Welding system

Abstract

To provide a downsized welding system capable of securing a movable range (teaching range) of a cooperative robot while moving the cooperative robot together with a welding machine.SOLUTION: The welding system 1 includes the robot unit 10 including the collaborative robot 11 for welding and the carriage 12 that manually conveys the collaborative robot 11, the welding machine 20 that supplies electric power for welding to the collaborative robot 11, and the control device 30 that controls the operation of the collaborative robot 11, the welding machine 20 has the movement mechanism 21, and the control device 30 is detachably attached to the side surface of the housing 22 of the welding machine 20.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a welding system. [Background technology]

[0002] As an example of this type of technology, Patent Document 1 discloses a control device for a welding robot that is placed on a welding machine that is fixed to an installation surface (ground). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 7-116842 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when the welding robot in Patent Document 1 is a collaborative robot, the workpiece may be welded while the collaborative robot is moving, but with the technology in Patent Document 1, the welding machine and control device are fixed to the installation surface, which may result in complicated wiring for the welding machine and control device connected to the collaborative robot. This phenomenon is particularly noticeable when the collaborative robot is used on buildings, ships, etc., as the range of movement of the collaborative robot is wide.

[0005] In view of this, it is conceivable to make the welding machine movable and move the control device together with the collaborative robot. In this case, if an attempt is made to reduce the size of the entire device, the control device would be placed close to the collaborative robot, which may limit the range of movement (teachable range) of the collaborative robot.

[0006] The present invention has been made in consideration of these points, and its object is to provide a compact welding system that can ensure the collaborative robot's range of motion while moving the collaborative robot together with the welding machine. [Means for solving the problem]

[0007] In view of the above problems, the welding system of the present invention comprises a robot unit having a collaborative robot for welding and a cart for manually transporting the collaborative robot, a welding machine that supplies power for welding to the collaborative robot, and a control device that controls the operation of the collaborative robot, wherein the welding machine has a movement mechanism, and the control device is detachably attached to the side of the housing of the welding machine.

[0008] According to the present invention, by attaching a control device to a welding machine having a movement mechanism, the control device can be moved together with the welding machine. As a result, it is possible to simplify the wiring arrangement between the welding machine and the control device connected to the collaborative robot. Furthermore, compared to when the control device is mounted on a cart together with the collaborative robot, it is possible to suppress an increase in the weight of the cart, and to avoid impairing the operability of the cart. Furthermore, it is possible to avoid limitations on the collaborative robot's range of motion due to the control device. In this way, it is possible to ensure the collaborative robot's range of motion while moving the collaborative robot together with the welding machine, while minimizing the robot unit size.

[0009] Furthermore, according to the present invention, since the control device is detachably attached to the side of the welding machine housing, even if the welding machine is changed due to a change in welding conditions, the control device can be attached to a different welding machine. In addition, the side of the welding machine housing is less likely to be heated by internal heat generation than the top surface, so heating of the control device can be reduced.

[0010] In a more preferred embodiment, the welding machine and the control device each have a communication unit through which welding-related signals are wirelessly communicated in two directions.

[0011] According to this aspect, there is no need for wiring connecting the welding machine and the control device, and the wiring can be prevented from getting tangled or broken when they are moved. Since the welding machine and the control device are disposed close to each other, even if the communication by the communication unit is wireless, the inclusion of noise in welding-related signals can be reduced. In particular, by using CAN (Controller Area Network) communication as the wireless communication, the effect of reducing the inclusion of noise in welding-related signals can be easily achieved. As an example of information related to wireless communication by the communication unit, the control device transmits welding conditions, including current and voltage values ​​to be output by the welding machine, to the welding machine, and the welding machine transmits values ​​actually output under those conditions to the control device.

[0012] In a further preferred embodiment, the welding machine has a power receiving unit that is connected to an external power source and receives power from the external power source to the welding machine body, and a power supply unit that branches off from the power receiving unit and supplies the power from the power receiving unit to the control device.

[0013] According to this aspect, power is supplied from the external power source to the welding machine body via the power receiving unit, and the power supply unit branching from the power receiving unit supplies power from the external power source to the control device via the power receiving unit of the welding machine without connecting the control device to the external power source, thereby eliminating the need for wiring for power supply between the control device and the external power source.

[0014] In a further preferred embodiment, a first bracket is attached to the side of the housing of the welding machine, and a second bracket is attached to the surface of the housing of the control device, and the first bracket and the second bracket are formed with locking portions that lock together in the vertical direction, and the welding machine and the control device can be freely attached and detached by the locking of the locking portions.

[0015] According to this aspect, the control device can be attached to the side of the housing of the welding machine by locking the first bracket and the second bracket together in the vertical direction, which makes it easy to attach and detach the control device. Also, by adjusting the location where the control device is attached, it becomes easy to open the welding machine and perform internal maintenance.

[0016] In a further preferred embodiment, at least one of the first bracket and the second bracket has a limiting structure that limits horizontal movement of the welding machine on both sides along the side surfaces of the housing when the bracket is engaged by the engaging portion.

[0017] According to this aspect, when the control device attached to the side of the housing of the welding machine is moved, the second bracket may be displaced horizontally relative to the first bracket due to vibration caused by the movement. However, even in such a case, the second bracket can be prevented from coming off the first bracket horizontally and falling. [Effects of the Invention]

[0018] According to the present invention, it is possible to reduce the size of the robot unit, while ensuring the movable range of the collaborative robot and moving the collaborative robot together with the welding machine, thereby improving the working efficiency of the collaborative robot. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a perspective view of an entire welding system according to an embodiment of the present invention; [Figure 2] FIG. 2 is a functional block diagram of a welding machine and a control device according to the present embodiment. [Figure 3] 2A and 2B are perspective views of a welding machine to which a first bracket is attached and a control device to which a second bracket is attached, according to the present embodiment. [Figure 4]4(a) is a perspective view showing in detail the configuration of the first bracket and the second bracket shown in Fig. 3. FIG. 4(b) is a cross-sectional view showing how the first bracket and the second bracket are locked together. [Figure 5] 10(a) to 10(c) are schematic diagrams showing modified examples of the first bracket and the second bracket according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] [Embodiment] Hereinafter, embodiments of the present invention will be described in detail with reference to Figures 1 to 5(c). Note that the embodiments described below are merely aspects of the present invention and do not limit the technical scope of the present invention.

[0021] <System configuration> 1 is a perspective view of an entire welding system 1 according to this embodiment. The welding system 1 is configured to include a robot unit 10, a welding machine 20, and a control device 30. The robot unit 10 includes a collaborative robot 11 for welding and a carriage 12 to which the collaborative robot 11 is fixed. The robot unit 10 also includes a wire reel 13 around which a wire used for welding is wound and held, and a wire feeder 14 that feeds the wire from the wire reel 13. The robot unit 10 also includes a cable 15 through which the wire fed from the wire feeder 14 passes, and a torch 16 that is attached to the tip of the collaborative robot 11 and holds the wire so that the tip of the wire protrudes from the cable 15.

[0022] The collaborative robot 11 has a force sensor, which allows it to detect contact with surrounding workers or obstacles. This makes it easy to safely move the cart 12 even without a safety fence. The cart 12 manually transports the collaborative robot 11. Examples of the cart 12 include a cart that can be remotely operated by a worker, and a cart that can be manually moved. In this embodiment, the latter is used as an example. The robot unit 10 also includes a gas cylinder (not shown) that supplies shielding gas to the wire feeder 14 to prevent oxidation and nitridation of the molten metal during welding. As a result, the shielding gas supplied to the wire feeder 14 passes through the inside of the cable 15 together with the wire and is released from the torch 16.

[0023] Welding machine 20 is a power supply device that supplies power for welding to collaborative robot 11. Welding machine 20 has a movement mechanism 21. Welding machine 20 can move together with robot unit 10 (more precisely, cart 12). In this embodiment, casters are used as an example of movement mechanism 21. Note that, as power is supplied to welding machine 20, the temperature of housing 22 of welding machine 20 rises, so a device that supplies cooling water to lower the temperature of housing 22 may be attached to welding machine 20.

[0024] As shown in FIG. 3 (described later), the control device 30 is detachably attached to the side surface 22b of the housing 22 of the welding machine 20 via a first bracket 50 and a second bracket 60. This allows the control device 30 to be moved together with the welding machine 20. As a result, the routing of the wiring between the welding machine 20 and the control device 30 connected to the collaborative robot 11 can be simplified. Furthermore, compared to when the control device 30 is mounted on the cart 12 together with the collaborative robot 11, the weight of the cart 12 can be reduced, preventing a loss of operability of the cart 12. Furthermore, the control device 30 can be prevented from limiting the range of motion of the collaborative robot 11. In this way, the robot unit 10 can be miniaturized, and the range of motion of the collaborative robot 11 can be secured while the collaborative robot 11 is moved together with the welding machine 20. The configuration for detachably attaching the control device 30 to the side surface 22b of the housing 22 of the welding machine 20 will be described in detail using FIGS. 3 to 4(b) (described later). Although not shown in the drawings, the control device 30 actually controls the collaborative robot 11 by being connected to the collaborative robot 11 via a wire.

[0025] Furthermore, because control device 30 is detachably attached to side surface 22b of housing 22 of welding machine 20, even if welding machine 20 is replaced with another welding machine due to a change in welding conditions, control device 30 can be attached to the other welding machine. In addition, side surface 22b of housing 22 of welding machine 20 is less likely to be heated by internal heat generation than top surface 22a, so heating of control device 30 can be reduced.

[0026] FIG. 2 is a functional block diagram of the welding machine 20 and the control device 30 according to this embodiment. The welding machine 20 and the control device 30 have communication units 23 and 33 that transmit welding-related signals wirelessly in both directions. This eliminates the need for wiring to connect the welding machine 20 and the control device 30, preventing the wiring from getting tangled or disconnected when the devices are moved. Because the welding machine 20 and the control device 30 are located close to each other, wireless communication between the communication units 23 and 33 reduces noise in the welding-related signals. In this embodiment, the wireless communication is performed using CAN communication, which facilitates the effect of reducing noise in the welding-related signals. As an example of information related to wireless communication between the communication units 23 and 33, the control device 30 transmits welding conditions, including the current and voltage values ​​to be output by the welding machine 20, to the welding machine 20, and the welding machine 20 transmits the values ​​actually output under those conditions to the control device 30.

[0027] Welding machine 20 also has power receiving unit (e.g., a power plug or the like) 24 that is connected to an external power source (not shown) via an outlet and receives power from the external power source to welding machine body 26, and power feeding unit 25 that branches off from power receiving unit 24 and supplies the power from power receiving unit 24 to control device 30. As a means for supplying power from power receiving unit 24 to control device 30, for example, an outlet may be provided in housing 22 of welding machine 20 located downstream from power feeding unit 25, and control device 30 may also have a power receiving unit (e.g., a power plug or the like) similar to power receiving unit 24 of welding machine 20. In this way, power is supplied from the external power source to welding machine body 26 via power receiving unit 24, and power feeding unit 25 that branches off from power receiving unit 24 can supply power from the external power source to control device 30 without connecting control device 30 to the external power source.

[0028] Welding machine main body 26 includes transformer 261, circuit board 262, etc. Welding machine 20 is connected to wire feeder 14 and torch 16 by wire, and more specifically, transformer 261 is connected to torch 16 by wire, and circuit board 262 is connected to wire feeder 14 by wire. As another means for supplying power from power receiving unit 24 to control device 30, for example, current from power feeding unit 25 may be passed through a power transmitting coil installed downstream of power feeding unit 25, and an induced current may be generated in a power receiving coil installed on the inner wall of housing 32 of control device 30.

[0029] 3 to 4(b), the configuration for detachably attaching control device 30 to side surface 22b of housing 22 of welding machine 20 will be described in detail below. As shown in Fig. 3, a first bracket 50 is attached to side surface 22b of housing 22 of welding machine 20, and a second bracket 60 is attached to the surface of housing 32 of control device 30.

[0030] For a more specific explanation, Fig. 4(a) shows the first bracket 50 and the second bracket 60 in detail. The first bracket 50 has a plate-shaped first base 51 that abuts against the side surface 22b of the housing 22 of the welding machine 20. The upper end of the first base 51 is bent in the horizontal direction to form a support end 51a that supports the first bracket 50 on the upper surface 22a of the housing 22. The support end 51a has an insertion hole 51b through which a fixing screw 90 is inserted, and the first bracket 50 is attached to the housing 22 by inserting the fixing screw 90 into the insertion hole 51b and screwing the fixing screw 90 into the housing 22.

[0031] The second bracket 60 has a plate-shaped second base 61 that abuts against the surface 32b of the housing 32 of the control device 30. The second base 61 has insertion holes 61b through which fixing screws 90 are inserted, and the second bracket 60 is attached to the housing 32 by inserting the fixing screws 90 into the insertion holes 61b and screwing the fixing screws 90 into the housing 32. Note that, like the first bracket 50, the second bracket 60 may also have support ends formed on the top surface of the housing 32 that support the second bracket 60.

[0032] Furthermore, the first bracket 50 and the second bracket 60 are formed with locking portions 52, 62 that lock together in the vertical direction, and the welding machine 20 and the control device 30 can be freely attached and detached in the vertical direction due to the vertical locking of the locking portions 52, 62.

[0033] In this embodiment, the locking portion 52 of the first bracket 50 has a box-like shape with an open top and a closed bottom, while the locking portion 62 of the second bracket 60 has an arm-like shape with an L-shaped cross section extending downward. Specifically, the locking portion 52 is formed with a first protrusion 53 at a lower edge 51c of the first base 51, protruding in the normal direction (horizontal direction) of the first base 51 and abutting against (the second extending portion 64 of) the second bracket 60. The first bracket 50 is formed with a first extending portion 54 that extends upward from a tip edge 53a of the first protrusion 53 and abuts against (the second protrusion 63 of) the second bracket 60. A first housing space S1 is formed between the first base 51 and the first extending portion 54, in which the second extending portion 64 of the second bracket 60 is housed.

[0034] On the other hand, the locking portion 62 is formed with a second protruding portion 63 at an upper edge 61a of the second base 61, protruding in the normal direction (horizontal direction) of the second base 61 and abutting against (the first extending portion 54 of) the first bracket 50. The second bracket 60 is formed with a second extending portion 64 that extends downward from a tip edge 63a of the second protruding portion 63 and abuts against (the first protruding portion 53 of) the first bracket 50. A second accommodation space S2 is formed between the second base 61 and the second extending portion 64, in which the first extending portion 54 of the first bracket 50 is accommodated.

[0035] In this manner, by inserting the second extending portion 64 of the second bracket 60 into the first housing space S1 from above, the tip of the second extending portion 64 of the second bracket 60 abuts against the first protruding portion 53 of the first bracket 50. At the same time, the first extending portion 54 of the first bracket 50 is inserted into the second housing space S2 from below, and the tip of the first extending portion 54 of the first bracket 50 abuts against the second protruding portion 63 of the second bracket 60. As a result, the first bracket 50 and the second bracket 60 are locked to each other in the vertical direction. The control device 30 is attached to the welding machine 20 by the locking of the locking portions 52, 62. Furthermore, by moving the second bracket 60 upward relative to the first bracket 50 and releasing the locking of the locking portions 52, 62, the control device 30 can be removed from the welding machine 20. Furthermore, since the control device 30 is mounted facing the side surface 22b of the housing 22 of the welding machine 20, by configuring a portion of the top surface 22a of the housing 22 of the welding machine 20 to be freely opened and closed, it becomes easy to perform maintenance on the inside of the welding machine 20 through the open portion.

[0036] Furthermore, in this embodiment, at least one of the first bracket 50 and the second bracket 60 has a limiting structure that limits horizontal movement on both sides along the side surface 22b of the housing 22 of the welding machine 20 when engaged by the engaging portions 52, 62.

[0037] Specifically, in this embodiment, a pair of restriction walls 58 are formed on both sides of the lower part of the first base 51 so as to cover the first housing space S1. The restriction walls 58 are joined to the first base 51, the first protrusion 53, and the first extension 54. The pair of restriction walls 58 restrict horizontal movement of the second extension 64 (i.e., the second bracket 60). That is, the combination of the pair of restriction walls 58 and the second extension 64 forms a restriction structure.

[0038] When the control device 30 is moved while attached to the side surface 22b of the housing 22 of the welding machine 20, vibrations caused by the movement may cause the second bracket 60 (second extension portion 64 thereof) to shift position in the horizontal direction relative to the first bracket 50 (first protrusion portion 53 thereof). However, according to the above embodiment, even in such a case, the second bracket 60 can be prevented from coming off the first bracket 50 in the horizontal direction and falling.

[0039] The configurations of the first bracket 50 attached to the welding machine 20 and the second bracket 60 attached to the control device 30 are not limited to the embodiments shown in Figures 4(a) and 4(b), and may be any configuration in which the second bracket 60 is detachable from the first bracket 50 in the vertical direction and is restricted from moving in the horizontal direction. Figures 5(a) to 5(c) show other exemplary configurations of the first bracket 50 and the second bracket 60. Figures 5(a) to 5(c) show only the first bracket 50 and the second bracket 60 in a simplified manner, and the welding machine 20, the control device 30, the fixing screws 90, etc. are not shown.

[0040] For example, as shown in FIG. 5( a), the first bracket 50 may not have a pair of restriction walls 58, and the second bracket 60 may have a pair of restriction walls 68. Specifically, a pair of restriction walls 68 is formed on both sides of the upper part of the second base 61 so as to cover the second housing space S2. The restriction walls 68 are joined to the second base 61, the second protrusion 63, and the second extension 64. By inserting the first extension 54 of the first bracket 50 into the second housing space S2 from below, the tip of the first extension 54 of the first bracket 50 abuts against the second protrusion 63 of the second bracket 60. At the same time, the second extension 64 of the second bracket 60 is inserted into the first housing space S1 from above, and the tip of the second extension 64 of the second bracket 60 abuts against the first protrusion 53 of the first bracket 50. As a result, the first bracket 50 and the second bracket 60 are interlocked with each other in the vertical direction, and the pair of regulating walls 68 regulate the horizontal movement of the second bracket 60, preventing the second bracket 60 from falling.

[0041] 5(b), a hole 58A may be formed in the center of the first protrusion 53 of the first bracket 50 along the direction of the side where the first protrusion 53 is joined to the first base 51. A convex portion 64a may be formed in the center of the lower end of the second extension portion 64 of the second bracket 60. In this case, by inserting the second extension portion 64 of the second bracket 60 from above into the first housing space S1 so that the convex portion 64a of the second bracket 60 is inserted into the hole 58A, the first extension portion 54 of the first bracket 50 is inserted into the second housing space S2 from below, and the tip of the first extension portion 54 of the first bracket 50 abuts against the second protrusion 63 of the second bracket 60. As a result, the first bracket 50 and the second bracket 60 are locked to each other in the vertical direction, and the combination of the hole 58A and the protrusion 64a forms a restricting structure that restricts horizontal movement of the second bracket 60 and prevents the second bracket 60 from falling. Note that instead of the hole 58A, a recess having a bottom surface may be provided in the second bracket 60. In this case, the protrusion 64a may abut against the bottom surface.

[0042] 5(c), a pair of notches 58B may be formed on both sides of the first protrusion 53 of the first bracket 50 that are not joined to any other components, along the direction of the side where the first protrusion 53 is joined to the first base 51. A pair of convex portions 64b may also be formed on both ends of the lower end of the second extension 64 of the second bracket 60. In this case, by inserting the second extension 64 of the second bracket 60 from above into the first housing space S1 so that each of the convex portions 64b of the second bracket 60 is inserted into each of the cutout portions 58B from the left and right, the portion of the second extension 64 that is recessed by the pair of convex portions 64b abuts against the first protrusion 53. At the same time, the first extension 54 of the first bracket 50 is inserted into the second housing space S2 from below, and the tip of the first extension 54 of the first bracket 50 abuts against the second protrusion 63 of the second bracket 60. As a result, the first bracket 50 and the second bracket 60 are mutually engaged in the vertical direction, and a restricting structure is formed by the combination of the cutout portion 58B and the pair of protrusions 64b, which restricts the horizontal movement of the second bracket 60 and prevents the second bracket 60 from falling.

[0043] 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. [Explanation of symbols]

[0044] 1: welding system, 10: robot unit, 11: collaborative robot, 12: cart, 20: welding machine, 21: moving mechanism, 22: housing, 22b: side, 23: communication unit, 24: power receiving unit, 25: power supply unit, 26: welding machine body, 30: control device, 32: housing, 33: communication unit, 50: first bracket, 52: locking unit, 60: second bracket, 62: locking unit

Claims

1. a robot unit including a collaborative robot for welding and a carriage for manually transporting the collaborative robot; a welding machine that supplies power for welding to the collaborative robot; A welding system comprising: a control device that controls the operation of the collaborative robot, The welding machine has a movement mechanism, A welding system, characterized in that the control device is detachably attached to a side surface of a housing of the welding machine.

2. 2. The welding system according to claim 1, wherein the welding machine and the control device each have a communication unit for wirelessly communicating welding-related signals in two directions.

3. 2. The welding system according to claim 1, wherein the welding machine includes: a power receiving unit connected to an external power source and receiving power from the external power source to a welding machine body; and a power supply unit branching from the power receiving unit and supplying the power from the power receiving unit to the control device.

4. a first bracket is attached to a side surface of the housing of the welding machine; a second bracket is attached to a surface of the housing of the control device; The first bracket and the second bracket are formed with locking portions that lock together in the up-down direction, 2. The welding system according to claim 1, wherein the welding machine and the control device are detachably connected to each other by the engagement of the engagement portion.

5. 5. The welding system according to claim 4, wherein at least one of the first bracket and the second bracket has a limiting structure that limits horizontal movement of the welding machine on both sides along the side surfaces of the housing when the bracket is engaged by the engaging portion.

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