Cooling system of welding instrument and robot system

Abstract

To provide a cooling system of a welding instrument which can properly cool the welding instrument while inhibiting complication of a system configuration.SOLUTION: A cooling system 100 of a welding instrument 20 includes: a pump 51 including a drive part MT2 and configured to cause a cooling medium CL to flow into the welding instrument 20 used in welding step using a robot 10; a radiator 52 configured to cool the cooling medium CL flowing out from the welding instrument 20; a blower fan 53 including a drive part MT3 and configured to cool the radiator 52; a temperature detection unit 56 configured to detect a temperature of the cooling medium CL flowing out from the welding instrument 20; and a robot controller 12 which controls, based on the temperature of the cooling medium CL detected by the temperature detection unit 56, at least one of the drive part MT2 and the drive part MT3 as an external shaft of the robot 10.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This disclosure relates to a cooling system and a robot system for a welding apparatus.

Background Art

[0002] Conventionally, a cooling system for a welding apparatus has been known. Patent Document 1 discloses a cooling water circulation device as a cooling system for circulating cooling water for cooling a welding torch as a welding apparatus. The cooling water circulation device includes a radiator for dissipating heat of the cooling water, a circulation pump for circulating the cooling water, a blower for blowing air to the radiator, a water temperature sensor for detecting the temperature of the cooling water, and a control circuit for controlling the driving of the blower based on the temperature of the cooling water detected by the water temperature sensor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the cooling water circulation device described in Patent Document 1 above, since the driving of the blower is controlled based on the temperature of the cooling water detected by the water temperature sensor, while it is possible to appropriately control the cooling amount of the welding torch, the control circuit of the cooling water circulation device controls the driving of the blower based on the temperature of the cooling water detected by the water temperature sensor. In this case, since a dedicated control circuit for the cooling water circulation device is required to control the driving of the blower, the system configuration becomes complicated. For this reason, it is desired to appropriately cool the welding torch while suppressing the complication of the system configuration.

[0005] This disclosure is made to solve the above problems, and one object of this disclosure is to provide a cooling system and a robot system for a welding apparatus that can appropriately cool the welding apparatus while suppressing the complication of the system configuration.

Means for Solving the Problems

[0006] The cooling system for a welding apparatus according to the first aspect of this disclosure includes a first drive unit, a pump that allows a cooling medium to flow into a welding apparatus used in a welding process using a robot, a radiator that cools the cooling medium flowing out from the welding apparatus, a radiator cooling unit that includes a second drive unit and cools the radiator, a temperature detection unit that detects the temperature of the cooling medium flowing out from the welding apparatus, and a robot controller that controls at least one of the first drive unit and the second drive unit as an external axis of the robot based on the temperature of the cooling medium detected by the temperature detection unit.

[0007] In the cooling system for a welding apparatus according to the first aspect of this disclosure, as described above, a robot controller is provided that controls at least one of the first drive unit and the second drive unit as an external axis of the robot based on the temperature of the cooling medium detected by the temperature detection unit. Thereby, by effectively using an existing robot controller, it is possible to control the operation of at least one of the pump including the first drive unit and the radiator cooling unit including the second drive unit. As a result, there is no need to provide a dedicated control circuit for controlling the operation of at least one of the pump and the radiator cooling unit independently of the robot controller. Thereby, complication of the system configuration can be suppressed. Further, by controlling at least one of the first drive unit and the second drive unit based on the temperature of the cooling medium detected by the temperature detection unit, the welding apparatus can be appropriately cooled. As a result of these, while suppressing complication of the system configuration, the welding apparatus can be appropriately cooled.

[0008] The robot system according to the second aspect of this disclosure includes a robot, a pump including a first drive unit that causes a cooling medium to flow into a welding tool used in a welding process using the robot, a radiator that cools the cooling medium flowing out of the welding tool, a radiator cooling unit including a second drive unit that cools the radiator, a temperature detection unit that detects the temperature of the cooling medium flowing out of the welding tool, and a robot controller that controls at least one of the first drive unit and the second drive unit as an external axis of the robot based on the temperature of the cooling medium detected by the temperature detection unit, and a cooling device including the same.

[0009] In the robot system according to the second aspect of this disclosure, as described above, a robot controller is provided that controls at least one of the first drive unit and the second drive unit as an external axis of the robot based on the temperature of the cooling medium detected by the temperature detection unit. Thereby, by effectively using an existing robot controller, it is possible to control the operation of at least one of the pump including the first drive unit and the radiator cooling unit including the second drive unit. As a result, there is no need to provide a dedicated control circuit for controlling the operation of at least one of the pump and the radiator cooling unit separately and independently from the robot controller. Thereby, it is possible to suppress the complication of the system configuration. Further, by controlling at least one of the first drive unit and the second drive unit based on the temperature of the cooling medium detected by the temperature detection unit, the welding tool can be appropriately cooled. As a result, it is possible to provide a robot system capable of appropriately cooling the welding tool while suppressing the complication of the system configuration.

Advantages of the Invention

[0010] According to the present disclosure, it is possible to appropriately cool the welding tool while suppressing the complication of the system configuration.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0012] Hereinafter, an embodiment of the present disclosure embodying the present disclosure will be described with reference to the drawings.

[0013] With reference to FIGS. 1 to 5, a cooling system 100 according to the present embodiment and a robot system 1 including the cooling system 100 will be described. Note that the cooling system 100 is an example of a cooling system for a welding tool and a cooling device.

[0014] As shown in FIG. 1, the robot system 1 performs welding on a work WP to be welded using a welding tool 20 in a welding process using the robot 10. Further, the robot system 1 cools the welding tool 20 by the cooling system 100. As shown in FIGS. 1 and 2, the robot system 1 includes a robot 10, a welding tool 20, a welding transformer 30, a welding tool control unit 40, and a cooling system 100.

[0015] Robot 10 includes a robot main body 11 and a robot controller 12. The robot main body 11 has a robot arm 111. The robot arm 111 is, for example, a vertically articulated robot arm. The robot arm 111 has a plurality of joints JT. A drive unit MT1 (see FIG. 4) as a drive source is arranged at each of the plurality of joints JT. Each of the plurality of drive units MT1 is a motor. Further, a welding tool 20 is arranged at the tip of the robot arm 111. The robot main body 11 moves the welding tool 20 relative to a workpiece WP to be welded by driving the plurality of joints JT of the robot arm 111.

[0016] The robot controller 12 controls the operation of the robot arm 111. Further, the robot controller 12 controls the operations of the welding tool 20 and the welding tool control unit 40. Also, in the present embodiment, the robot controller 12 controls the operations of a pump 51 and a blower fan 53, which will be described later, of the cooling system 100. Further, the robot controller 12 acquires the temperature TE (see FIG. 4) of the cooling medium CL from a temperature detection unit 56, which will be described later, of the cooling system 100. The robot controller 12 is connected to each of the robot arm 111, the welding tool 20, the welding tool control unit 40, the pump 51, the blower fan 53, and the temperature detection unit 56 via separate wiring.

[0017] The welding tool 20 is a tool for performing welding on the workpiece WP, and is, for example, a joining gun for spot welding. The welding tool 20 performs welding on the workpiece WP by the current supplied from the welding transformer 30. The welding transformer 30 converts the current supplied to the welding tool 20 into a large current. The welding tool control unit 40 controls the welding tool 20. Specifically, the welding tool control unit 40 controls the current flowing through the welding tool 20. The welding tool control unit 40 is connected to the welding tool 20 via wiring. The welding tool control unit 40 is also called a timer.

[0018] Under the control of the robot controller 12 and the welding equipment control unit 40, welding of the workpiece WP by the welding equipment 20 is performed. Specifically, the robot controller 12 arranges the welding equipment 20 at the welding position for welding the workpiece WP by the robot arm 111. Then, the robot controller 12 transmits an arrangement completion signal indicating that the welding equipment 20 has been arranged at the welding position to the welding equipment control unit 40. Then, based on receiving the arrangement completion signal from the robot controller 12, the welding equipment control unit 40 controls the current flowing through the welding equipment 20 to weld the workpiece WP. Then, when the welding of the workpiece WP at the welding position by the welding equipment 20 is completed, the welding equipment control unit 40 transmits a welding completion signal indicating that the welding has been completed to the robot controller 12. Then, based on receiving the welding completion signal from the welding equipment control unit 40, the robot controller 12 moves the welding equipment 20 by the robot arm 111 toward the next welding position or the next workpiece WP. By repeating these operations, the welding process is executed. In the welding process, the temperature of the welding equipment 20 rises due to the heat generated during welding.

[0019] The cooling system 100 is a system that cools the welding equipment 20 used in the welding process using the robot 10 with a cooling medium CL. The cooling medium CL is, for example, water. The cooling system 100 includes a pump 51, a radiator 52, a blower fan 53, a circulation channel 55, a storage unit 54, and a temperature detection unit 56. The circulation channel 55 connects the pump 51, the radiator 52, and the storage unit 54. Also, the cooling system 100 is arranged, for example, one for one robot 10. The blower fan 53 is an example of a radiator cooling unit.

[0020] The pump 51 allows the cooling medium CL to flow into the welding equipment 20. Specifically, the pump 51 sucks in the cooling medium CL stored in the storage unit 54 and discharges it toward the welding equipment 20. The pump 51 includes a drive unit MT2 as a drive source. The drive unit MT2 drives the pump 51 to discharge the cooling medium CL. The drive unit MT2 is a motor.

[0021] The radiator 52 cools the cooling medium CL flowing out from the welding apparatus 20. The radiator 52 is a heat exchanger having a flow path inside which the cooling medium CL flows. For example, the radiator 52 is a radiator. Also, a plurality of radiators 52 are connected in series. The size of each of the plurality of radiators 52 connected in series becomes smaller in order from the upstream side to the downstream side in the direction in which the cooling medium CL flows. That is, the cooling capacity of each of the plurality of radiators 52 connected in series becomes smaller in order from the upstream side to the downstream side in the direction in which the cooling medium CL flows.

[0022] The blower fan 53 functions as a radiator cooling unit that cools the radiator 52. The blower fan 53 blows air to the radiator 52. By cooling the radiator 52 by the blowing from the blower fan 53, the cooling medium CL flowing through the flow path inside the radiator 52 is cooled. The blower fan 53 is disposed in each of the plurality of radiators 52. Each of the plurality of blower fans 53 is individually turned on and off. Each of the plurality of blower fans 53 includes a drive unit MT3 as a drive source. The drive unit MT3 drives the blower fan 53 so as to blow air. The drive unit MT3 is a motor.

[0023] The storage unit 54 stores the cooling medium CL flowing out from the radiator 52. The storage unit 54 is, for example, a box-shaped tank. Inside the storage unit 54, a nozzle unit 54a for spraying the cooling medium CL flowing out from the radiator 52 in a mist shape is disposed. The nozzle unit 54a is attached to the tip of a circulation flow path 55 where the cooling medium CL flowing out from the radiator 52 flows and protrudes into the inside of the storage unit 54. The nozzle unit 54a sprays the cooling medium CL downward, for example. There is air between the lower end of the nozzle unit 54a and the upper surface of the cooling medium CL stored in the storage unit 54. The nozzle unit 54a sprays the cooling medium CL toward the upper surface of the cooling medium CL stored in the storage unit 54.

[0024] The circulation passage 55 is a passage for circulating the cooling medium CL. Specifically, the circulation passage 55 is connected to the discharge port of the cooling medium CL of the pump 51. Also, as shown in FIG. 3, the circulation passage 55 is disposed inside the welding tool 20 through the inside of the robot arm 111. Note that the circulation passage 55 may be disposed inside the welding tool 20 through the outside of the robot arm 111. Further, the circulation passage 55 is also disposed inside the welding transformer 30. Also, the circulation passage 55 turns back at the tip of the welding tool 20 and is drawn out to the outside of the robot arm 111 through the inside of the robot arm 111. Also, as shown in FIG. 1, the circulation passage 55 drawn out to the outside of the robot arm 111 is connected to the inlet of the cooling medium CL of the radiator 52. Further, the circulation passage 55 connects the outlet of the cooling medium CL of the radiator 52 and the inlet of the cooling medium CL of the storage section 54. Also, the circulation passage 55 connects the outlet of the cooling medium CL of the storage section 54 and the inlet of the cooling medium CL of the pump 51. Also, the circulation passage 55 is also disposed inside the welding tool control section 40. The circulation passage 55 cools the devices inside the welding tool control section 40 with the cooling medium CL. The circulation passage 55 is drawn out to the outside of the welding tool control section 40 and merges with the circulation passage 55 drawn out from the robot arm 111. The circulation passage 55 is, for example, a pipe.

[0025] The temperature detection section 56 detects the temperature TE (see FIG. 4) of the cooling medium CL flowing out from the welding tool 20. For example, the temperature detection section 56 is disposed at a portion of the circulation passage 55 drawn out from the robot arm 111. The temperature detection section 56 is, for example, a flow switch. The flow switch detects the flow rate of the cooling medium CL and the temperature TE of the cooling medium CL. The cooling system 100 controls the cooling of the welding tool 20 with the cooling medium CL based on the temperature TE of the cooling medium CL detected by the temperature detection section 56.

[0026] Here, in the present embodiment, the robot controller 12 constitutes a part of the cooling system 100, and controls the operations of the pump 51 and the blower fan 53 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56. Specifically, as shown in FIG. 4, the robot controller 12 controls each of the drive unit MT2 of the pump 51 and the drive unit MT3 of the blower fan 53 as an external axis of the robot 10 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56.

[0027] The robot controller 12 includes a main control unit 121, a servo control unit 122, a joint drive circuit unit 123, and external axis drive circuit units 124 and 125. The main control unit 121 and the servo control unit 122 include, for example, a CPU (Central Processing Unit). The main control unit 121 controls the joints JT of the robot arm 111, the pump 51, and the blower fan 53. The servo control unit 122 controls the power supplied to the drive unit MT1 of the joint JT, the drive unit MT2 of the pump 51, and the drive unit MT3 of the blower fan 53 based on a command from the main control unit 121. The joint drive circuit unit 123 supplies drive power to the drive unit MT1 based on a command from the servo control unit 122. The external axis drive circuit unit 124 supplies drive power to the drive unit MT2 based on a command from the servo control unit 122. The external axis drive circuit unit 125 supplies drive power to the drive unit MT3 based on a command from the servo control unit 122. Each of the joint drive circuit unit 123, the external axis drive circuit unit 124, and the external axis drive circuit unit 125 may include an inverter circuit.

[0028] The robot controller 12 controls the drive unit MT2 as an external axis of the robot 10 by controlling the supply of power from the external axis drive circuit unit 124 to the drive unit MT2. Further, the robot controller 12 controls the drive unit MT3 as an external axis of the robot 10 by controlling the supply of power from the external axis drive circuit unit 125 to the drive unit MT3.

[0029] Also, in this embodiment, the robot controller 12 controls the rotational speed of the motor as the drive unit MT2 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56. At this time, the robot controller 12 controls the rotational speed of the motor as the drive unit MT2 by controlling the frequency of the power supplied from the external axis drive circuit unit 124 to the drive unit MT2.

[0030] Also, in this embodiment, the robot controller 12 switches the on / off state of the motor as the drive unit MT3 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56. At this time, the robot controller 12 switches the on / off state of the motor as the drive unit MT3 by controlling the presence or absence of power supply from the external axis drive circuit unit 125 to the drive unit MT3.

[0031] When controlling the drive units MT2 and MT3, the robot controller 12 performs control to compare the temperature TE of the cooling medium CL detected by the temperature detection unit 56 with a predetermined threshold value. Then, when the temperature TE of the cooling medium CL detected by the temperature detection unit 56 exceeds the predetermined threshold value, the robot controller 12 controls the drive unit MT2 and the drive unit MT3 so that the cooling amount of the welding tool 20 increases. For example, when the temperature TE of the cooling medium CL detected by the temperature detection unit 56 exceeds the predetermined threshold value, the robot controller 12 performs control to increase the rotational speed of the motor as the drive unit MT2. In this case, the discharge amount of the cooling medium CL by the pump 51 increases, and the amount of the cooling medium CL supplied to the welding tool 20 increases, so the cooling amount of the welding tool 20 by the cooling medium CL increases. Also, for example, when the temperature TE of the cooling medium CL detected by the temperature detection unit 56 exceeds the predetermined threshold value, the robot controller 12 performs control to turn on the motor as the drive unit MT3. In this case, the cooling amount of the cooling medium CL in the radiator 52 increases due to the blowing of the blower fan 53, and the temperature of the cooling medium CL supplied to the welding tool 20 decreases, so the cooling amount of the welding tool 20 by the cooling medium CL increases.

[0032] In addition, in the present embodiment, the predetermined threshold value includes a plurality of threshold values provided step by step. The plurality of threshold values provided step by step means a plurality of threshold values that increase in order. The robot controller 12 controls the drive unit MT2 and the drive unit MT3 so that the cooling amount of the welding tool 20 increases step by step according to the plurality of threshold values. For example, the robot controller 12 performs control to gradually increase the rotation speed of the motor as the drive unit MT2 according to the plurality of threshold values. Also, for example, the robot controller 12 performs control to gradually increase the number of motors as the drive unit MT3 to be turned on according to the plurality of threshold values.

[0033] (Control process related to cooling of welding tool) Referring to FIG. 5, an example of the control process related to the cooling of the welding tool 20 by the cooling system 100 of the present embodiment will be described based on a flowchart. Here, an example in which the predetermined threshold value includes a first threshold value and a second threshold value greater than the first threshold value will be described.

[0034] As shown in FIG. 5, in step S1, the robot controller 12 determines whether the temperature TE of the cooling medium CL detected by the temperature detection unit 56 is less than or equal to the first threshold value. If it is determined that the temperature TE of the cooling medium CL detected by the temperature detection unit 56 is less than or equal to the first threshold value, the process proceeds to step S2. When the welding process is stopped, the temperature TE of the cooling medium CL decreases, so the process proceeds to step S2.

[0035] Then, in step S2, the robot controller 12 turns off the motors of all the blower fans 53 as the drive unit MT3 and performs control to set the rotation speed of the motor of the pump 51 as the drive unit MT2 to the reference rotation speed.

[0036] Also, in step S1, if it is determined that the temperature TE of the cooling medium CL detected by the temperature detection unit 56 exceeds the first threshold value, the process proceeds to step S3. Then, in step S3, the robot controller 12 determines whether the temperature TE of the cooling medium CL detected by the temperature detection unit 56 is equal to or lower than the second threshold value. If it is determined that the temperature TE of the cooling medium CL detected by the temperature detection unit 56 is equal to or lower than the second threshold value, the process proceeds to step S4. Since the temperature TE of the cooling medium CL increases when the welding process is being executed, the process will proceed to step S4.

[0037] Then, in step S4, the robot controller 12 turns on the motor as the drive unit MT3 of some of the blower fans 53, and performs control to increase the rotational speed of the motor as the drive unit MT2 of the pump 51 to a first rotational speed greater than the reference rotational speed. The blower fan 53 to be turned on is one or two of the three blower fans 53. Any of the three blower fans 53 may be turned on.

[0038] Also, in step S3, if it is determined that the temperature TE of the cooling medium CL detected by the temperature detection unit 56 exceeds the second threshold value, the process proceeds to step S5. If the increase amount of the temperature TE of the cooling medium CL in the welding process is large, the process will proceed to step S5.

[0039] Then, in step S5, the robot controller 12 turns on the motors as the drive units MT3 of all the blower fans 53, and performs control to increase the rotational speed of the motor as the drive unit MT2 of the pump 51 to a second rotational speed greater than the first rotational speed.

[0040] [Effects of the Present Embodiment] In the present embodiment, as described above, based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56, a robot controller 12 is provided to control the drive unit MT2 and the drive unit MT3 as external axes of the robot 10. Thereby, by effectively using the existing robot controller 12, the operations of the pump 51 including the drive unit MT2 and the blower fan 53 including the drive unit MT3 can be controlled. As a result, it is not necessary to provide a dedicated control circuit for controlling the operations of the pump 51 and the blower fan 53 independently of the robot controller 12. Thereby, complication of the system configuration can be suppressed. Further, by controlling the drive unit MT2 and the drive unit MT3 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56, the cooling of the welding tool 20 can be appropriately performed. As a result, the cooling of the welding tool 20 can be appropriately performed while suppressing complication of the system configuration.

[0041] In the present embodiment, as described above, when the temperature TE of the cooling medium CL detected by the temperature detection unit 56 exceeds a predetermined threshold value, the robot controller 12 controls the drive unit MT2 and the drive unit MT3 so that the cooling amount of the welding tool 20 increases. Thereby, when the temperature TE of the cooling medium CL increases due to the welding operation of the welding tool 20 and it is necessary to increase the cooling amount of the welding tool 20, the cooling amount of the welding tool 20 can be increased. As a result, the cooling amount of the welding tool 20 can be easily and appropriately controlled.

[0042] In the present embodiment, as described above, the predetermined threshold value includes a plurality of threshold values provided stepwise, and the robot controller 12 controls the drive unit MT2 and the drive unit MT3 so that the cooling amount of the welding tool 20 increases stepwise according to the plurality of threshold values. Thereby, when the temperature TE of the cooling medium CL increases stepwise due to the welding operation of the welding tool 20, the cooling amount of the welding tool 20 can be increased stepwise. As a result, the cooling amount of the welding tool 20 can be more appropriately controlled.

[0043] In this embodiment, as described above, the drive unit MT2 is a motor, and the robot controller 12 controls the rotational speed of the motor as the drive unit MT2 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56. Thereby, according to the temperature TE of the cooling medium CL detected by the temperature detection unit 56, the discharge amount of the cooling medium CL by the pump 51 can be appropriately changed. As a result, the cooling amount of the welding tool 20 can be easily and appropriately controlled.

[0044] In this embodiment, as described above, the drive unit MT3 is a motor, and the robot controller 12 switches the on / off of the motor as the drive unit MT3 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56. Thereby, according to the temperature TE of the cooling medium CL detected by the temperature detection unit 56, the on / off of the blower fan 53 can be switched. As a result, the cooling amount of the welding tool 20 can be easily and appropriately controlled.

[0045] In this embodiment, as described above, the radiator cooling unit is the blower fan 53. Thereby, the radiator 52 can be easily cooled by the blower fan 53.

[0046] [Modification Example] It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present disclosure is shown by the claims rather than the description of the above embodiments, and further includes all changes (modification examples) within the meaning and scope equivalent to the claims.

[0047] In the above embodiment, an example in which the welding tool 20 is arranged on the robot arm 111 is shown, but the present disclosure is not limited to this. For example, as shown in FIG. 6, the welding tool 20 may be arranged on the table 200. And the work WP held by the robot arm 211 may be moved to the vicinity of the welding tool 20. Note that a circulation flow path 55 is arranged inside the welding tool 20 in the same manner as in the above embodiment.

[0048] In the above-described embodiment, an example in which the robot controller 12 controls both the drive unit MT2 and the drive unit MT3 as external axes of the robot 10 has been shown, but the present disclosure is not limited to this. For example, the robot controller 12 may control at least one of the drive unit MT2 and the drive unit MT3 as an external axis of the robot 10.

[0049] In the above-described embodiment, an example in which the radiator cooling unit is the blower fan 53 has been shown, but the present disclosure is not limited to this. For example, as shown in FIG. 7, the radiator cooling unit may be a spraying unit 253 that sprays cooling mist onto the radiator 52. The spraying unit 253 is arranged on each of the plurality of radiators 52. Each of the plurality of spraying units 253 includes a drive unit MT4 as a drive source. The drive unit MT4 drives the spraying unit 253 so as to spray mist. The drive unit MT4 is a motor. The robot controller 12 controls the drive unit MT4 as an external axis of the robot 10 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56. The spraying unit 253 and the drive unit MT4 are examples of a radiator cooling unit and a second drive unit, respectively.

[0050] Also, for example, as shown in FIG. 8, the radiator cooling unit may be a cooler 353 that sends cooled air to the radiator 52. The cooler 353 is arranged on each of the plurality of radiators 52. Each of the plurality of coolers 353 includes a drive unit MT5 as a drive source. The drive unit MT5 drives the cooler 353 so as to send cooled air. The drive unit MT5 is a motor. The robot controller 12 controls the drive unit MT5 as an external axis of the robot 10 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56. The cooler 353 and the drive unit MT5 are examples of a radiator cooling unit and a second drive unit, respectively.

[0051] In the above-described embodiment, an example in which the cooling medium CL is water has been shown, but the present disclosure is not limited to this. For example, the cooling medium CL may be antifreeze. Thereby, it is possible to suppress the cooling medium CL from freezing.

[0052] In the above-described embodiment, an example where the temperature detection unit 56 is a flow switch that detects temperature and flow rate has been shown, but the present disclosure is not limited to this. For example, the temperature detection unit 56 may be a thermometer that detects only temperature.

[0053] In the above-described embodiment, an example where three radiators 52 are arranged has been shown, but the present disclosure is not limited to this. For example, one, two, or four or more radiators 52 may be arranged.

[0054] In the above-described embodiment, an example where the sizes of the plurality of radiators 52 are different from each other has been shown, but the present disclosure is not limited to this. For example, the sizes of the plurality of radiators 52 may be the same as each other.

[0055] In the above-described embodiment, an example where the plurality of radiators 52 are connected in series has been shown, but the present disclosure is not limited to this. For example, the plurality of radiators 52 may be connected in parallel. Note that the sizes of the plurality of radiators 52 may be different from each other or the same as each other.

[0056] In the above-described embodiment, an example where in the storage unit 54, the nozzle unit 54a sprays the cooling medium CL downward has been shown, but the present disclosure is not limited to this. For example, the nozzle unit 54a may spray the cooling medium CL upward from the bottom of the storage unit 54. Also, the nozzle unit 54a may spray the cooling medium CL laterally from the side surface of the storage unit 54.

[0057] In the above-described embodiment, an example where one cooling system 100 is arranged for one robot 10 has been shown, but the present disclosure is not limited to this. For example, one cooling system 100 may be arranged for a plurality of robots 10.

[0058] In the above-described embodiment, an example where a predetermined threshold value includes two threshold values has been shown, but the present disclosure is not limited to this. For example, the predetermined threshold value may include one or three or more threshold values.

[0059] In the above embodiment, an example is shown in which both the rotational speed of the motor as the drive unit MT2 and the number of motors as the drive unit MT3 to be turned on are increased stepwise according to a plurality of thresholds. However, the present disclosure is not limited to this. In the present disclosure, only one of the rotational speed of the motor as the drive unit MT2 and the number of motors as the drive unit MT3 to be turned on may be increased stepwise according to a plurality of thresholds.

[0060] In the above embodiment, an example is shown in which the robot controller 12 controls the rotational speed of the motor as the drive unit MT2 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56. However, the present disclosure is not limited to this. In the present disclosure, the robot controller 12 may switch the on / off of the motor as the drive unit MT2 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56.

[0061] In the above embodiment, an example is shown in which the robot controller 12 switches the on / off of the motor as the drive unit MT3 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56. However, the present disclosure is not limited to this. In the present disclosure, the robot controller 12 may control the rotational speed of the motor as the drive unit MT3 based on the temperature TE of the cooling medium CL detected by the temperature detection unit 56.

[0062] The functions of the elements disclosed in this specification can be executed using a circuit or a processing circuit including a general-purpose processor, a dedicated processor, an integrated circuit, an ASIC (Application Specific Integrated Circuits), a conventional circuit, and / or a combination thereof, which is configured or programmed to execute the disclosed functions. Since a processor includes transistors and other circuits, it is regarded as a processing circuit or a circuit. In the present disclosure, a circuit, a unit, or a means is either hardware that executes the recited functions or hardware programmed to execute the recited functions. The hardware may be the hardware disclosed in this specification or other known hardware programmed or configured to execute the recited functions. When the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used for configuring the hardware and / or the processor.

[0063] Also, in the above embodiment, the robot controller 12 may operate the drive unit MT2 and the drive unit MT3 in synchronization with the drive unit of the welding tool 20. In this case, welding and cooling operations can be efficiently performed.

[0064] [Aspect] The above-described embodiments are specific examples of the following aspects.

[0065] (Aspect 1) A pump that includes a first drive unit and causes a cooling medium to flow into a welding tool used in a welding process using a robot, A radiator that cools the cooling medium flowing out of the welding tool, A radiator cooling unit that includes a second drive unit and cools the radiator, A temperature detection unit that detects the temperature of the cooling medium flowing out of the welding tool, A welding apparatus cooling system comprising: a robot controller that controls at least one of the first drive unit and the second drive unit as an external axis of the robot based on the temperature of the cooling medium detected by the temperature detection unit.

[0066] (Aspect 2) The welding apparatus cooling system according to aspect 1, wherein the robot controller controls at least one of the first drive unit and the second drive unit such that the cooling amount of the welding apparatus increases when the temperature of the cooling medium detected by the temperature detection unit exceeds a predetermined threshold value.

[0067] (Aspect 3) The predetermined threshold value includes a plurality of threshold values provided stepwise. The welding apparatus cooling system according to aspect 2, wherein the robot controller controls at least one of the first drive unit and the second drive unit such that the cooling amount of the welding apparatus increases stepwise according to the plurality of threshold values.

[0068] (Aspect 4) The first drive unit is a motor. The welding apparatus cooling system according to any one of aspects 1 to 3, wherein the robot controller controls the rotational speed of the motor as the first drive unit based on the temperature of the cooling medium detected by the temperature detection unit.

[0069] (Aspect 5) The second drive unit is a motor. The welding apparatus cooling system according to any one of aspects 1 to 4, wherein the robot controller switches the on / off of the motor as the second drive unit based on the temperature of the cooling medium detected by the temperature detection unit.

[0070] (Aspect 6) The radiator cooling unit is any one of a blower fan that sends air to the radiator, a spraying unit that sprays cooling mist onto the radiator, or a cooler that sends cooled air to the radiator, and is the cooling system of the welding apparatus according to any one of Aspects 1 to 5.

[0071] (Aspect 7) A robot, A pump including a first drive unit that allows a cooling medium to flow into a welding apparatus used in a welding process using the robot, A radiator that cools the cooling medium flowing out of the welding apparatus, A radiator cooling unit including a second drive unit that cools the radiator, A temperature detection unit that detects the temperature of the cooling medium flowing out of the welding apparatus, A robot controller that controls at least one of the first drive unit and the second drive unit as an external axis of the robot based on the temperature of the cooling medium detected by the temperature detection unit, A cooling device including, and a robot system including the same.

Explanation of Signs

[0072] 1 Robot system 10 Robot 12 Robot controller 20 Welding apparatus 51 Pump 52 Radiator 53 Blower fan (radiator cooling unit) 56 Temperature detection unit 100 Cooling system (cooling system of welding apparatus, cooling device) 253 Spraying unit (radiator cooling unit) 353 Cooler (radiator cooling unit) CL Cooling medium MT2 Drive unit (first drive unit) MT3, MT4, MT5 Drive units (second drive unit) TE Temperature of cooling medium

Claims

1. A pump that includes a first drive unit and allows a cooling medium to flow into a welding tool used in a welding process using a robot, A radiator that cools the cooling medium flowing out from the welding tool, A radiator cooling unit that includes a second drive unit and cools the radiator, A temperature detection unit that detects the temperature of the cooling medium flowing out from the welding tool, A robot controller that controls at least one of the first drive unit and the second drive unit as an external axis of the robot based on the temperature of the cooling medium detected by the temperature detection unit. A cooling system for a welding tool.

2. When the temperature of the cooling medium detected by the temperature detection unit exceeds a predetermined threshold value, the robot controller controls at least one of the first drive unit and the second drive unit so that the cooling amount of the welding tool increases. The cooling system for a welding tool according to Claim 1.

3. The predetermined threshold value includes a plurality of threshold values provided stepwise, The robot controller controls at least one of the first drive unit and the second drive unit so that the cooling amount of the welding tool increases stepwise according to the plurality of threshold values. The cooling system for a welding tool according to Claim 2.

4. The first drive unit is a motor, The robot controller controls the rotation speed of the motor as the first drive unit based on the temperature of the cooling medium detected by the temperature detection unit. The cooling system for a welding tool according to Claim 1.

5. The second drive unit is a motor, The robot controller switches the on / off of the motor as the second drive unit based on the temperature of the cooling medium detected by the temperature detection unit. The cooling system for a welding tool according to Claim 1.

6. The radiator cooling unit is any one of a blower fan that sends air to the radiator, a spraying unit that sprays cooling mist onto the radiator, or a cooler that sends cooled air to the radiator. The cooling system for a welding tool according to Claim 1.

7. A robot, A pump that includes a first drive unit and allows a cooling medium to flow into a welding tool used in a welding process using the robot, A radiator that cools the cooling medium flowing out from the welding tool, A radiator cooling unit that includes a second drive unit and cools the radiator, A temperature detection unit that detects the temperature of the cooling medium flowing out from the welding tool, A robot controller that controls at least one of the first drive unit and the second drive unit as an external axis of the robot based on the temperature of the cooling medium detected by the temperature detection unit, A cooling device including the same, and a robot system including the same.

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