Handy weld torch fitting structure

Abstract

To provide a handy weld torch fitting structure which can surely attach a handy weld torch to an arm of a robot without causing backlash and positional deviation.SOLUTION: A handy weld torch fitting structure (SK) comprises: an attachment part (111) which is fixed to an arm (861) of a robot (86); a rectangular base plate (12) which is integrally formed with the attachment part (111) and on which a handy weld torch (7) is placed; a first lateral plate (13) which is rotatably supported from an upright posture to an open direction at a first marginal part (12a) of the base plate (12); and a second lateral plate (17) which is fixed at an upright posture at a second marginal part (12b) facing the first marginal part (12a). The handy weld torch (7) is sandwiched and held between the first lateral plate (13) which is erected in a state where the first lateral plate is placed on the base plate (12) and the second lateral plate (17), and is thus attached to the arm (861).SELECTED DRAWING: Figure 4C

Description

[Technical field]

[0001] The present invention relates to a handheld welding torch mounting structure. [Background technology]

[0002] A technology for performing automatic welding by attaching a welding torch to the tip of the arm of an articulated robot is known, and is described in Patent Document 1. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 8-25274 Summary of the Invention [Problem to be solved by the invention]

[0004] As a welding torch, there is a so-called handheld welding torch that can be held by a worker to perform welding. It is useful to attach this handheld welding torch to the tip of the arm of an articulated robot so that it can also be used for automatic welding. However, since the handheld welding torch has a characteristic shape that allows it to be held by hand, it is currently difficult to attach it to the arm of a robot that repeatedly starts and stops its movement with high acceleration for a long period of time without causing rattling. Therefore, there is a need for a handheld welding torch attachment structure that can reliably attach the handheld welding torch to the arm of a robot without rattling or misalignment. [Means for solving the problem]

[0005] In order to solve the above problems, one embodiment of the handheld welding torch mounting structure of the present invention comprises an attachment portion fixed to the arm of a robot, a rectangular base plate formed integrally with the attachment portion and on which a handheld welding torch is placed, a first side plate supported on a first edge of the base plate so as to be rotatable in a direction opening from an upright position, and a second side plate fixed in an upright position to a second edge opposite the first edge, and the handheld welding torch is mounted to the arm by being clamped and held between the first side plate and the second side plate which are upright while placed on the base plate.

[0006] In this embodiment, the handheld welding torch is sandwiched and held between the first side plate and the second side plate from the left and right, so that the handheld welding torch can be securely attached without rattling or shifting in position. Effect of the Invention

[0007] According to one aspect of the handheld welding torch mounting structure of the present invention, the handheld welding torch can be securely mounted on the arm of a robot without rattling or misalignment. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing a laser welding room 8ST that houses an articulated robot 86 having a handheld torch 7 attached thereto by a handheld welding torch mounting structure SK, which is one embodiment of the handheld welding torch mounting structure of the present invention. [Figure 2A] FIG. 2A is a left side view of the torch 7. [Figure 2B] FIG. 2B is a front view of the torch 7. [Figure 3A] FIG. 3A is a left side view of the torch mounting part 1. FIG. [Figure 3B] FIG. 3B is a right side view of the torch mounting part 1. FIG. [Figure 3C] FIG. 3C is a front view of the torch mounting part 1. FIG. [Figure 4A]FIG. 4A is a left side view showing a state in which a torch 7 is attached to the torch attachment part 1. FIG. [Figure 4B] FIG. 4B is a right side view showing a state in which a torch 7 is attached to the torch attachment part 1. FIG. [Figure 4C] FIG. 4C is a front view showing a state in which a torch 7 is attached to the torch attachment part 1. FIG. [Figure 5A] FIG. 5A is a schematic left side view showing the force applied to the torch 7 by the torch mounting part 1. FIG. [Figure 5B] FIG. 5B is a front view showing the force applied by the torch mount 1 to the torch 7. FIG. [Figure 6] FIG. 6 is a block diagram showing the configuration of the torch 7 and the torch control unit 62. [Figure 7] FIG. 7 is a left side view for explaining a modified torch mounting part 1A. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] The following describes a torch mounting part 1 equipped with a handheld welding torch mounting structure SK, which is one embodiment of the handheld welding torch mounting structure of the present invention. The torch mounting part 1 is used by being attached to the arm of an articulated robot 86 in a laser welding room 8ST, for example, as shown in FIG.

[0010] 1 is a schematic diagram showing a laser welding room 8ST that houses an articulated robot 86 to which a handheld welding torch 7 is attached by a handheld welding torch attachment structure SK, which is one embodiment of the handheld welding torch attachment structure of the present invention. The laser welding room 8ST is a room that is divided by a partition 81 having a door 811, and prevents the laser beam from leaking to the outside. Hereinafter, the handheld welding torch 7 will also be simply referred to as the torch 7.

[0011] Inside the laser welding room 8ST, a jig table 82, an input / output device 83, a control device 84, and an articulated robot 86 are arranged, and an operator 85 enters and exits through a door 811 that opens and closes. A torch 7 is attached to the arm at the tip of the articulated robot 86 via a torch attachment part 1 equipped with a handheld welding torch attachment structure SK.

[0012] The control device 84 has a robot control unit 61, a torch control unit 62, and a laser oscillator 63. Workpieces to be welded (members to be welded) and the like are fixed to the jig table 82. The articulated robot 86 is a robot in which multiple arms are rotatably connected in series, and its operation is controlled by the robot control unit 61 provided in the control device 84.

[0013] Torch 7 is a so-called handheld welding torch that can be held by an operator 85, and is attached to the tip of the arm of an articulated robot 86 via a torch attachment part 1. The operation of torch 7 is controlled by a torch control part 62.

[0014] The torch control unit 62 and the robot control unit 61 respectively control the operation of the torch 7 and the articulated robot 86, and the controls are linked by a coordination control unit (not shown). The coordination control unit outputs the control status of the torch control unit 62 and the robot control unit 61, as well as the operating status of the torch 7 and the articulated robot 86, to the input / output device 83. The input / output device 83 has, for example, a display as an output device, and a keyboard or a touch panel mounted on the display as an input device.

[0015] 6, the torch control unit 62 includes a CPU (Central Processing Unit) 621, which is a central processing unit, a current detection unit 622, and a storage unit 623. The storage unit 623 stores a processing application AP, and the processing application AP provides a welding program for the workpieces placed on the jig table 82 to the torch control unit 62 and the robot control unit 61, and causes the torch 7 and the articulated robot 86 to cooperate with each other to perform welding.

[0016] (Torch 7) Torch 7 will be described with reference to Figures 2A and 2B. Figure 2A is a left side view of torch 7. Figure 2B is a front view of torch 7. In the following description, up, down, left, right, front, back, and each direction is defined as the direction indicated by an arrow in each figure. These up, down, left, right, front, back, and each direction are set for the convenience of description, and do not limit the directions of torch 7 in its usage posture or configuration.

[0017] Torch 7 can be held in one hand and emits a laser beam LS generated by a fiber laser from its tip. Torch 7 has a main body 71, a nozzle chuck 72, and a nozzle 73. A fiber cable 74 that supplies a laser beam output from a laser oscillator 63 is connected to the rear end of main body 71. The laser beam supplied from fiber cable 74 passes through an optical system (not shown) housed inside main body 71, and is emitted to the outside from the tip of nozzle 73 as a laser beam LS.

[0018] The main body 71 has a housing 711. The cross section of the housing 711 is formed into a flat, generally rectangular shape that is thin in the left-right direction (width direction) and long (tall) in the up-down direction. The housing 711 has, from the rear side in the front-rear direction, a cable support portion 71d, a grip portion 71a, a protruding portion 71b, and a tip portion 71c.

[0019] The cable support portion 71d is a portion to which the fiber cable 74 is connected, and the grip portion 71a is a portion formed with a thickness and cross-sectional shape that allows it to be held in the hand. The protruding portion 71b has a mountain-shaped portion 71b1 that houses an optical system such as a mirror and protrudes upward in a triangular mountain shape. The mountain-shaped portion 71b1 is a portion that fits between the thumb and index finger when the grip portion 71a is held in the hand, stabilizing the grip.

[0020] Tip portion 71c is a portion that slopes downward toward the tip when grip portion 71a is in the position shown in FIG. 2A extending horizontally in the front-rear direction. A nozzle chuck portion 72 is provided at the tip of tip portion 71c. Nozzle chuck portion 72 detachably fastens and attaches nozzle 73 in a position extending in the same inclined direction as tip portion 71c. Nozzle 73 is a rod-shaped member, and its tip is a carbon tip portion 731. A laser beam LS is emitted from the tip of carbon tip portion 731.

[0021] A trigger knob 712 and a contact portion 713 are provided on the bottom surface of the housing 711. The trigger knob 712 is a contact portion that is placed on the index finger when the grip portion 71a is gripped by hand. When the trigger knob 712 is in the position where the laser beam LS can be emitted, and the trigger knob 712 is pulled by the index finger so as to push it into the housing 711, the laser beam LS is emitted, and when the finger is released, the trigger knob 712 returns to the original position and emission of the laser beam LS stops. The contact portion 713 is a portion that is electrically connected to the carbon tip portion 731 of the nozzle 73, and is a portion that comes into contact with the rod 321 of the second solenoid 32 described later. Anti-slip pads 714, 715 are attached by adhesive or the like to the upper portion of the grip portion 71a and the lower portion from the grip portion 71a to the protruding portion 71b, respectively.

[0022] As shown in FIG. 2B, the maximum width of housing 711 in the left-right direction is the distance between the left and right outer surfaces of anti-slip pad 715, and this is taken as housing width W7.

[0023] (Torch attachment part 1) Next, the torch mounting part 1 will be described with reference to Figures 3A to 3C. Figure 3A is a left side view of the torch mounting part 1, Figure 3B is a right side view of the torch mounting part 1, and Figure 3C is a front view of the torch mounting part 1.

[0024] Articulated robot 86 has a distal arm 861 which is the most distal end of a plurality of arms. In Figs. 3A to 3C, distal arm 861 will be described as extending in the vertical direction with its tip facing downward. An attachment 862 is attached to the tip of distal arm 861. Attachment 862 is a member that enables a flat plate to be fixed to distal arm 861 with a bolt. Hereinafter, distal arm 861 will also be simply referred to as arm 861.

[0025] The torch mounting part 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 clamp plate 18, a bottom box part 15, and a rear box part 16. The arm plate 11 is a plate-like member having a horizontally oriented mounting part 111 at its upper end, and extending downward from the right edge of the mounting part 111 in the up-down and front-rear directions. The mounting part 111 is fastened and fixed to the attachment 862 with a bolt.

[0026] The base plate 12 is fixed to the left surface of the lower end of the arm plate 11 and is a plate-like member extending horizontally with its longitudinal direction being the front-rear direction. The base plate 12 is formed in a generally rectangular shape when viewed from above. A flat front cushion 122 that protrudes forward is attached to the front end surface of the base plate 12. The front cushion 122 is formed of, for example, low-elasticity rubber.

[0027] The first side plate 13 is supported at a left edge 12a (see FIG. 3A) of the base plate 12 by a pair of pins 135 fixed to the base plate 12 so as to be rotatable about an axis CL13 extending horizontally in the front-rear direction (see arrow DR1 in FIG. 3C). The left edge 12a is the first edge in this example. In FIGS. 3A and 3C, the first side plate 13 is shown in an upright position. In the upright position, the first side plate 13 is formed in a shape having a protruding edge 13a whose rear side is roughly rectangular and whose front side protrudes upward in a triangular shape.

[0028] A handle 131, a hook receiving portion 132, and a bolt 133 are attached to the outer surface of the first side plate 13. The handle 131 can be held by hand, and facilitates the operation of manually changing the position of the torch mounting portion 1 in a state in which the torch mounting portion 1 is attached to the distal arm portion 861.

[0029] The hook receiving portion 132 is attached to the upper portion of the protruding edge portion 13a, and is hooked and locked onto a hook portion 183 attached to the clamp plate 18. That is, the hook receiving portion 132 and the hook portion 183 constitute a so-called snap lock 19.

[0030] The bolt 133 has a head 133a that can be grasped by hand and a shaft 133b on which a male thread is formed, and is screwed into the first side plate 13 so as to be movable back and forth in the left-right direction. The bolt 133 is, for example, a resin bolt made of resin. When the bolt 133 is tightened and screwed forward, the shaft 133b penetrates the first side plate 13 and protrudes inward. A first cushion 134 that is long in the front-rear direction is attached to the lower part of the inner surface of the first side plate 13. The first cushion 134 is, for example, made of low-elasticity rubber. The side plate 14 is a plate-like member fixed to the base plate 12 in a position extending in the front-rear and up-down directions.

[0031] As shown in FIG. 3B, the second side plate 17 has approximately the same outer shape and size as the first side plate 13. The second side plate 17 is fixed to the right edge 12b (see FIG. 3B) of the arm plate 11 in an upright position extending up, down, front and rear by a set screw (not shown). The right edge 12b is the second edge in this example. A base 182a of a hinge 182 and a bolt 173 are attached to the outer surface of the second side plate 17. A clamp plate 18 is attached to a rotating part 182b that rotates relative to the base 182a of the hinge 182. As a result, the clamp plate 18 is freely rotatable around an axis CL18 that follows the outer shape of the second side plate 17 of the hinge 182 (see arrow DR2 in FIG. 3C).

[0032] The clamp plate 18 has a base 181 (see FIG. 3C) and a pair of side portions, and has a flat U-shaped cross section. The distance between the inner surfaces of the pair of side portions is equal to the distance between the inner surfaces of the first side plate 13 and the second side plate 17 in the upright position. The rotating portion 182b of the hinge 182 is fixed to the outer surface of one of the pair of side portions of the clamp plate 18. The hook portion 183 is fixed to the outer surface of the other of the pair of side portions. The hook portion 183 is hooked and engaged with the hook receiving portion 132 of the first side plate 13. As a result, when the clamp plate 18 rotates clockwise about the axis line CL18 as shown in FIG. 3C, the pair of side portions come into contact with the upper end surfaces of the first side plate 13 and the second side plate 17, respectively, and the hook portion 183 can be hooked and fixed to the hook receiving portion 132. That is, the first side plate 13, the clamp plate 18, and the second side plate 17 can form an integrated gate-like shape when viewed from the front.

[0033] When the first side plate 13 is raised in parallel with the second side plate 17, the axis of the bolt 133 and the axis of the bolt 173 coincide with each other.

[0034] 3A, the bottom box portion 15 is a box-shaped portion attached to the lower surface of the base plate 12. A first solenoid 31 and a second solenoid 32 are housed and fixed inside the bottom box portion 15. The first solenoid 31 and the second solenoid 32 have rods 311 and 321, respectively, that move in and out independently under the control of the torch control portion 62.

[0035] The rear box part 16 is a box-shaped part connected to the rear of the bottom box part 15 in a state where it protrudes from the base plate 12. A limit switch 33 is housed and fixed inside the rear box part 16. A contact 331 of the limit switch 33 protrudes upward from the upper surface of the rear box part 16. The limit switch 33 turns ON when the contact 331 is pressed downward. The limit switch 33 outputs a signal indicating ON to the torch control part 62.

[0036] 3C, in a state in which the first side plate 13 is raised in parallel with the second side plate 17, the distance between the inner surfaces in the left-right direction between the first side plate 13 and the second side plate 17 is distance Wa, and the distance between the inner surfaces in the left-right direction between the first cushion 134 and the second cushion 174 is distance Wb. The distance Wa is greater than the housing width W7 of the torch 7 (see FIG. 2B), and the distance Wb is smaller than the housing width W7.

[0037] Next, the attachment of the torch 7 to the torch mounting part 1 will be described with reference to Fig. 4A to Fig. 4C. Fig. 4A is a left side view showing the torch 7 attached to the torch mounting part 1. Fig. 4B is a right side view showing the torch 7 attached to the torch mounting part 1. Fig. 4C is a front view showing the torch 7 attached to the torch mounting part 1.

[0038] First, the clamp plate 18 of the torch mounting part 1 is rotated counterclockwise to open it as shown in Figures 3B and 3C. The first side plate 13 is also rotated clockwise to open it as shown in Figure 3C. Then, the operator 85 places the torch 7 on the base plate 12 of the torch mounting part 1 so that it faces the second side plate 17 from the upper left diagonally.

[0039] Because the first side plate 13 and the clamp plate 18 are open, the torch 7 can be easily placed on the base plate 12. More specifically, the anti-slip pad 715 on the right side of the torch 7 is pressed against the second cushion 174 of the second side plate 17, and the torch 7 is placed on the base plate 12 at a position where the inner surface 71c1 (see FIG. 2A) of the tip portion 71c of the main body 71 abuts against the front cushion 122 attached to the front end of the base plate 12. At this time, the contact 331 of the limit switch 33 in the rear box part 16 is pressed in by the bottom surface of the cable support part 71d of the torch 7, and the limit switch 33 is turned ON.

[0040] The rod 311 of the first solenoid 31 is in a retracted position spaced close to the trigger knob of the torch 7. The rod 321 of the second solenoid 32 is in a retracted position spaced apart from the contact portion 713.

[0041] After placing the torch 7 on the base plate 12, the first side plate 13 is rotated counterclockwise in FIG. 3C to close it. That is, the first side plate 13 is brought into the upright position shown in FIGS. 4A to 4C. Next, the clamp plate 18 is closed, and the hook portion 183 is hooked on the hook receiving portion 132 and locked. As a result, the upper cushion 184 attached to the base portion 181 of the clamp plate 18 presses the upper surface of the protruding portion 71b of the torch 7 diagonally downward and backward. In addition, the first cushion 134 of the first side plate 13 and the second cushion 174 of the second side plate 17 are elastically compressed because the distance Wb is smaller than the housing width W7, and the repulsive force presses the main body portion 71 of the torch 7 so as to sandwich it from the left and right.

[0042] On the other hand, since the distance Wa (see FIG. 3C) is greater than the housing width W7, a gap is generated between the first side plate 13 and the second side plate 17 and the housing 711. In response to this, the operator 85 tightens the bolts 133 and 173, threading the shafts 133b and 173b, respectively, and tightens them so as to press the housing 711 from the left and right. As a result, the lower and upper parts of the torch 7 are pressed against the first side plate 13 and the second side plate 17 from the left and right directions, so that no rattling or misalignment occurs in the left and right directions. Furthermore, by using resin bolts for the bolts 133 and 173, the housing 711 is less likely to be scratched.

[0043] As described above, with the first side plate 13 and the clamp plate 18 open, the torch 7 is placed on the base plate 12, the first side plate 13 is raised (closed), and the clamp plate 18 is closed and the snap lock 19 is locked, whereby the torch 7 is securely attached to the torch mounting portion 1.

[0044] The state of force applied to the torch 7 when the torch 7 is attached to the torch attachment part 1 will be described with reference to Figures 5A and 5B. Figure 5A is a schematic left side view showing the force applied to the torch 7 by the torch attachment part 1. Figure 5B is a front view showing the force applied to the torch 7 by the torch attachment part 1.

[0045] 5A shows a schematic diagram of forces acting on the torch 7 in the up-down and front-rear directions. The torch 7 is in contact with an upper cushion 184 attached to the clamp plate 18, the base plate 12, and a front cushion 122 attached to the base plate 12. The torch 7 is subjected to its own weight Fg due to gravity on its center of gravity G.

[0046] In this state, the upper cushion 184 applies a force F1 to the torch 7 in a downward, rearward direction perpendicular to the inclination direction of the protruding portion 71b. The force F1 is resolved into a downward component force F1v and a rearward component force F1h. A forward force F2 is applied to the torch 7 as a reaction force from the front cushion 122 as a reaction force against the rearward component force F1h, thereby achieving a balanced state. An upward force F3 is applied to the torch 7 as a reaction force against the resultant force of the downward component force F1v and its own weight Fg, thereby achieving a balanced state.

[0047] 5A, the forces acting on the torch 7 in the front-rear and up-down directions are balanced. Furthermore, front-rear and left-right movement (linear movement) and rotation of the torch 7 caused by the application of unintended external forces are restricted by the upper cushion 184, the front cushion 122, and the base plate 12. Therefore, there is substantially no wobble or displacement of the torch 7 in the front-rear and up-down directions relative to the torch attachment part 1.

[0048] 5B shows a schematic diagram of left-right forces acting on the torch 7. A leftward force F23, which is a compressive repulsive force of the first cushion 134 of the first side plate 13, and a rightward force F24, which is a compressive repulsive force of the second cushion 174 of the second side plate 17, are applied to the torch 7. Meanwhile, at the upper portion, a leftward force F21 due to the tightening of the bolt 133 and a rightward force F22 due to the tightening of the bolt 173 are applied.

[0049] The forces F21 and F22 are concentrically applied to the torch 7 and are oppositely directed pinching forces, so they naturally balance. Furthermore, the forces F23 and F24 are self-adjusted and balanced so that the compression of the first cushion 134 and the second cushion 174 is uniform. Therefore, the left-right forces on the torch 7 are concentrically balanced, and the torch 7 does not move (linearly) in the left-right direction relative to the torch mounting part 1, and does not rotate. Furthermore, even if an unintended external force in the left-right direction is applied to the torch 7, the torch 7 is pinched in the left-right direction at both the lower and upper parts, so linear movement and rotation are restricted. Therefore, the torch 7 does not substantially rattle or shift in the left-right direction relative to the torch mounting part 1.

[0050] In this way, the forces acting on torch 7 in the up, down, left, right, front and rear directions are balanced, and linear movement and rotation are restricted even in response to unintended external forces, so torch 7 will not move in any direction or rotate after being attached to torch attachment part 1. Therefore, torch attachment part 1 having handy welding torch attachment structure SK can reliably attach torch 7 to tip arm 861 of articulated robot 86 without rattling or misalignment.

[0051] With the torch 7 attached to the torch attachment part 1, the laser beam LS is emitted in accordance with the following procedure. As shown in Fig. 6, signals from the limit switch 33 and the door switch 812 are input to the torch control part 62.

[0052] When torch control unit 62 determines that door 811 is open based on a signal indicating the open / closed state of door 811 input from door switch 812, torch control unit 62 prohibits emission of laser beam LS under all circumstances. When torch control unit 62 determines that torch 7 is placed on torch mounting unit 1 based on a signal from limit switch 33 with door 811 closed, it operates second solenoid 32 to bring rod 321 into contact with contact portion 713 of torch 7 to establish a conductive state.

[0053] The contact portion 713 is electrically connected to the carbon tip portion 731 at the tip of the nozzle 73. The current detection unit 622 operates the second solenoid 32 to protrude the rod 321, and when the rod 321 comes into contact with the contact portion 713 of the torch 7, starts monitoring whether or not there is electrical continuity between the rod 321 and the jig table 82.

[0054] If the workpieces to be welded are conductive materials such as iron, when the carbon tip portion 731 of the torch 7 comes into contact with the welding portion of the workpieces to be welded for welding, the contact portion 713, the carbon tip portion 731, the workpieces to be welded, and the jig table 82 become conductive, and the current detection portion 622 detects that they have changed from a non-conductive state to a conductive state.

[0055] When the energization detection unit 622 detects a conductive state, i.e., when contact between the nozzle 73 and the workpiece is detected, the CPU 621 sets the laser oscillator 63 to a state in which the laser beam can be output immediately. When an emission start command is issued from the processing application AP in this state, the CPU 621 causes the first solenoid 31 to push out the rod 311, and the rod 311 pushes in the trigger knob 712. This causes the laser beam LS to be emitted from the tip of the nozzle 73 of the torch 7. Also, when an emission stop command is issued from the processing application AP, the CPU 621 causes the first solenoid 31 to pull in the rod 311, and returns the trigger knob 712 to its original position. This stops the emission of the laser beam LS from the tip of the nozzle 73.

[0056] One aspect of the present invention is not limited to the above-described configurations and procedures, and may be modified within the scope of the present invention.

[0057] The ON / OFF operation of trigger knob 712, detection of contact between the tip of nozzle 73 and the workpiece, and confirmation of attachment of torch 7 to torch attachment part 1 may be performed electronically. That is, a cable is connected between torch 7 and torch control part 62 so as to enable signal transmission, and the laser beam LS is emitted from the tip of nozzle 73 in response to an emission signal from torch control part 62, regardless of the operation of trigger knob 712. Also, the continuity of carbon tip part 731 may be directly detected without passing through contact part 713, and attachment to torch attachment part 1 may be confirmed by a sensor. In this case, the first solenoid 31, the second solenoid 32, and the limit switch 33 are not necessary for torch attachment part 1.

[0058] Although the torch mounting part 1 has been described as having a structure in which the first side plate 13 on the left side is opened and closed and the second side plate 17 on the right side is fixed in an upright position, the reverse may be true. That is, instead of the structure in which the first side plate 13 is openable and closable (see arrow DR5L) and the second side plate 17 is fixed to the base plate 12 by a lock bolt N2 as shown in FIG. 5B, for example, the second side plate 17 may be supported rotatably by a pin (not shown) so as to be openable and closable as shown by arrow DR5R, and the first side plate 13 may be fixed by a lock bolt N1. In this case, the handle 131 (see FIG. 3C) may be attached to the side plate that can be opened and closed. In this way, the torch mounting part 1 can be configured to be easily operated according to the dominant arm of the operator 85. In this case, the left edge 12a becomes the second edge, and the right edge 12b becomes the first edge.

[0059] The first side plate 13 that opens and closes may be locked in the upright position by a releasable locking mechanism (not shown). In this case, the snap lock 19 is not necessary, and the clamp plate 18 may not be provided as shown in Fig. 5B. In the absence of the clamp plate 18, the force restricting the movement of the torch 7 in the front-rear and up-down directions is borne by frictional forces due to left-right forces F21-F24, and therefore this can be applied when the mass of the torch 7 is relatively small and when the acceleration of the torch 7 caused by the operation of the articulated robot 86 is not excessively large.

[0060] Torch mounting part 1 is not limited to a structure in which first side plate 13 is opened and closed manually, but may be a modified torch mounting part 1A in which opening and closing can be performed automatically. This will be described with reference to Fig. 7. Fig. 7 is a left side view for explaining the modified torch mounting part 1A.

[0061] In the torch mounting part 1A, the side plate 13A that opens and closes around the axis CL13A has a front side rotatably supported by a pin 135, and a rear side has a long shaft 135A fixed to the side plate 13A. The shaft 135A extends on the axis CL13A, rotatably passes through the side plate 14A, and protrudes rearward. A gear 135b is attached to 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, which is, for example, a step motor and whose operation is controlled by the control device 84. As a result, the side plate 13A is automatically opened and closed by the driving force of the motor M, whose operation is controlled by the control device 84. The driving source for opening and closing is not limited to a motor. In addition, the power transmission method may be a structure that transmits power using a belt or a link mechanism instead of gears. The articulated robot 86 does not have to have a multi-joint structure, and may be a multi-joint or single-joint robot.

[0062] As described in detail above, one embodiment of the mounting structure for a handheld welding torch of the present invention comprises an attachment portion 111 fixed to the arm 861 of a robot 86, a rectangular base plate 12 formed integrally with the attachment portion 111 and on which the handheld welding torch 7 is placed, a first side plate 13 supported on a first edge of the base plate 12 so as to be rotatable in a direction opening from an upright position, and a second side plate 17 fixed in an upright position to a second edge opposite the first edge, and the handheld welding torch 7 is mounted on the arm 861 by being clamped and held between the first side plate 13 and the second side plate 17 which are upright while placed on the base plate 12.

[0063] In this embodiment, handheld welding torch 7 is placed on base plate 12 and held between first side plate 13 and second side plate 17, so that movement is restricted from three sides and it can be securely attached to arm 861.

[0064] This embodiment may also include a clamp plate 18 that connects and fixes the first side plate 13 and the second side plate 17 together.

[0065] This allows the first side plate 13 and the second side plate 17 to be firmly integrated, and also makes it possible to press the handheld welding torch 7 from above using the clamp plate 18, so that the handheld welding torch 7 can be more firmly attached to the arm 861.

[0066] Furthermore, the first side plate 13 and the second side plate 17 may each have bolts 133, 173 that are screwed in to tighten the clamped handheld welding torch 7.

[0067] This allows handheld welding torch 7 to be clamped more firmly in the width direction, so that handheld welding torch 7 can be attached to arm 861 more securely.

[0068] Moreover, the bolts 133 and 173 may be resin bolts.

[0069] This makes it difficult for the clamped portion of the handheld welding torch 7 to be scratched. [Explanation of symbols]

[0070] 1,1A Torch attachment part 11 Arm plate 111 Mounting part 12 Base plate 12a Left edge 12b Right edge 122 Front cushion 13 1st side plate 13A side plate 13a Projecting edge 131 Handle 132 Hook receiving part 133 Volts 133a Head 133b Shaft 134 First Cushion 135 pin 135A Shaft 135b Gear 14,14A Side plate 15 Bottom box part 16 Rear box part 17 Second side plate 173 Volts 173b Shaft 174 Second Cushion 18 Clamp plate 181 Base 182 Hinge 182a base 182b Rotating part 183 Hook part 184 Upper cushion 19 Snap Lock 31 First solenoid 311 Rod 32 Second solenoid 321 Rod 33 Limit Switch 331 Contact 61 Robot control unit 62 Torch control unit 621 CPU (Central Processing Unit) 622 Current detection unit 623 Storage section 63 Laser Oscillator 7 Torch (handy welding torch) 71 Main body 71a Gripping part 71b Protrusion 71b1 Yamagata part 71c Tip 71c1 side 71d Cable support part 711 Case 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 Room 81 Partition 811 Door 812 Door switch 82 Jig table 83 Input / Output Devices 84 Control device 85 Operator 86 Articulated Robot 861 Tip arm 862 Attachment AP processing app CL13,CL18,CL13A Axis Fg own weight F1~F3, F21~F24 Force F1h,F1v component force G center of gravity LS Laser Beam Medium motor Ma Pinion N1, N2 rock bolts SK handy welding torch mounting structure Wa,Wb distance W7 Case width

Claims

1. A mounting part that is fixed to the arm of the robot; a rectangular base plate formed integrally with the mounting portion and on which a handheld welding torch is placed; a first side plate supported on a first edge portion of the base plate so as to be rotatable in a direction from an upright position to an opening position; a second side plate fixed in an upright position to a second edge portion opposite the first edge portion; Equipped with A handheld welding torch attachment structure in which the handheld welding torch is attached to the arm by being clamped and held between the first side plate and the second side plate which are raised while placed on the base plate.

2. 2. The handheld welding torch mounting structure according to claim 1, further comprising a clamp plate for connecting and fixing said first side plate and said second side plate.

3. 3. The handheld welding torch mounting structure according to claim 1, wherein each of the first side plate and the second side plate has a bolt that is screwed in to press the held handheld welding torch.

4. 4. A handheld welding torch mounting structure according to claim 3, wherein said bolt is a resin bolt.

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