Teaching chip and welding robot mounted with the same

Abstract

To solve the problem that there is a possibility that a wire and a coil spring come in contact with workpiece, and damage the surface of the workpiece, during teaching of a welding robot.SOLUTION: A teaching chip 30 is an elastic body which is detachably mounted on a tip part 22c of a power supply chip 22, has insulation properties, and is formed of a resin or rubber. The tip part 22c of the power supply chip 22 is inserted to the base end of the teaching chip 30. A chip storage recess 34 detachable from the power supply chip 22 is formed. A contact surface 34a contacting a tip end face 22b of the power supply chip 22 is formed in the chip storage recess 34. A distance L2 in a longitudinal direction between the contact surface 34a and a tip 32b of the teaching chip 30 is set at a specified length L1.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a teaching tip and a welding robot equipped with the teaching tip. [Background technology]

[0002] In this type of technology, the welding robot is taught by moving the welding wire, which is extended from the tip of the power feed tip to a length (specified length) that matches the welding conditions, along the weld line at the workpiece welding point.

[0003] For example, Patent Document 1 proposes a teaching tip that includes a tip body equivalent to a power supply tip and a coil spring attached to the tip body and through which a wire protruding from the tip body is inserted. When teaching a welding robot, the power supply tip is replaced with the teaching tip, causing the tip of the wire to slightly protrude from the coil spring. In this state, the welding robot is operated using a teaching pendant, and the tip of the wire is moved to a target position along the weld line. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-231066 Summary of the Invention [Problem to be solved by the invention]

[0005] However, when attaching the teaching tip shown in Patent Document 1, the power supply tip must be removed from the welding torch, and when welding is performed after teaching the welding robot, the power supply tip must be reattached from the welding torch. In addition, when teaching the welding robot, there is a risk that the wire and coil spring may come into contact with the workpiece, potentially damaging the surface of the workpiece.

[0006] The present invention has been made in consideration of these points, and its purpose is to provide a teaching tip that can be easily used to prevent damage to the surface of a workpiece when teaching a welding robot, and a welding robot equipped with the teaching tip. [Means for solving the problem]

[0007] In view of the above problems, the present invention provides a teaching tip for teaching a welding robot an aim position aligned with the tip of a welding wire that extends a specified length from the tip surface of a power feed tip attached to a welding torch of the welding robot during welding. The teaching tip is detachably attached to the tip portion of the power feed tip and is an elastic body made of insulating resin or rubber. A tip receiving recess is formed at the base end of the teaching tip, into which the tip portion of the power feed tip is inserted. The tip receiving recess is formed with an abutment surface that abuts against the tip surface of the power feed tip. The longitudinal distance from the abutment surface to the tip of the teaching tip is set to the specified length.

[0008] According to the present invention, the teaching tip can be attached to the tip of the power supply tip by inserting the tip of the power supply tip into the tip housing recess of the teaching tip. This allows the teaching tip to be attached to the welding torch without removing the power supply tip. Furthermore, by abutting the tip of the power supply tip against the abutment surface formed in the tip housing recess, the longitudinal distance from the tip of the power supply tip to the tip of the teaching tip can be set to the specified wire length during welding. As a result, a welding robot (or its operation) can be taught by aligning the wire tip with the target position along the weld line based on the tip position of the teaching tip without extending the wire from the tip of the power supply tip to the specified length. Here, because the teaching tip is an elastic body made of insulating resin or rubber, even if the tip of the teaching tip comes into contact with the workpiece during teaching of the welding robot, scratching the surface of the workpiece can be avoided.

[0009] In a more preferred embodiment, a wire-accommodating recess for accommodating the tip portion of the wire extending from the tip surface of the power feed tip is formed so as to be recessed from the contact surface.

[0010] According to this aspect, by providing the teaching tip with a wire accommodating recess, it is possible to teach the welding robot with the tip of the wire extended from the tip face of the power feed tip. Therefore, before starting welding, it is sufficient to further feed the wire by an amount that will result in the specified length from the tip face of the power feed tip, thereby enabling a smooth start of wire welding.

[0011] In a more preferred embodiment, when the teaching tip is not attached to the power supply tip, the inner diameter of the tip accommodating recess is set smaller than the inner diameter of the tip portion of the power supply tip, so that when the teaching tip is attached to the power supply tip, the side wall portion forming the tip accommodating recess elastically deforms.

[0012] According to this aspect, when the teaching tip is attached to the power supply tip, the sidewall portion that forms the tip accommodating recess elastically deforms, and the elastic force that accompanies this elastic deformation allows the teaching tip to be easily fixed to the power supply tip. Furthermore, because the teaching tip is fixed to the power supply tip by this elastic force, the teaching tip can be easily removed from the power supply tip by pulling it out along the axial direction of the power supply tip.

[0013] In a more preferred embodiment, the diameter of the tip of the teaching tip is equal to or smaller than the inner diameter of an insertion hole of the power feed tip through which the wire is inserted.

[0014] According to this aspect, by making the diameter of the tip of the teaching tip such a size, it is possible to visually check the tip of the teaching tip and accurately teach the welding robot to operate in accordance with the target position of the wire tip, using the tip of the teaching tip as a reference.

[0015] In a more preferred embodiment, the teaching tip has a tapered portion whose diameter decreases toward the tip, and the length of the tapered portion is set to the specified length.

[0016] According to this aspect, by providing a tapered portion set to a specified length, the specified length can be recognized while visually checking the tip of the teaching tip, thereby improving the workability of teaching a welding robot.

[0017] The welding robot according to the present invention is a welding robot comprising a multi-joint robot body and a welding torch attached to the tip of the robot body, and the teaching tip described above is attached to the power supply tip provided on the welding torch.

[0018] According to this aspect, with the teaching tip attached to the power supply tip provided on the welding torch, it is possible to teach the welding robot while operating the articulated robot body.

[0019] In a more preferred embodiment, the welding robot further comprises a teaching handle that, when held by an operator, teaches the robot body to operate in accordance with the position to which the tip of the teaching tip moves by an external force applied by the operator to the tip of the robot body.

[0020] According to this aspect, when teaching the robot body to operate, an external force is applied to the tip of the robot body from the teaching handle held by the operator. Even if this external force causes the tip of the teaching tip to move unexpectedly and come into contact with the operator, the safety of the operator can be ensured because the teaching tip is an elastic body. [Effects of the Invention]

[0021] According to the present invention, it is possible to prevent scratches on the surface of a workpiece when teaching a welding robot. [Brief explanation of the drawings]

[0022] [Figure 1] 1 is a schematic perspective view of a welding robot in which a teaching tip according to an embodiment of the present invention is attached to a welding torch, as viewed from the front. FIG. [Figure 2] 2A is a cross-sectional view of the welding torch of the welding robot shown in FIG. 1 during welding, and FIG. 2B is a cross-sectional view of the welding torch when a teaching tip is attached during teaching. [Figure 3] FIG. 2A is a schematic perspective view of a teaching tip as viewed from above, and FIG. 2B is a perspective view of the teaching tip shown in FIG. 2A as viewed from below. [Figure 4]1A is an enlarged cross-sectional view of the torch with the teaching tip attached, and FIG. 1B is a cross-sectional view of the torch with the teaching tip removed from the torch in the state shown in FIG. [Figure 5] 10A is an enlarged cross-sectional view of a state in which a teaching tip according to a modified example is attached, and FIG. 10B is a schematic perspective view of the teaching tip shown in FIG. 10A as viewed from above. DETAILED DESCRIPTION OF THE INVENTION

[0023] A welding robot 1 according to this embodiment of the present invention will be described below with reference to FIGS.

[0024] 1. About Welding Robot 1 As shown in Fig. 1, welding robot 1 includes an articulated robot body 10, a welding torch 2 attached to a support arm 14 of robot body 10 via a first bracket 41, and a teaching handle 44 attached to first bracket 41 via a second bracket 43. Welding torch 2 corresponds to the end effector of robot body 10. In Fig. 1, a teaching tip 30 is attached to the tip of welding torch 2.

[0025] In this embodiment, the welding robot 1 is a human-collaborative robot configured to operate in the vicinity of a worker. Specifically, the welding robot 1 has a direct teaching function that allows the operator, who is the worker, to teach the welding operation. Specifically, the direct teaching function is a function in which, while holding the teaching handle 44, the operator applies an external force (operating force) directly to the tip of the robot body 10 via the teaching handle 44, thereby teaching the robot body 10 a welding operation while changing the posture of the robot body 10. In addition, the welding robot 1 also has a function in which the operator can perform manual welding using the teaching handle 44 before performing main welding using the welding robot 1.

[0026] 2. About the robot body 10 1, the robot body 10 includes a base 11, which rotates about a first axis J1 by a built-in first motor (not shown). The robot body 10 includes a lower arm 12 whose base end is pivotally connected to the base 11 via a joint 15A, an upper arm 13 pivotally connected to the tip of the lower arm 12 via a joint 15B, and a support arm 14 pivotally connected to the tip of the upper arm 13.

[0027] The lower arm 12 is connected to the base 11 via a second motor (not shown) built into the joint 15A, and is pivotally attached to the base 11 so as to be rotatable about a second axis J2. The upper arm 13 is connected to the lower arm 12 via third and fourth motors (not shown) built into the joint 15B. The upper arm 13 is pivotally attached to the lower arm 12 so as to be rotatable about a third axis J3 and a fourth axis J4 perpendicular to the third axis J3. In this way, the base 11, the lower arm 12, and the upper arm 13 can be rotated about the first to fourth axes J1 to J4 by the power of the first to fourth motors. A reducer is attached to each output shaft of the first to fourth motors, and first to fourth torque sensors that detect torque about the first to fourth axes J1 to J4 are attached to the output shafts of the reducers, respectively.

[0028] The tip of the upper arm 13 corresponds to the wrist of the robot body 10, and is fitted with a support arm 14 that supports the welding torch 2. Specifically, the support arm 14 is pivotally attached to the tip of the upper arm 13 so as to be rotatable about a fifth axis J5 that is perpendicular to the fourth axis J4, and is rotatable about a sixth axis J6 that extends in the longitudinal direction.

[0029] The upper arm 13 includes a fifth motor (not shown) that pivots the support arm 14 relative to the upper arm 13. The fifth motor is connected to the support arm 14 via a power transmission belt or the like that is built into the upper arm 13. As a result, power from the fifth motor is transmitted to the power transmission belt that is built into the upper arm 13, causing the support arm 14 to rotate (swing) about a fifth axis J5 relative to the upper arm 13. Furthermore, a sixth motor (not shown) is built into the upper arm 13, and the sixth motor is connected to the support arm 14 via a power transmission belt and a bevel gear (not shown). As a result, the driving of the sixth motor can rotate the tip end (main body) of the support arm 14 about the axis (specifically, the sixth axis J6). Here, the welding robot 1 may measure torque about the fifth axis J5 and the sixth axis J6 using a torque sensor. Alternatively, for example, the torque may be estimated by a control device (not shown) from the current flowing through the fifth motor and the sixth motor.

[0030] Welding robot 1 further includes a feeder, a control device, a welding machine, and the like, all of which are not shown. The control device controls the operation of welding robot 1 by controlling the driving of first to sixth motors. The control device controls welding robot 1 by (1) controlling the welding operation of robot body 10, (2) controlling the feed speed of a feeder that feeds welding wire W to welding torch 2, (3) controlling the welding voltage applied to welding torch 2, and (4) controlling the timing of supply of shielding gas to welding torch 2. More specifically, the control device controls welding robot 1 by controlling manual welding of welding robot 1, such as tack welding performed by an operator using teaching handle 44, teaching welding robot 1 by external operation (operation by external force) using teaching handle 44, and automatically welding by welding robot 1 according to the taught operation.

[0031] As shown in FIG. 1, welding torch 2 is attached to tip 14a of support arm 14 of robot body 10 via first bracket 41. Base end 41a of first bracket 41 is fixed to support arm 14 with fasteners such as screws, and tip 41b of first bracket 41 supports welding torch 2 and a single-wire power cable (torch cable) 42. Welding wire W (see FIG. 2(a)) is guided and fed from a wire feeder to welding torch 2 by power cable 42 (i.e., torch cable). Furthermore, power is supplied from the welding machine to welding torch 2 via power cable 42, and shielding gas is supplied to welding torch 2 from a gas cylinder via the power cable.

[0032] A teaching handle 44 is attached to the tip 51b of the first bracket 41 via the second bracket 43. The teaching handle 44 is a member that, when held by an operator, teaches the robot body 10 how to operate by applying an external force from the operator to the tip of the robot body 10. One end 43a of the second bracket 43 is fixed to the tip 51b of the first bracket 41 with a fastener such as a screw, and the second bracket 43 is detached from the first bracket 41 during automatic welding. The teaching handle 44 is fixed to the other end 43b of the second bracket 43 so as to extend upward. An operation switch 45 is provided on the teaching handle 44.

[0033] The operation switch 45 is a switch that allows the robot body 10, whose movement is restricted, to be moved by an external force. The robot body 10 is equipped with the first to sixth motors described above, and when the operation switch 45 is not pressed (OFF state), the first to sixth motors are mechanically or electrically locked. When the operation switch 45 is pressed (ON state), the mechanical or electrical lock of the first to sixth motors is released. Here, the unlocking may be set to continue by continuing to press the operation switch 45, or the operation switch 45 may be set to switch between locked and unlocked by pressing it once. In this way, the restriction (lock) on the movement of the robot body 10 is released, and the robot body 10 is allowed to move.

[0034] 3.About Welding Torch 2 As shown in Fig. 2(A), a tip body 21 is attached to a torch body 20 of a welding torch 2. A power feed tip 22 is attached to a tip 21a of the tip body 21. The power feed tip 22 is generally cylindrical and has a male thread 22a formed at its base end. The male thread 22a of the power feed tip 22 is detachably threaded into a female threaded hole 21b at the tip 21a of the tip body 21.

[0035] A circular insertion hole 22d is formed in the central shaft portion of power feed tip 22 for inserting wire W. When wire W is inserted into insertion hole 22d, it comes into contact with power feed tip 22, thereby supplying power from the welding machine to wire W and applying voltage between wire W and a workpiece (not shown). An insulating bushing 25 is attached around the center of tip body 21.

[0036] An orifice 24 is attached to the tip 21a of the tip body 21 so as to cover most of the circumferential surface of the tip of the power feed tip 22 and the tip body 21. A nozzle 23 is attached to the insulating bushing 25, surrounding the power feed tip 22 and the orifice 24. The flange surface on the upper end of the orifice 24 abuts against a stepped portion on the inner surface of the nozzle 23.

[0037] Shielding gas supplied from a gas cylinder passes through the through holes in torch body 20 and tip body 21, through which the wire, which also serves as a gas passage, passes, and is then ejected into nozzle 23 through an ejection hole formed in orifice 24 located at the tip of tip body 21. The gas ejected from orifice 24 passes over the outer circumferential surface of power feed tip 22 and the inner circumferential surface of nozzle 23, and is ejected from the opening at the tip of nozzle 23, shielding the arc, molten pool, and their surroundings from nitrogen and oxygen in the atmosphere.

[0038] When welding is performed by welding robot 1, a welding condition is set such that wire W is maintained extended a specified length L1 from tip end surface 22b of power feed tip 22 attached to welding torch 2 of welding robot 1. While satisfying this welding condition, welding robot 1 moves to a target position along a weld line at a workpiece welding location, and while melting the tip of wire W, the wire feeder feeds consumed wire W to welding torch 2. Therefore, when teaching welding robot 1 operation, the position of specified length L1 from tip end surface 22b of power feed tip 22 is set as a reference position, and while maintaining this reference position, welding robot 1 is taught operation according to the target position of the tip of wire W during welding.

[0039] For this reason, in this embodiment, as shown in Fig. 2(B), welding robot 1 is equipped with teaching tip 30. Teaching tip 30 is a member for teaching welding robot 1 a target position aligned with the tip of welding wire W that extends a specified length L1 during welding from tip end surface 22b of power feed tip 22 provided on welding torch 2 of welding robot 1. Teaching tip 30 will be described below with reference to Figs. 2 to 5.

[0040] The teaching tip 30 is a component that is detachably attached to the tip portion 22c of the power supply tip 22. The teaching tip 30 is an elastic body made of insulating resin or rubber. The teaching tip 30 covers the entire tip surface 22b of the power supply tip 22. Therefore, the tip portion Wa of the wire W protruding from the power supply tip 22 is not exposed from the teaching tip 30. Examples of insulating resins include polystyrene resin, polyurethane resin, nylon resin, and polycarbonate resin. Examples of insulating rubbers include natural rubber, isoprene rubber, butadiene rubber, silicone rubber, urethane rubber, and fluororubber.

[0041] As shown in FIGS. 3A and 3B, the teaching tip 30 has a mounting portion 31 to which the tip portion 22c of the power feed tip 22 is attached, and a tapered portion 32 whose diameter decreases as it extends from the mounting portion 31 to the tip 32b of the teaching tip 30. A tip receiving recess 34 is formed at the base end (mounting portion 31) of the teaching tip 30. The tip receiving recess 34 receives the tip portion 22c of the power feed tip 22 and is detachably attached to the power feed tip 22. As shown in FIGS. 2B and 4A, the tip receiving recess 34 has an abutment surface 34a that abuts against the tip surface 22b of the power feed tip 22. The tip receiving recess 34 is shaped to match the shape of the tip portion 22c of the power feed tip 22. Therefore, the tip receiving recess 34 is an inverted truncated cone-shaped recess, and the central axis of the tip receiving recess 34 coincides with the axis of the power feed tip 22 (the center line of the insertion hole 22d). With the teaching tip 30 attached, the outer peripheral surface of the tip portion 22c of the power feed tip 22 abuts against the inner peripheral surface 34c of the tip receiving recess 34.

[0042] Furthermore, the teaching tip 30 has a longitudinal distance L2 from the contact surface 34a to the tip 32b of the teaching tip 30 set to a specified length L1. Therefore, during teaching, with the teaching tip 30 attached to the tip portion 22c of the power feed tip 22, the position of the tip 32b of the teaching tip 30 relative to the tip surface 22b of the power feed tip 22 can be aligned with the reference position of the tip of the wire W during welding. Note that the "reference position" here refers to the position of the tip of the wire W extending the specified length L1 from the tip surface 22b of the power feed tip 22 under welding conditions. The "target position" mentioned above refers to the position of the tip of the wire W relative to the weld line of the workpiece during welding, and multiple target positions are set during teaching.

[0043] In this embodiment, the wire accommodating recess 35 for accommodating the tip portion Wa of the wire W extending from the tip surface 22b of the power feed tip 22 is recessed from the contact surface 34a. The wire accommodating recess 35 is a cylindrical recess formed in the center of the contact surface 34a. The diameter (inner diameter) of the wire accommodating recess 35 is larger than the diameter of the wire W. This allows the tip portion Wa of the wire W to be accommodated even if the tip portion Wa of the wire W becomes spherical and larger than the diameter of the wire W after welding.

[0044] In this way, by providing the wire accommodating recess 35 in the teaching tip 30, it is possible to teach the welding robot 1 with the tip portion Wa of the wire W extended from the tip surface 22b of the power feed tip 22. Therefore, before starting welding, the wire W can be further fed and the tip portion Wa of the wire W moved until it is at the specified length L1 from the tip surface 22b of the power feed tip 22, so as to change from the state shown in FIG. 2(B) to the state shown in FIG. 2(A), thereby enabling a smooth start of welding with the wire W.

[0045] 4B , when the teaching tip 30 is not attached to the power supply tip 22, the inner diameter Da (Db) of the tip accommodation recess 34 is smaller than the inner diameter DA (DB) of the tip end 22c of the power supply tip 22. Specifically, the inner diameter (diameter) Da of the opening 31a of the tip accommodation recess 34 is smaller than the diameter DA of the base end of the tip end 22c of the power supply tip 22, and the inner diameter (diameter) Db of the contact surface 34a of the tip accommodation recess 34 is smaller than the diameter DB of the tip end surface 22b of the power supply tip 22. These diameters change proportionally (gradiently) toward the tip end along the axial direction of the power supply tip 22 and the teaching tip 30. As a result, the sidewall 31b that defines the tip accommodation recess 34 elastically deforms when the teaching tip 30 is attached to the power supply tip 22.

[0046] As a result, the elastic force generated by this elastic deformation fastens the tip portion 22c of the power supply tip 22 to the side wall portion 31b, easily securing the teaching tip 30 to the power supply tip 22 (see FIG. 4A). Furthermore, because the teaching tip 30 is secured to the power supply tip 22 by this elastic force, the teaching tip 30 can be easily removed from the power supply tip 22 by pulling the teaching tip 30 out along the axial direction of the power supply tip 22 (see FIG. 4B).

[0047] 4A, the diameter d2 of the tip 32b of the teaching tip 30 is equal to or smaller than the inner diameter d1 of the insertion hole 22d through which the wire W of the power feed tip 22 is inserted. As described above, the teaching tip 30 has a tapered portion 32 whose diameter decreases toward the tip 32b of the teaching tip 30, and the outer peripheral surface 32a of the tapered portion 32 has a conical shape. Furthermore, the length of the tapered portion 32 is set to a specified length L1.

[0048] By setting the diameter d2 of the tip 32b of the teaching tip 30 to this size, it is possible to accurately teach the welding robot 1 (its operation) based on the tip position of the teaching tip 30 while visually checking the tip 32b of the teaching tip 30. In particular, by providing the tapered portion 32 set to the specified length L1, it is possible to recognize the specified length L1 while visually checking the tip 32b of the teaching tip 30, thereby improving the workability of teaching the welding robot 1.

[0049] In view of this, for example, a teaching tip 30 according to a modified example shown in FIGS. 5(A) and 5(B) may be used. In this teaching tip 30, a truncated cone-shaped mounting portion 31 and a tapered portion 32 are integrated via a stepped portion 36. The stepped portion 36 is formed by making the diameter of the base end of the tapered portion 32 smaller than the diameter of the end face 36a on the tip side of the mounting portion 31. With this teaching tip 30, the tapered portion 32 has a smaller diameter than those shown in FIGS. 3(A) and 4(A). This makes it easier to visually check the tip 32b of the teaching tip 30, thereby further improving the workability of teaching the welding robot 1.

[0050] 4. Teaching of Welding Robot 1 The teaching of the welding robot 1 during automatic welding is described below, along with its effects. In this embodiment, the teaching tip 30 is attached to the tip 22c of the power feed tip 22 by inserting the tip 22c of the power feed tip 22 into the tip receiving recess 34 of the teaching tip 30. This allows the teaching tip 30 to be easily attached to the welding torch 2 without removing the power feed tip 22. When the tip end surface 22b of the power feed tip 22 is brought into contact with the contact surface 34a formed in the tip receiving recess 34, the longitudinal distance L2 from the tip end surface 22b of the power feed tip 22 to the tip 32b of the teaching tip 30 can be set to the specified length L1 of the wire W during welding. As a result, the operation of the welding robot 1 (specifically, the robot body 10) can be taught without extending the wire W of the specified length L1 from the tip surface 22b of the power feed tip 22, by aligning the tip of the wire W with the target position along the welding line based on the position of the tip 32b of the teaching tip 30.

[0051] In this embodiment, if the operation switch 45 is continuously pressed during teaching, the mechanical or electrical locks of the first to sixth motors are continuously released. As a result, the operator, while holding the teaching handle 44, moves the tip 32b of the teaching tip 30 along the weld line while changing the posture of the robot body 10 by applying an external force (operation force) from the teaching handle 44 in accordance with the welding operation. Specifically, as described above, the control device controls the driving of the first to sixth motors of the robot body 10 in response to signals detected by the torque sensor or force sensor or the like due to the external force from the teaching handle 44. At this time, the rotational positions of the first to sixth motors are calculated based on detection signals from encoders (not shown) of the first to sixth motors. This allows the operator to teach the robot body 10 a welding operation.

[0052] Here, because the teaching tip 30 is an elastic body made of insulating resin or rubber, even if the tip 32b of the teaching tip 30 comes into contact with the workpiece during teaching of the welding robot 1, the tip 32b of the teaching tip 30 elastically deforms. This prevents the tip 32b of the teaching tip 30 from scratching the surface of the workpiece. Furthermore, even if an external force is applied to the tip of the robot body 10 from the teaching handle 44 held by the operator, causing the tip of the teaching tip 30 to move unexpectedly and come into contact with the operator, the safety of the operator can be ensured because the teaching tip 30 is an elastic body.

[0053] Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various design modifications can be made without departing from the spirit of the present invention as set forth in the claims.

[0054] In this embodiment, the welding robot is a welding robot that teaches welding operations to the robot body using a teaching handle, but for example, if a teaching tip can be attached to the welding torch, the welding robot may be a welding robot that teaches welding operations to the robot body using a teaching pendant. Furthermore, in this embodiment, the tip of the teaching tip is a flat end face, but for example, the tip may be pointed or rounded. [Explanation of symbols]

[0055] 1: welding robot, 2: welding torch, 10: robot body, 22: power supply tip, 22b: tip surface, 22c: tip portion, 22d: insertion hole, 30: teaching tip, 31b: side wall portion, 32: tapered portion, 32b: tip, 34: tip accommodating recess, 34a: contact surface, 35: wire accommodating recess, 44: teaching handle, W: wire, Wa: tip portion

Claims

1. A teaching tip for teaching a welding robot a target position aligned with a tip of a welding wire extended by a specified length during welding from a tip surface of a power feed tip provided on a welding torch of the welding robot, the teaching tip is detachably attached to the tip of the power supply tip and is an elastic body made of insulating resin or rubber, a tip accommodating recess into which a tip portion of the power feed tip is inserted is formed at a base end of the teaching tip; the tip accommodating recess is formed with a contact surface that contacts the tip surface of the power feed tip, A teaching tip, characterized in that the distance along the longitudinal direction from the contact surface to the tip of the teaching tip is set to the specified length.

2. 2. The teaching tip according to claim 1, wherein a wire accommodating recess for accommodating a tip portion of the wire extending from the tip surface of the power feed tip is formed so as to be recessed from the contact surface.

3. 2. The teaching tip according to claim 1, wherein when the teaching tip is not attached to the power supply tip, the inner diameter of the tip accommodating recess is set smaller than the inner diameter of the tip portion of the power supply tip, so that when the teaching tip is attached to the power supply tip, the side wall portion forming the tip accommodating recess elastically deforms.

4. 2. The teaching tip according to claim 1, wherein the diameter of the tip of the teaching tip is equal to or smaller than the inner diameter of an insertion hole of the power feed tip through which the wire is inserted.

5. the teaching tip has a tapered portion whose diameter decreases toward the tip of the teaching tip; 5. The teaching tip according to claim 4, wherein the length of the tapered portion is set to the specified length.

6. A welding robot comprising an articulated robot body and a welding torch attached to the tip of the robot body, A welding robot, comprising: the teaching tip according to claim 1 attached to the power feed tip provided on the welding torch.

7. 7. The welding robot according to claim 6, further comprising a teaching handle that, when held by an operator, teaches the robot body to operate in accordance with a position to which the tip of the teaching tip moves by an external force applied by the operator to the tip of the robot body.

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