Welding robot

Abstract

To provide a welding robot which can easily weld while using a robot without needing laborious preparation for manual welding and teaching.SOLUTION: A welding robot 1 includes: a welding torch portion 11 connected to a distal end of an arm which is movable in accordance with external force; a grasping portion 12 capable of moving the welding torch portion 11, and a switch portion 12a. The switch portion 12a enables performance of arc welding in an ON state, while disables the performance of the arc welding in an OFF state.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a welding robot.

Background Art

[0002] In Patent Document 1 below, in a so-called general human collaborative robot, there is described a technique of direct teaching that enables robot teaching more simply than using a teach pendant by a lead-through operation in which an operator manually teaches a teaching position to the robot, and that the robot can be easily moved by a handle during the direct teaching.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] On the other hand, when welding is performed by a robot, first, a workpiece to be joined is fixed with a jig or the like, and the workpiece is temporarily welded by manual welding with a welding machine, or the workpiece is temporarily welded after teaching by the robot. In the temporary welding in the former case, it is necessary to prepare for manual welding, and in the temporary welding in the latter case, teaching is required only for temporary welding.

[0005] Therefore, an object of the present invention is to provide a welding robot that can be easily welded while using the robot without the need for preparation for manual welding or the trouble of teaching.

Means for Solving the Problems

[0006] The welding robot according to one aspect of the present invention includes a welding torch unit connected to the tip of an arm movable in response to an external force, a gripping unit capable of moving the welding torch unit, and a switch unit. The switch unit enables arc welding when in the on state and disables arc welding when in the off state.

[0007] According to this aspect, it is possible to provide a gripping unit capable of moving a welding torch unit movable in response to an external force. Further, when an operator turns on the switch unit, arc welding can be performed, while when the switch unit is turned off, arc welding can be made impossible.

[0008] In the above aspect, a switching unit for switching between a weldable mode in which arc welding is enabled and a non-weldable mode in which arc welding is disabled is further provided. When the switch unit is turned on in the weldable mode, arc welding is started, while when the switch unit is turned off in the weldable mode, arc welding may be ended.

[0009] According to this aspect, by further providing a switching unit for switching between the weldable and non-weldable modes, arc welding can be started when the switch unit is turned on in the weldable mode, while arc welding can be ended when the switch unit is turned off in the weldable mode.

[0010] In the above aspect, even if the switch unit is turned on in the non-weldable mode, arc welding may not be started.

[0011] According to this aspect, by switching the weldable / non-weldable mode to the non-weldable mode, it is possible to guard against arc welding not being performed.

[0012] In the above aspect, when the switch unit is in the off state, the movement of the welding torch unit in response to an external force becomes impossible, while when the switch unit is in the on state, the welding torch unit may move along with the movement of the gripping unit.

[0013] According to this aspect, when the operator turns off the switch unit, the welding torch unit can be prevented from moving even when an external force is applied thereto, and when the operator turns on the switch unit, the welding torch unit can be moved by the external force applied to the welding torch unit through the gripping unit.

[0014] In the above aspect, the switch unit may be provided so as to be located below the gripping unit when the operator grips the gripping unit and works.

[0015] According to this aspect, the operator can perform welding in the same feeling as when performing manual welding using a general device dedicated to manual welding.

[0016] In the above aspect, the gripping unit may be a tool that can be attached near the welding torch unit.

[0017] According to this aspect, when the operator performs welding work, it is possible to facilitate welding while visually confirming the arc generated from the vicinity of the tip of the welding torch unit and the welding location.

Advantages of the Invention

[0018] According to the present invention, it is possible to provide a welding robot that can be easily welded while using a robot without the trouble of preparing for and instructing manual welding.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Modes for Carrying Out the Invention

[0020] With reference to the accompanying drawings, preferred embodiments of the present invention will be described. In each figure, those denoted by the same reference numerals have the same or similar configurations. Also, since the drawings are schematic, the dimensions and ratios of the respective components are different from the actual ones.

[0021] FIG. 1 is a diagram illustrating the configuration of a robot system including a welding robot 1 according to an embodiment. The robot system includes, for example, a welding robot 1 and a robot control device 2. The welding robot 1 and the robot control device 2 can be connected via a network including wired or wireless, such as a communication cable. Note that the robot system may include a teaching pendant. The teaching pendant can be connected to the robot control device 2 and is an operation terminal for an operator to teach the operation of the welding robot 1.

[0022] The robot control device 2 is a control unit that controls the operation of the welding robot 1, and includes, for example, a control unit 21, a storage unit 22, a communication unit 23, and a welding power source unit 24.

[0023] The control unit 21 is a processor, and controls the welding robot 1 and the welding power source unit 24 by executing work programs such as welding programs stored in the storage unit 22. The communication unit 23 controls communication with each device connected via the network.

[0024] The welding power source unit 24 supplies, for example, welding current, welding voltage, etc. to the welding robot 1 according to predetermined welding construction conditions in order to generate an arc between the tip of the welding wire and the work W. The welding construction conditions include, for example, data items such as welding conditions, welding start position, welding end position, welding distance, posture of the welding torch, and the like. The welding conditions include, for example, data items such as welding current, welding voltage, welding speed, wire feeding speed, and thickness of the work. The welding power source unit 24 may be provided separately from the robot control device 2.

[0025] The welding robot 1 is a manipulator that performs arc welding on a workpiece W to be welded according to the welding working conditions set in the robot control device 2. The welding robot 1 includes, for example, an articulated arm provided on a base member fixed to the floor surface of a factory or the like, a welding torch unit 11 which is one of the tools connected to the tip of the articulated arm, and a gripping unit 12 which is one of the tools attachable to the welding torch unit 11.

[0026] The welding robot 1 is a so-called collaborative robot capable of detecting an external force, a robot that can be directly operated by an operator touching the arm directly, and can perform arc welding during direct operation.

[0027] The gripping unit 12 shown in FIGS. 1 and 2 is a tool attached to the welding torch unit 11 when directly operating the welding robot 1.

[0028] When directly operating the welding robot 1, the operator can move the welding torch unit 11 to the welding location and weld the welding location by moving while gripping the main body of the gripping unit 12. The welding may be tack welding or full welding.

[0029] The gripping unit 12 includes, for example, a switch unit 12a, a switching unit 12b, and a mounting unit 12c.

[0030] The switch unit 12a is a so-called enable switch. When the switch unit 12a is pressed to turn on, the servo power supply is turned on and the welding robot 1 becomes operable. On the other hand, when the switch unit 12a is released to turn off, the servo power supply is turned off and the operation of the welding robot 1 stops.

[0031] The switch unit 12a is preferably provided so as to be located below the gripping unit 12 when the operator grips the gripping unit 12 and works. Thereby, the operator can weld with the same feeling as when performing manual welding using a device dedicated to general manual welding.

[0032] Here, when the switch unit 12a is in the off state, in order to further enhance safety, the welding robot 1 including the welding torch unit 11 may be made immovable manually (in response to an external force). In this case, when the switch unit 12a is turned on, it is preferable to enable the welding robot 1 including the welding torch unit 11 to be moved manually. Thereby, when the switch unit 12a is turned on and the operator moves the gripping unit 12, the welding torch unit 11 can be moved toward the welding location along with the movement.

[0033] The switching unit 12b is a push-button switch for switching the arc welding enable / disable mode of the welding robot 1. The arc welding enable / disable mode includes a welding enable mode that enables arc welding and a welding disable mode that disables arc welding. The operator operates the switching unit 12b to switch the arc welding enable / disable mode to either the welding enable mode or the welding disable mode.

[0034] By providing the switching unit 12b, it becomes possible to control arc welding as follows in combination with the operation of the switch unit 12a.

[0035] When the arc welding enable / disable mode is the welding enable mode, when the switch unit 12a is turned on, arc welding starts, while when the switch unit 12a is turned off, arc welding ends.

[0036] When the arc welding enable / disable mode is the welding disable mode, arc welding is not performed regardless of whether the switch unit 12a is in the on state or the off state.

[0037] The switching unit 12b is preferably provided on the upper side of the gripping unit 12 and in a position not hidden by the operator's hand when the operator grips the gripping unit 12 to work. Thereby, it becomes easier for the operator to visually confirm the switching unit 12b, and it becomes possible to easily perform the switching operation of the arc welding enable / disable mode.

[0038] The attachment part 12c is a member for attaching the gripping part 12 to the welding torch part 11. For example, the attachment part 12c may be fitted to the welding torch part 11 so that the gripping part 12 can be incorporated into the welding torch part 11.

[0039] Here, the position where the gripping part 12 is attached is preferably near the welding torch part 11. In addition, as shown in FIG. 2, it is preferable to attach the gripping part 12 so that the angle θ formed by the extension line 12d from the upper surface of the main body of the gripping part 12 and the line formed by the tip part 11a of the welding torch part 11 is approximately 40 to 60 degrees. In other words, when the operator performs the welding operation, it is preferable to attach the gripping part 12 at a position and an angle where it is easy to weld while visually confirming the arc generated from the welding wire near the tip of the welding torch part 11 and the welding location.

[0040] As described above, according to the welding robot 1 according to the embodiment, by providing the switch part 12a on the gripping part 12 that can move the welding torch part 11 movable according to an external force, when the operator turns on the switch part 12a, arc welding can be performed, while when the switch part 12a is turned off, arc welding can be made impossible.

[0041] In addition, by providing the switching part 12b for switching the weldable / non-weldable mode on the gripping part 12, when the operator turns on the switch part 12a in the weldable mode, arc welding can be started, while when the operator turns off the switch part 12a in the weldable mode, arc welding can be terminated.

[0042] Furthermore, by the operator switching the weldable / non-weldable mode to the non-weldable mode, it is possible to guard against arc welding not being performed.

[0043] Therefore, according to the welding robot 1 according to the embodiment, it is possible to easily weld while using the robot without the trouble of preparing for manual welding and giving instructions.

[0044] Note that the present invention is not limited to the above-described embodiments, and can be implemented in various other forms without departing from the gist of the present invention. Therefore, the above embodiments are merely illustrative in all respects and should not be construed in a limiting sense.

[0045] For example, in the above-described embodiment, the switch unit 12a and the switching unit 12b are provided in the gripping unit 12, but the provision of the switch unit 12a and the switching unit 12b is not limited to the gripping unit 12. Exemplarily, the switch unit 12a and the switching unit 12b may be provided on the main body of the welding robot 1.

Explanation of Reference Numerals

[0046] 1... Welding robot, 2... Robot control device, 11... Welding torch unit, 11a... Tip portion, 12... Gripping unit, 12a... Switch unit, 12b... Switching unit, 12c... Mounting portion, 12d... Extension cord, 21... Control unit, 22... Memory unit, 23... Communication unit, 24... Welding power supply unit

Claims

1. A welding torch part connected to the tip of an arm movable in response to an external force, A gripping part capable of moving the welding torch part, A switch part, Comprising, When the switch part is in the on state, arc welding can be carried out, and when it is in the off state, arc welding cannot be carried out, A welding robot.

2. Further comprising a switching part for switching between a weldable mode in which arc welding can be carried out and a non-weldable mode in which arc welding cannot be carried out, When the switch part is turned on in the weldable mode, arc welding starts, while when the switch part is turned off in the weldable mode, arc welding ends, The welding robot according to Claim 1.

3. Arc welding does not start even when the switch part is turned on in the non-weldable mode, The welding robot according to Claim 2.

4. When the switch part is in the off state, the movement of the welding torch part becomes impossible in response to an external force, while when the switch part is in the on state, the welding torch part moves along with the movement of the gripping part, The welding robot according to Claim 1.

5. The switch part is provided so as to be located below the gripping part when an operator grips the gripping part and works, The welding robot according to Claim 1.

6. The gripping part is a tool that can be attached in the vicinity of the welding torch part, The welding robot according to Claim 1.

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