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, a teach pendant is used by a lead-through operation in which an operator manually teaches a taught position to the robot, and a technique called direct teaching that enables easy robot teaching, and it is described that the robot can be moved more easily by a handle during the direct teaching. It is also described that the robot can be easily taught by a lead-through operation in which an operator manually teaches a taught position to the robot using a teach pendant, and that the robot can be moved more easily by a handle during the direct teaching. It is also described that the robot can be moved more easily by a handle during the direct teaching. It is also described that the robot can be moved more easily by a handle during the direct teaching.

Prior Art Document

Patent Document

[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. In the former case of the temporary welding, it is necessary to prepare for manual welding, and in the latter case of the temporary welding, teaching is required only for temporary welding. In the former case of the temporary welding, it is necessary to prepare for manual welding, and in the latter case of the temporary welding, teaching is required only for temporary welding. In the former case of the temporary welding, it is necessary to prepare for manual welding, and in the latter case of the temporary welding, 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 a robot without the need for preparation for manual welding or teaching. Therefore, an object of the present invention is to provide a welding robot that can be easily welded while using a robot without the need for preparation for manual welding or teaching.

Means for Solving the Problems

[0006] The welding robot according to one aspect of the present invention is connected to the tip of an arm that can move according to an external force. It includes a welding torch unit, a gripping unit capable of moving the welding torch unit, a switch unit, and 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, a gripping unit capable of moving the welding torch unit that can move according to an external force can be provided. Further, when the operator turns on the switch unit, arc welding can be performed, while when the switch unit is turned off, arc welding cannot be performed.

[0008] In the above aspect, a switching unit for switching between a weldable mode that enables arc welding and a non-weldable mode that disables arc welding is further provided. When the switch unit is turned on in the weldable mode, arc welding starts, while when the switch unit is turned off in the weldable mode, arc welding may be terminated.

[0009] According to this aspect, by further providing a switching unit for switching between 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 terminated 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 start.

[0011] According to this aspect, by switching the weldable / non-weldable mode to the non-weldable mode, arc welding It can be guarded so that contact is not made.

[0012] In the above aspect, when the switch part is in the off state, the movement of the welding torch part according to an external force becomes impossible. On the other hand, when the switch part is in the on state, the welding torch part may move as the gripping part moves. It may move.

[0013] According to this aspect, when the operator turns off the switch part, the welding torch part can be made not to move even when an external force is applied, and when the operator turns on the switch part, the welding torch part can be moved by the external force applied to the welding torch part through the gripping part. It becomes possible. through the gripping part. .

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

[0015] According to this aspect, the operator can weld with the same feeling as when performing manual welding using a general-purpose manual welding device.

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

[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 part and the welding location. It can be made easier to weld while visually confirming the arc generated from the vicinity of the tip of the welding torch part 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. It can be provided.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Mode for Carrying Out the Invention

[0020] Preferred embodiments of the present invention will be described with reference to the accompanying drawings. In each figure , those with the same reference numerals have the same or similar configurations. Also, the drawings are schematic Therefore, the dimensions and ratios of each component 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, for example, a wired or wireless connection such as a communication cable. Note that a teaching pendant may be included in the robot system. 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 supply unit 24.

[0023] The control unit 21 is a processor and controls the welding robot 1 and the welding power supply 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 generates an arc, for example, between the tip of the welding wire and the work W. Therefore, according to predetermined welding working conditions, it supplies welding current, welding voltage, etc. to the welding robot 1. The welding working conditions include, for example, data items such as welding conditions, welding start position, welding end position , welding distance, the 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 the 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 the work W to be welded according to the welding working conditions set in the robot control device 2. The welding robot 1 has, for example, an articulated arm provided on a base member fixed to the floor surface of a factory or the like, and 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. The welding robot 1 is a so-called collaborative robot capable of detecting an external force, and is a robot that an operator can directly touch and directly operate the arm, and can perform arc welding during direct operation. 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. 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.

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

[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. 11.

[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. By doing so, the welding torch unit 11 can be moved to the welding location, and the welding location can be welded. The joining may be temporary welding or permanent welding.

[0029] The grip portion 12 has, for example, a switch portion 12a, a switching portion 12b, and an attachment portion 12c. do.

[0030] The switch portion 12a is a so-called enable switch. When the switch is pressed to the ON position, the servo power is turned on and the welding robot 1 becomes operable. On the other hand, when the switch portion 12a is released to the OFF state, the servo power supply is turned off, and the welding robot Set 1 stops working.

[0031] The switch portion 12a is disposed on the underside of the grip portion 12 when the worker holds the grip portion 12 to perform work. This allows the worker to use equipment designed specifically for manual welding. This allows welding to be performed with the same feel as manual welding using a welding machine.

[0032] When the switch portion 12a is in the OFF state, the welding torch is turned off in order to further increase safety. The welding robot 1 including the control unit 11 is designed so that it cannot be moved manually (in response to an external force). In this case, when the switch portion 12a is turned on, the welding torch portion 11 may be It is preferable to manually operate the welding robot 1. When the operator moves the gripper 12 while the switch 12a is in the on state, Therefore, it becomes possible to move the welding torch portion 11 toward the welding point.

[0033] The switching unit 12b is a button switch for switching the arc welding enable / disable mode of the welding robot 1. The arc welding enable / disable modes include the welding enable mode that enables arc welding. There are a welding mode <d> and a non-weldable mode that makes arc welding impossible. The operator operates the switching part 1 2b to switch the arc welding enable / disable mode to either the weldable mode or the non-weldable mode.

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

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

[0036] When the arc welding enable / disable mode is the non-weldable mode, arc welding is not performed regardless of whether the switch part 12a is on or off.

[0037] The switching part 12b is preferably provided on the upper side of the gripping part 12 and at a position not hidden by the operator's hand when the operator grips the gripping part 12 to work. This makes it easier for the operator to visually confirm the switching part 12b and enables the switching operation of the arc welding enable / disable mode to be performed simply.

[0038] The mounting part 12c is a member for mounting the gripping part 12 to the welding torch part 11. For example, the mounting 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 mounted is preferably near the welding torch part 11. In addition, as shown in FIG. 2, the extension line 12d from the upper surface of the main body of the gripping part 12 and the welding torch The angle θ formed by the tip 11a of the part 11 and the wire is preferably about 40 to 60 degrees. It is preferable to attach the gripping part 12. In other words, when the operator performs welding work, while visually confirming the arc generated from the welding wire near the tip of the welding torch part 11 and the welding location, it is preferable to attach the gripping part 12 at a position and angle that allows for easy welding.

[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, it becomes possible to prevent arc welding from being performed.

[0041] Also, by providing a switching part 12b for switching the weldability 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 ended.

[0042] Furthermore, by the operator switching the weldability mode to the non-weldable mode, arc welding can be guarded against being performed.

[0043] Therefore, according to the welding robot 1 according to the embodiment, it becomes possible to easily perform welding while using the robot without the trouble of preparing for and teaching manual welding.

[0044] Note that the present invention is not limited to the above-described embodiment, and without departing from the gist of the present invention, Within a certain range, it can be implemented in various other forms. 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 However, 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, 1 2... 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 connected to a tip of an arm that is movable in response to an external force; A gripping portion capable of moving the welding torch portion; A switch section, Equipped with The switch unit enables arc welding when in an ON state, and prevents arc welding when in an OFF state. making it impossible to carry out welding; Welding robot.

2. A welding mode that allows arc welding to be performed and a welding mode that prevents arc welding from being performed A switching unit for switching between a disabled mode and a disabled mode, When the switch unit is turned on in the welding mode, arc welding is started. When the switch unit is turned off in the welding mode, arc welding is terminated. The welding robot according to claim 1.

3. When the welding-disabled mode is selected, arc welding will not start even if the switch unit is turned on. 、 The welding robot according to claim 2.

4. When the switch is in the off state, the welding torch cannot move in response to an external force. On the other hand, when the switch portion is in an on state, the welding torch portion moves in accordance with the movement of the grip portion. Moves, The welding robot according to claim 1.

5. The switch portion is positioned below the grip portion when a worker holds the grip portion to perform work. The device is provided to place The welding robot according to claim 1.

6. The gripping portion is a tool that can be attached near the welding torch portion. The welding robot according to claim 1.

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