184, the front buffer 122 and the base plate 12. Therefore, the welding torch 7 does not substantially wobble or misalign in the front-back and up-down directions relative to the welding torch assembly 1.

[0067] exist Figure 5BThe diagram schematically illustrates the left-right forces applied to the welding torch 7. The welding torch 7 is subjected to a compressive rebound force (F23) from the first buffer 134 of the first side plate 13, i.e., a force F23 towards the right, and a compressive rebound force (F24) from the second buffer 174 of the second side plate 17, i.e., a force F24 towards the left. On the other hand, at the upper part, it is subjected to a rightward force F21 from the tightening of the bolt 133 and a leftward force F22 from the tightening of the bolt 173.

[0068] Forces F21 and F22 are concentric clamping forces applied to the welding torch 7 in opposite directions, thus achieving natural balance. Furthermore, forces F23 and F24 are self-balancing by equalizing the compression of the first buffer 134 and the second buffer 174. Therefore, the forces on the welding torch 7 in the left-right direction are concentrically balanced, preventing the welding torch 7 from moving (linearly) relative to the welding torch assembly 1, and also preventing rotation. Moreover, even if an unexpected external force is applied to the welding torch 7 in the left-right direction, linear movement and rotation are restricted because the welding torch 7 is clamped in both the lower and upper parts in the left-right direction. Therefore, the welding torch 7 does not substantially wobble or misalign in the left-right direction relative to the welding torch assembly 1.

[0069] In this way, the forces applied to the welding torch 7 in all directions are balanced, and linear motion and rotation are also restricted relative to unexpected external forces. Therefore, the welding torch 7 will not move in any direction or rotate after being assembled into the welding torch assembly part 1. Thus, the welding torch assembly part 1 with the handheld welding torch assembly structure SK can reliably assemble the welding torch 7 into the front arm 861 of the multi-joint robot 86 without wobbling or misalignment.

[0070] The emission of the laser beam LS with the welding torch 7 mounted in the welding torch mounting section 1 is performed according to the following steps. For example... Figure 6 As shown, the signal input to the welding torch control unit 62 is the limit switch 33 and the door switch 812.

[0071] When the welding torch control unit 62 determines that the door 811 is open based on a signal from the door switch 812 indicating the open / closed state of the door 811, it will prevent the laser beam LS from being emitted under any circumstances. When the door 811 is closed, and the limit switch 33 determines that the welding torch 7 is mounted on the welding torch assembly unit 1, it will actuate the second solenoid 32 to bring the rod 321 into contact with the contact portion 713 of the welding torch 7, thus achieving a conductive state.

[0072] The contact portion 713 and the carbon tip portion 731 at the front end of the nozzle 73 are electrically connected. The energization detection unit 622 actuates the second solenoid 32 to protrude the rod 321, so that it is in contact with the contact portion 713 of the welding torch 7, and then begins to monitor whether there is a connection between the rod 321 and the fixture table 82.

[0073] When the part to be welded is a conductive material such as iron, when the carbon tip 731 of the welding torch 7 comes into contact with the welding part of the part to be welded for welding, the contact part 713, the carbon tip 731, the part to be welded, and the fixture table 82 become conductive. Therefore, the energization detection unit 622 detects that the part has changed from a non-conductive state to a conductive state.

[0074] After the power-on detection unit 622 detects a conduction state, i.e., contact between the nozzle 73 and the workpiece being welded, the CPU 621 enables the laser oscillator 63 to output a laser beam in real time. If a start-up command is issued from the processing application AP in this state, the CPU 621 causes the first solenoid 31 to extend the lever 311, pressing the trigger knob 712 in. This causes the laser beam LS to be emitted from the tip of the nozzle 73 of the welding torch 7. Conversely, if a stop-up command is issued from the processing application AP, the first solenoid 31 is pulled back by the lever 311, returning the trigger knob 712 to its original position. This stops the emission of the laser beam LS from the tip of the nozzle 73.

[0075] This embodiment is not limited to the structure and steps described above, and variations may be made without departing from the spirit of the present invention.

[0076] The on / off operation of the trigger knob 712, the contact detection between the tip of the nozzle 73 and the part being welded, and the assembly confirmation of the welding torch 7 to the welding torch assembly 1 can also be performed electronically. That is, the welding torch 7 and the welding torch control unit 62 are connected by a cable in a manner that enables signal transmission and reception. Regardless of the operation of the trigger knob 712, the laser beam LS is emitted from the tip of the nozzle 73 through the emission signal from the welding torch control unit 62. Alternatively, the conduction of the carbon tip 731 can be detected directly without going through the contact part 713, and the assembly confirmation to the welding torch assembly 1 can be performed by a sensor. In this case, the welding torch assembly 1 does not require the first solenoid 31, the second solenoid 32, and the limit switch 33.

[0077] As for the welding torch assembly 1, a structure is described where the first side plate 13 on the left side opens and closes while the second side plate 17 on the right side is fixed in an upright position. However, the reverse is also possible. That is, it can also be as follows: Figure 5B As shown, instead of a configuration that allows the first side plate 13 to open and close (refer to arrow DR5L) and fixes the second side plate 17 to the base plate 12 by locking bolt N2, for example, the second side plate 17 is rotatably supported by a pin (not shown) and can be opened and closed as shown by arrow DR5R, and the first side plate 13 is fixed by locking bolt N1. In this case, the handle 131 (refer to...) Figure 3CIt can be installed on a side panel that can be opened and closed freely. In this way, the welding gun assembly 1 can be a structure that is easy to operate with the operator's dominant hand. In this case, the left edge 12a is the second edge and the right edge 12b is the first edge.

[0078] The first side panel 13, which can be opened and closed, can also be locked in the upright position by a release mechanism (not shown). In this case, the latch 19 is not required, and it can be used as follows: Figure 5B The location shown also does not have a clamping plate 18. Without the clamping plate 18, the force restricting the movement of the welding torch 7 in the forward and backward and up and down directions is the frictional force caused by the forces F21 to F24 in the left and right directions. Therefore, it can be applied to situations where the mass of the welding torch 7 is relatively small and the acceleration of the welding torch 7 generated by the motion of the multi-joint robot 86 is not too large.

[0079] The welding torch assembly 1 is not limited to a structure in which the first side plate 13 is opened and closed manually; it can also be a modified example of a welding torch assembly 1A that can be opened and closed automatically. (See reference...) Figure 7 This needs to be explained. Figure 7 This is a left-side view of the welding torch assembly 1A used to illustrate a modified example.

[0080] In the welding torch assembly 1A, the front side of the side plate 13A, which opens and closes around the axis CL13A, is supported by a pin 135 and is rotatable. The rear side has a long shaft 135A fixed to the side plate 13A. The shaft 135A extends along the axis CL13A, rotatably passes through the side plate 14A, and protrudes rearward. A gear 135b is mounted at the rear end of the shaft 135A. A pinion Ma meshes with the gear 135b, and the pinion Ma is fixed to the drive shaft of a motor M, such as a stepper motor, whose motion is controlled by a control device 84. Thus, the side plate 13A opens and closes automatically by the driving force of the motor M, whose motion is controlled by the control device 84. The driving source for opening and closing is not limited to a motor. Furthermore, the power transmission method can also be a structure that transmits power using a belt, linkage, or other means without relying on gears. The multi-joint robot 86 may not be a multi-joint structure; it can be a multi-joint or single-joint robot.

[0081] As described in detail above, the assembly structure of the handheld welding gun in this embodiment includes: a mounting part 111, which is fixed to the arm 861 of the robot 86; a rectangular base plate 12, which is integrally formed with the mounting part 111 and holds the handheld welding gun 7; a first side plate 13, which is rotatably supported on the first edge of the base plate 12 from an upright position to an open position; and a second side plate 17, which is fixed to the second edge opposite to the first edge in an upright position. The handheld welding gun 7 is assembled to the arm 861 by being clamped and held between the upright first side plate 13 and the second side plate 17 in a state of being placed on the base plate 12.

[0082] The handheld welding gun 7 is held in place by the first side plate 13 and the second side plate 17 while mounted on the base plate 12. Therefore, movement of the handheld welding gun 7 is restricted from three sides. Thus, the handheld welding gun 7 can be securely mounted to the arm 861.

[0083] Alternatively, the handheld welding gun assembly structure may also have a clamp 18 that connects and fixes the first side plate 13 and the second side plate 17.

[0084] Thus, the first side plate 13 and the second side plate 17 are firmly integrated, and the handheld welding gun 7 can also be pressed from above by the clamp 18, so that the handheld welding gun 7 can be more firmly mounted on the arm 861.

[0085] Furthermore, the first side plate 13 and the second side plate 17 may also have bolts 133 and 173 respectively for fastening the clamped handheld welding gun 7 by rotating.

[0086] As a result, the handheld welding gun 7 is more firmly clamped in the width direction, thus enabling the handheld welding gun 7 to be more securely mounted on the arm 861.

[0087] In addition, bolts 133 and 173 can also be resin bolts.

[0088] Therefore, it is difficult to damage the fastened parts of the handheld welding gun 7.

[0089] Symbol Explanation

[0090] 1. 1A—Welding torch assembly part; 11—Arm plate; 111—Mounting part; 12—Base plate; 12a—Left edge; 12b—Right edge; 122—Front buffer; 13—First side plate; 13A—Side plate; 13a—Protruding edge; 131—Handle; 132—Hook receiving part; 133—Bolt; 133a—Head; 133b—Shaft; 134—First buffer; 135—Pin; 135A—Shaft; 135b—Gear; 14. 14A—Side plate; 15—Base box; 16—Rear box; 17—Second side plate Plate, 173—bolt, 173b—shaft, 174—second buffer, 18—clamping plate, 181—base, 182—hinge, 182a—base, 182b—rotating part, 183—hook, 184—upper buffer, 19—latch, 31—first solenoid, 311—rod, 32—second solenoid, 321—rod, 33—limit switch, 331—contact, 61—robot control unit, 62—welding torch control unit, 621—CPU (central processing unit), 622—power-on detection unit, 623—storage Part, 63—Laser oscillator, 7—Welding torch (handheld welding torch), 71—Main body, 71a—Holding part, 71b—Protrusion, 71b1—Mountain-shaped part, 71c—Front end, 71c1—Face, 71d—Cable support part, 711—Housing, 712—Trigger knob, 713—Contact part, 714, 715—Anti-slip pad, 72—Nozzle chuck part, 73—Nozzle, 731—Carbon tip part, 74—Fiber optic cable, 8ST—Laser welding chamber, 81—Partition, 811—Door, 812—Door switch, 82 — Fixture table, 83— Input / output device, 84— Control device, 85— Operator, 86— Multi-joint robot, 861— Front arm, 862— Accessories, AP— Machining application, CL13, CL18, CL13A— Axis, Fg— Weight, F1~F3, F21~F24— Force, F1h, F1v— Component force, G— Center of gravity, LS— Laser beam, M— Motor, Ma— Pinion, N1, N2— Locking bolt, SK— Handheld welding gun assembly structure, Wa, Wb— Distance, W7— Housing width.

Claims

1. A hand-held welding gun assembly structure, characterized by comprising: Possess: a mounting portion fixed to an arm of a robot; a rectangular base plate formed integrally with the mounting portion and on which a hand-held welding gun is placed; a first side plate rotatably supported on a first edge portion of the base plate in an erected posture to an open direction; and a second side plate fixed in an erected posture to a second edge portion opposite to the first edge portion, the hand-held welding gun being fitted to the arm by being clamped and held between the erected first and second side plates in a state of being placed on the base plate.

2. The hand-held welding gun fitting structure according to claim 1, characterized by having a clamp plate linking and fixing the first and second side plates.

3. The hand-held welding gun fitting structure according to claim 1 or 2, characterized by the first and second side plates each having a bolt that presses the clamped hand-held welding gun by screwing in.

4. The hand-held welding gun fitting structure according to claim 3, characterized by the bolt being a resin bolt. ​

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