Arm attachment, gas fusion cutting robot system, trace pin for teaching, and work-piece support unit

Abstract

To provide an arm attachment that can perform high-accuracy fusion cutting of even a thick work-piece with fewer restrictions on a processing location and with no need to worry about movable limit of an arm which is a robot body, a gas fusion cutting robot system, a trace pin for teaching, and a work-piece support unit.SOLUTION: An arm attachment 18 comprises a first connection part 31, and a second connection part 32. The first connection part 31 is fixed to a tip of an arm. The second connection part 32 grips a flame port nozzle 25 for emitting flame from a tip thereof. The second connection part 32 is fixed to the first connection part 31 so that an axial direction of the flame port nozzle 25 is angularly adjusted within a range of 0° or more and 45° or less with respect to an axial direction of a tip link 13a at a tip of a plurality of links constituting the arm.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to an arm attachment, a gas cutting robot system, a teaching trace pin, and a workpiece support unit. [Background technology]

[0002] Plasma processing machines and laser processing machines are used for cutting and processing such as beveling to chamfer edges. However, plasma processing machines and laser processing machines are large in size due to an arc generation mechanism for generating a plasma arc between the metal to be processed and the electrode, a laser emission mechanism, and the like, and therefore it is not easy to transport or move the equipment. Therefore, the workpiece must be transported or moved to the location where these devices are installed for processing. However, in the case of a large or heavy workpiece, it is not easy to transport or move the workpiece. In addition, since plasma processing machines and laser processing machines have a limit to the thickness of the workpiece that can be cut by melting, it is more practical to use a gas melting machine to melt thick workpieces.

[0003] Meanwhile, robots are becoming widely used in various processes such as melt cutting. For example, Patent Document 1 describes a technology in which steel plates of various thicknesses are melt cut by a gas melt cutting robot equipped with a torch (burner nozzle). In addition, collaborative robots that share work with workers to perform processes and the like are also widely used. Many collaborative robots are small and can operate on a 100V power supply, making them useful because there are few restrictions on where they can be used for processing. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 9-85435 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when the arm, which is the main body of the collaborative robot, approaches the limit of its range of motion, its movement becomes less smooth, and problems remain in the machining accuracy. For example, when cutting a large cylindrical workpiece in the circumferential direction or making a groove along the circumferential surface, the machining of the upper surface can be performed with high accuracy, but the machining of the lower part will be less accurate because there is a limit to the range of motion of the arm below.

[0006] Therefore, the present invention aims to provide an arm attachment, a gas cutting robot system, a teaching trace pin, and a work support unit that can perform high-precision cutting, with fewer restrictions on the processing location, even for thick workpieces, without having to worry about the movement limits of the arm which is the robot body. [Means for solving the problem]

[0007] The arm attachment of the present invention comprises a first connecting part and a second connecting part. The first connecting part is fixed to the tip of the arm. The second connecting part holds a burner nozzle that shoots a flame from its tip. The second connecting part is fixed to the first connecting part so that the axial direction of the burner nozzle is adjusted at an angle within a range of 0° to 45° with respect to the axial direction of the tip link that is at the very tip of the multiple links that make up the arm.

[0008] It is preferable that the first connecting portion protrudes in a direction intersecting the axial direction of the end link, and the second connecting portion is fixed to the protruding portion of the first connecting portion.

[0009] It is preferable that the first connecting portion protrudes in a direction perpendicular to the axial direction of the tip link, and the axial direction of the nozzle nozzle is rotated within a plane perpendicular to the protruding direction of the first connecting portion to adjust the angle.

[0010] The second connecting portion preferably has a C-shaped gripping portion that grips the peripheral surface of the nozzle.

[0011] The gas cutting robot system of the present invention includes an arm, the arm attachment, and a nozzle.

[0012] The teaching tracing pin includes a tapered member, a tubular member, and a biasing member. The tapered member is formed in a tapered rod shape, and its tip is brought into contact with a workpiece to trace a marking on the workpiece. The tubular member houses the tapered member in a hollow portion such that the tip of the tapered member protrudes from one end. The biasing member is disposed in the hollow portion of the tubular member, and biases the tapered member toward the one end side from which the tip of the tapered member protrudes.

[0013] The workpiece support unit includes a plurality of support rods formed in a rod shape, a holding plate, and a regulating member. The support rods are arranged in an upright position with a gap between them, and support the workpiece from below. The holding plate is in a horizontal position and holds the support rods in an upright position. The regulating member is provided to be movable in the vertical direction, protrudes beyond the upper ends of the support rods, and is displaceable between a movement regulating position that regulates the movement of the workpiece in the horizontal direction and a retracted position that is lower than the upper ends of the support rods.

[0014] It is preferable that the retaining plate has a plurality of first through holes formed in a row in a first direction and a plurality of second through holes formed in a row in a second direction intersecting the first direction, and the regulating member is a first rod-shaped member inserted into each of the plurality of first through holes in an upright position, and a second rod-shaped member inserted into each of the plurality of second through holes. Effect of the Invention

[0015] According to the present invention, even for thick workpieces, high-precision fusion cutting can be performed without concern for the movement limits of the arm which is the robot body, and with fewer restrictions on the processing location. [Brief description of the drawings]

[0016] [Figure 1] FIG. 1 is an explanatory diagram of a gas cutting robot system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a schematic diagram of an arm attachment. [Diagram 3] FIG. [Figure 4] FIG. 2 is a schematic plan view of a workpiece holding unit. [Diagram 5] FIG. 4 is a partial cross-sectional view of the work holding unit. [Figure 6] FIG. 4 is an explanatory diagram of a workpiece holding unit. [Figure 7] FIG. 2 is a schematic diagram of a teaching trace pin. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] The gas cutting robot system (hereinafter referred to as the robot system) 10 shown in FIG. 1 is a collaborative robot system for cutting a workpiece 11 with an ejected flame. In addition to cutting the workpiece 11, the cutting includes a groove (groove preparation) which is a chamfering process of the end. Instead of cutting, it can be used for welding. The robot system 10 is composed of an arm 13 which is the main body of the collaborative robot, a controller 14 which controls the arm 13, a gas cutting device (not shown), an arm attachment (hereinafter referred to as the attachment) 18, a teaching trace pin (hereinafter referred to as the trace pin) 21 (see FIG. 7), a workpiece support unit 22, and the like. The arm 13 and the controller 14 are collaborative robots, and are operated with a 100V power supply. Therefore, there are few restrictions on the processing location, and cutting can be performed.

[0018] In this example, the arm 13 is a six-axis robot, i.e., an articulated robot with six degrees of freedom, and is a serial link type robot in which a first link 13a, a second link 13b, a third link 13c, ..., which connect joints that are axes of rotation, are connected in series. The first link 13a is the most distal link of the arm 13, and is hereinafter referred to as the distal link 13a. A torch 25 of a gas melting device is attached to the distal link 13a via an attachment 18, and the arm 13 moves with a flame being ejected from an opening 25p at the distal end of the torch nozzle 25, thereby melting the workpiece 11. The angle between the distal link 13a and the second link 13b connected to the distal link 13a is fixed at 90°, but the joint between the distal link 13a and the second link 13b is a rotation mechanism, and the distal link 13a rotates while maintaining an angle of 90° with respect to the second link 13b.

[0019] The controller 14 includes an acquisition unit (not shown), a storage unit (not shown), an operation control unit (not shown), and the like. The acquisition unit acquires position information of the fusing position to be fusing the workpiece 11, and stores it in the storage unit. The position information includes information about the fusing line (information about the direction and length of the fusing line, etc.) and information about the origin (zero point) of the assumed positioned workpiece. Information about the fusing line includes, for example, information generated by CAD (Computer Aided Design). The origin is a reference point (reference position) that serves as a reference for fusing. The operation control unit controls the arm 13 based on the position information stored in the storage unit, thereby controlling the movement of the nozzle nozzle 25, that is, the position and posture of the nozzle nozzle 25. In this example, the arm 13 is disposed on the upper surface of the controller 14, but the positional relationship between the arm 13 and the controller 14 is not limited to this example. It is preferable that the collaborative robot including the arm 13 and the controller 14 is small and lightweight, and that the lower surface of the controller 14 is provided with a swivel caster (not shown). This makes the collaborative robot easy to transport and move. The swivel casters are equipped with stoppers to prevent rotation, which limits the movement of the arm 13 when acquiring positional information on the fusing position and during fusing.

[0020] The gas fusing device is composed of the aforementioned nozzle nozzle 25, a gas control unit that controls the supply of various gases to the nozzle nozzle 25, and the like. The gas fusing device is connected to cylinders of acetylene gas, oxygen gas, LPG (liquefied petroleum gas), and hydrogen gas. During fusing, gas is sent and supplied from two of these cylinders to the gas fusing device. The combinations of gas sent are specifically a combination of oxygen gas and acetylene gas, a combination of oxygen gas and LPG gas, and a combination of oxygen gas and hydrogen gas, and any of these combinations of gases is supplied to the gas fusing device at an appropriate timing. Since the robot system 10 is equipped with a gas fusing device, it is possible to easily fusing even thick workpieces.

[0021] The attachment 18 is attached to the tip of the arm 13 and holds a nozzle 25. The trace pin 21 is used to set the origin when fusing and to obtain position information of the fusing position, and traces the markings made on the work. The trajectory of the trace is sent to the aforementioned acquisition section of the controller 14 as position information of the fusing position. The work support unit 22 supports the work and allows easy and reliable setting of the origin when fusing. Details of the attachment 18, trace pin 21, and work support unit 22 will be described later with reference to other drawings.

[0022] 2 and 3, attachment 18 is attached to the tip of arm 13 and is detachable from arm 13. As a result, attachment 18 and the gas cutting device can be transported and moved when detached from arm 13, eliminating the need to transport workpiece 11 to the gas cutting device as in the past. Therefore, even if workpiece 11 is large or heavy, the gas cutting device can be transported together with arm 13 and cut.

[0023] The attachment 18 is provided at the tip of the arm 13, i.e., at the tip of the tip link 13a, protruding on the opposite side to the second link 13b. The attachment 18 includes a first connecting part 31 fixed to the tip of the tip link 13a, and a second connecting part 32 fixed to the burner nozzle 25. The tip link 13a and the first connecting part 31, and the burner nozzle 25 and the second connecting part 32 are detachable. As is well known, the burner nozzle 25 includes a blowpipe 25a and a burner nozzle 25b, and the second connecting part 32 is fixed to the blowpipe 25a of the burner nozzle 25. In this way, the arm 13 and the blowpipe 25a of the burner nozzle 25 are connected via the attachment 18 and are separable. In addition, a trace pin 21 may be fixed to the blowpipe 25a instead of the burner nozzle 25b. In this manner, the attachment 18 holds the blowpipe 25a, to which either the nozzle 25b or the trace pin 21 is fixed, at the tip of the arm 13.

[0024] In this example, the first connecting portion 31 is composed of, for example, a columnar first member 36 fixed to the tip surface of the tip link 13a, a plate-like second member 37 with one plate surface 37A fixed to the end surface of the first member 36, a columnar third member 38 fixed to the other plate surface 37B of the second member 37, and a fourth member 39 fixed to the end surface of the third member, and the second connecting portion 32 is fixed to the fourth member 39. The second member 37 is provided protruding in a direction intersecting the direction of the axis A1 of the tip link 13a (hereinafter referred to as the axial direction) so that the nozzle nozzle 25 does not interfere with the tip link 13a, and the third member 38 is disposed on the plate surface 37B of the protruding tip. The axial direction of the third member 38 is the same as the axial direction of the tip link 13a, but the axes are offset from each other. As a result, the second member 37 to the fourth member 39 form a protruding portion that protrudes from the axis A1 of the tip link 13a in a direction intersecting the axial direction, in this example, in a direction perpendicular to the axis A1. This protruding portion protrudes from the tip link 13a on the opposite side to the second link 13b.

[0025] The fourth member 39 is formed by fixing two members with a C-shaped cross section with the openings of the C facing each other with a thumbscrew 41, thereby forming a circular hole 39i bored in a direction perpendicular to the axial direction of the tip link 13a. This makes the fourth member 39 a female member into which the cylindrical male member 43 of the second connecting portion 32 is fitted.

[0026] The second connecting part 32 is composed of a C-shaped gripping part 44 that grips the circumferential surface of the blowpipe 25a of the nozzle nozzle 25, a male member 43 fixed to the outer periphery of the gripping part 44, and the like. The male member 43 is formed in a cylindrical shape as described above, and the direction of the axis A2 (hereinafter referred to as the axis direction) is perpendicular to the axial direction of the tip link 13a, and is therefore parallel to the direction of the axis A3 (hereinafter referred to as the axial direction) of the second link 13b. When the male member 43 is rotated around the axis A2 relative to the fourth member 39 with the thumbscrew 41 of the fourth member 39 loosened, the gripping part 44 rotates integrally with the male member 43, thereby adjusting the angle θ (unit: °) of the direction of the axis A4 of the nozzle nozzle 25 with respect to the axial direction of the tip link 13a (hereinafter referred to as the axial direction). The axial direction of the nozzle nozzle 25 at the angle θ is defined as the direction in which the opening 25p of the nozzle nozzle 25 faces. The fourth member 39 of the first connecting portion 31 may be a male member, and the male member 43 of the second connecting portion 32 may be a female member.

[0027] As described above, the tip link 13a and the second link 13b are fixed at an angle of 90°, and the male member 43 of the second connecting part 32 rotates around the axis A2 parallel to the axis A3 of the second link 13b, so the angle θ is the direction of the opening 25p with respect to a plane including the axis A1 of the tip link 13a and the axis A3 of the second link 13b. The second connecting part 32 is fixed to the first connecting part 31 so that the axial direction of the burner nozzle 25 is angle-adjusted within a range of 0° to 45° with respect to the axial direction of the tip link 13a. If the attachment 18 is not used, the movement of the burner nozzle 25 becomes unstable when the tip link 13a of the arm 13 (see FIG. 1) approaches the limit of the range of motion, but if the angle θ is adjusted to, for example, 45° and fixed using the attachment 18, a 45° margin is created before the limit of the range of motion, so that the desired position is melted with high precision without reaching the range of motion. Therefore, not only flat workpieces but also fusion cutting, especially groove cutting, of three-dimensional objects with curved surfaces such as cylindrical workpieces as shown in FIG. 1 can be performed with high precision, and there is no need to worry about the movement limits of the arm 13.

[0028] In FIG. 3, the angle θ is shown when the nozzle nozzle 25 is tilted to the left (the end of the nozzle nozzle 25 opposite the opening 25p is tilted to the left side of the paper). This is because the movement limit of the arm 13 is based on the assumption that the movement range of the arm 13 and the range of the control area of ​​the arm 13 by the controller 14 (see FIG. 1) are taken into account. When the movement limit of the arm 13 is considered on the opposite side to this example, the angle θ should be taken when the nozzle nozzle 25 is tilted to the right. In this example, a pin (not shown) is provided as an example of a fixing member that fixes the male member 43 and the fourth member 39 when the angle θ is adjusted, and this allows the nozzle nozzle 25 to be held more stably and to be melted with higher accuracy.

[0029] The gripping part 44 is provided with a slide mechanism 47. The slide mechanism 47 is composed of a rack gear 48 provided on the circumferential surface of the burner nozzle 25, a pinion gear (not shown) provided on the gripping part 44 and meshed with the rack gear 48, and a rotating handle 49 connected to the pinion gear. By rotating the rotating handle 49 with the thumbscrew 50 loosened, the burner nozzle 25 slides in the vertical direction in FIG. 2. The position of the burner nozzle 25 is fixed by adjusting the position of the burner nozzle 25 to a desired position with the slide mechanism 47 and then tightening the thumbscrew 50. A nut 51 is provided on the circumferential surface of the burner nozzle 25 for positioning with respect to the gripping part 44, and the position when the nut 51 hits the gripping part 44 is the position where the burner nozzle 25 should be fixed.

[0030] 4 and 5, the work supporting unit 22 includes a plurality of supporting rods 61, a holding plate 62, and first rod-shaped members 65A-65E, 66A-66E and second rod-shaped members 67A-67J which are examples of restricting members. The work supporting unit 22 preferably further includes a holding plate 70, a first shift mechanism 71, a second shift mechanism 72, and legs 74, and this is also the case in this example.

[0031] The multiple support rods 61 are rod-shaped members that support the workpiece 11 from below, and are fixed to the top surface of the holding plate 62, which is in a horizontal position, and are held in an upright position. The multiple support rods 61 are formed at the same height, and stably support the workpiece 11. A first shift mechanism 71 is provided on the holding plate 62, and the first shift mechanism 71 displaces the holding plate 62 in the up-down direction. This allows the height of the workpiece 11 to be adjusted according to the height of the arm 13.

[0032] The multiple support rods 61 are arranged side by side at intervals from each other, thereby ensuring an escape route for the heat of the flame ejected from the nozzle 25 during cutting, and preventing excessive heating of the workpiece 11 placed on the support rods 61 and the support rods 61.

[0033] In the holding plate 62, a plurality of first through holes 62a and a plurality of second through holes 62b are formed so as to surround the plurality of support rods 61 in a U-shape when viewed from above. The plurality of first through holes 62a are aligned in a first direction X, and the plurality of second through holes 62b are aligned in a second direction Y that intersects with the first direction X and is perpendicular to the first direction X in this example.

[0034] The first rod-shaped members 65A-65E, 66A-66E and the second rod-shaped members 67A-67J are fixed in a vertically standing position on the top surface of the holding plate 70, which is in a horizontal position. A second shift mechanism 72 is provided on the holding plate 70, and the second shift mechanism 72 displaces the holding plate 70 in the vertical direction. This allows the first rod-shaped members 65A-65E, 66A-66E and the second rod-shaped members 67A-67J to be freely movable in the vertical direction. The first rod-shaped members 65A-65E, 66A-66E and the second rod-shaped members 67A-67J are arranged in a U-shape, similar to the first through hole 62a and the multiple second through holes 62b, so that they can be inserted and removed from these first through hole 62a and multiple second through holes 62b. First rod-shaped members 65A to 65E, 66A to 66E are inserted and removed through the first through holes 62a, and second rod-shaped members 67A to 67J are inserted and removed through the second through holes 62b.

[0035] As the second shift mechanism 72 displaces the holding plate 70 in the vertical direction, the first rod-shaped members 65A-65E, 66A-66E and the second rod-shaped members 67A-67J are displaced between a movement restriction position (see FIG. 5) where they protrude beyond the upper end of the support rod 61 and restrict the movement of the workpiece 11 in the horizontal direction and a retreat position (see FIG. 6) that is lower than the upper end of the support rod 61. By bringing the workpiece 11 into contact with at least one of the first rod-shaped members 65A-65E and 66A-66E in the movement restriction position and the second rod-shaped members 67A-67J, the workpiece 11 is positioned on the workpiece support unit 22, and the origin can be easily and accurately determined based on the positions of the support rod 61, etc. This allows for highly accurate melting. In addition, by setting the retracted position during melting, the movement of the nozzle nozzle 25 is not hindered, so melting is performed smoothly in any direction of the first direction X, the second direction Y, and the third direction Z perpendicular to the first direction X and the second direction Y. In the example shown in Fig. 6, the first rod-shaped members 65A to 65E, 66A to 66E and the second rod-shaped members 67A to 67J are removed from the first through-hole 62a and the second through-hole 62b in the retracted position. However, the retracted position is not limited to this example because the movement of the nozzle nozzle 25 is not hindered as long as it is lower than the upper end of the support rod 61, and the retracted position may be inserted into the first through-hole 62a and the second through-hole 62b.

[0036] The pitch in the X direction between the second rod-shaped members 67A, 67J at the ends of the second rod-shaped members 67A, 67J and the first rod-shaped members 65A, 66A that are closest to the second rod-shaped members 67A, 67J among the first rod-shaped members 65A, 65E, 66A, 66E is defined as P1. The pitches of the first rod-shaped members 65A, 65E and the pitches of the first rod-shaped members 66A, 66E are defined as P2. The pitch P1 is set smaller than the pitch P2. This allows even a small workpiece 11 to be reliably positioned by contacting both the first rod-shaped member 65A and the second rod-shaped member 67A, or both the first rod-shaped member 66A and the second rod-shaped member 67J. Furthermore, by bringing one of the two workpieces into contact with both the first rod-shaped member 65A and the second rod-shaped member 67A, and bringing the other into contact with both the first rod-shaped member 66A and the second rod-shaped member 67J, the two workpieces can be positioned and subjected to melt cutting.

[0037] 7, the trace pin 21 is composed of a tapered member 81, a cylindrical member 82, and a spring 83 as an example of a biasing member. The tapered member 81 is made of metal and has a tapered rod shape. The tip of the tapered member 81 is brought into contact with the workpiece (see FIG. 1) in order to trace the markings made on the workpiece.

[0038] The cylindrical member 82 accommodates the tapered member 81 in a hollow portion so that the tip of the tapered member 81 protrudes from one end. In addition to the tapered member 81, the cylindrical member 82 also includes a spring 83, intermediate members 86A and 86B, and a cap 87. The cap 87 has a flange 87a protruding from the circumferential surface of the cylindrical member 82. The spring 83 biases the tapered member 81 toward the one end of the cylindrical member 82, the intermediate member 86A is disposed between the spring 83 and the tapered member 81 to transmit the biasing force of the spring 83 to the tapered member 81, and the intermediate member 86B presses the spring 83 from its one end. The cap 87 is screwed to the other end of the cylindrical member 82 to stabilize the tapered member 81, the spring 83, and the intermediate member 86 in the cylindrical member 82. The cylindrical member 82 is fixed to the blowpipe 25a before the nozzle 25b (see FIG. 2) is set. The tip of the blowpipe 25a is female-threaded and engages with the male thread of the nut 51. The cylindrical member 82 is inserted into the nut 51 from the tip side, so that the flange 87a abuts against the edge of the male thread of the nut 51. The nut 51 is fixed to the blowpipe 25a, so that the trace pin 21 is fixed in a position relative to the blowpipe 25a. Therefore, the size of the trace pin 21 is set so that the distance from the tip edge of the cylindrical member 82 to the nut 51 when fixed to the blowpipe 25a is equal to the distance from the opening 25p (see FIG. 2) to the nut 51 when the nozzle 25b is fixed to the blowpipe 25a. As a result, the length of the exposed portion of the tapered member 81 protruding from the cylindrical member 82 is secured as the distance between the nozzle nozzle 25 and the workpiece 11 during melt cutting. As a result, contact of the nozzle 25 with the workpiece 11 is prevented during cutting. In this example, the length L1 of the exposed portion of the tapered member 81 exposed from the cylindrical member 82 is 10 mm, the length L2 of the cylindrical member 82 is 67 mm, and the thickness L3 of the flange 87a is 2 mm.

[0039] Tapered member 81 is biased toward one end of cylindrical member 82 by spring 83, so even if tapered member 81 hits workpiece 11 or another member, it returns to the position before the hit, i.e., the initial position. By returning to the initial position, the distance from gripper 44 to the tip returns to a constant distance, so tracing is performed reliably and accurately and is stored in the memory unit of controller 14 (see FIG. 1). This allows for highly accurate melting.

[0040] The diameter D1 of the tip of the tapered member 81 is preferably within the range of 0.7 mm to 1.0 mm. By making the diameter D1 0.7 mm or more, the visibility of the tapered member 81 when approaching the scribed mark is ensured more reliably than when the diameter D1 is smaller than 0.7 mm. Furthermore, the scribed line width is about 1 mm, and by making the diameter D1 equal to or smaller than the scribed line width, it is easier to align with the scribed mark when tracing. In this example, the diameter D1 is 0.86 mm. [Explanation of symbols]

[0041] 10 Gas cutting robot system 11 Work 13 Arm 13a, 13b, 13c, 1st (top) link, 2nd link, 3rd link, 18 Arm attachment 21 Teaching trace pin 22 Work support unit 25 Crater Nozzle 25p aperture 31 1st connection part 32 2nd connection part 44 Gripping part 61 Support rod 62 Holding plate 62a, 62b 1st through hole, 2nd through hole 65A to 65E, 66A to 66E First rod-shaped member 67A to 67L Second rod-shaped member 71, 72 First shift mechanism, second shift mechanism 81 Tapered member 82 Cylindrical member 83 Pressing member

Claims

1. A first connecting portion fixed to a tip end of the arm; a second connecting part that holds a burner nozzle that shoots a flame from a tip and is fixed to the first connecting part so that an axial direction of the burner nozzle can be adjusted within an angle range of 0° to 45° with respect to an axial direction of a tip link that is at the tip end of a plurality of links that constitute the arm; An arm attachment equipped with:

2. The first connecting portion protrudes in a direction intersecting an axial direction of the tip link, The arm attachment according to claim 1 , wherein the second connecting portion is fixed to a protruding portion of the first connecting portion.

3. The first connecting portion protrudes in a direction perpendicular to an axial direction of the tip link, 3. An arm attachment according to claim 2, wherein an axial direction of the nozzle is rotated within a plane perpendicular to a protruding direction of the first connecting portion for angle adjustment.

4. 3. The arm attachment according to claim 1, wherein the second connecting portion has a C-shaped gripping portion that grips a peripheral surface of the nozzle.

5. An arm, an arm attachment having a first connecting part fixed to a tip of an arm, and a second connecting part fixed to the first connecting part so that an axial direction of the burner nozzle, which holds a burner nozzle that shoots a flame from the tip and is adjusted at an angle within a range of 0° to 45° with respect to an axial direction of a tip link that is at the tip end of a plurality of links constituting the arm; The nozzle; A gas cutting robot system comprising:

6. A tapered member formed in a tapered rod shape, the tip of which is brought into contact with the workpiece in order to trace a marking on the workpiece; a cylindrical member that houses the tapered member in a hollow portion so that the tip protrudes from one end; a biasing member that is disposed in the hollow portion of the cylindrical member and biases the tapered member toward the one end side; A teaching trace pin equipped with:

7. A plurality of support rods each formed in a rod shape and arranged in a row at intervals in an upright position to support the workpiece from below; A holding plate that holds the plurality of support rods in an upright position and is in a horizontal position; a restricting member that is provided to be movable in the vertical direction, protrudes beyond the upper ends of the plurality of support rods, and is displaceable between a movement restricting position that restricts the movement of the workpiece in the horizontal direction and a retreated position that is lower than the upper ends of the support rods; A work support unit comprising:

8. The holding plate has a plurality of first through holes formed in a first direction and a plurality of second through holes formed in a second direction intersecting the first direction, The work support unit of claim 7, wherein the regulating member is a first rod-shaped member that is inserted into each of the first through holes in an upright position, and a second rod-shaped member that is inserted into each of the second through holes.

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