Attachment arms for collaborative robots, collaborative robots for metal welding

Abstract

Conventional metal welding robots have faced challenges such as difficulty in physically accessing welding points when the shape of the workpiece is complex or the welding area is located in a confined space, resulting in reduced welding accuracy and efficiency. Furthermore, conventional collaborative robots operate based on pre-programmed movements, and therefore lack a design concept that allows for changing the position of the welding laser oscillator using an attachment mounted on the end of the arm. [Solution] The present invention provides an attachment arm for a collaborative robot that inputs motion by direct teaching. The attachment arm comprises a mounting part that is attached vertically to the tip of the welding arm of the collaborative robot, a bending part with a bending angle in the range of 110 to 130 degrees, and a support part that supports a welding laser oscillator connected to the bending part. This configuration makes it possible to perform welding work with high precision even in complex shapes and confined areas.

Description

Technical Field

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

Background Art

[0002] Conventionally, in the welding operation of metal parts, industrial robots and welding robots have been widely used. Since these robots are operated based on a pre-created operation program, high-precision and consistent welding operations are possible.

[0003] However, these robots have a problem that it is difficult to physically access the welding location when the shape of the welding object is complex or when the welding location is located in a narrow space.

[0004] Also, in conventional robot systems, the operation program of the arm has mainly been created by computer-aided manufacturing (CAM) or offline programming. Therefore, the design of the arm assumes pre-defined operations, and there has been no design concept of freely changing the position of the laser oscillator by attaching an attachment to the tip of the arm.

[0005] In particular, welding operations in narrow areas and inner regions with complex shapes are difficult for the robot arm to reach, and manual welding by humans has often been required.

[0006] On the other hand, collaborative robots are designed for the purpose of humans and robots working together, and operations can be easily input by direct teaching (direct teaching). However, also in the design of conventional collaborative robots, since operation based on an operation program is assumed, there has been no idea of installing a laser oscillator at a position not assumed by the conventional program using an attachment arm.

Prior Art Documents

Patent Documents

[0007] [Patent Document 1] Japanese Patent Publication No. 2021-151656 [Overview of the project] [Problems that the invention aims to solve]

[0008] The problem that this invention aims to solve is to enable automated welding by a robot, utilizing the flexible operability of a collaborative robot, even in the inner areas and narrow parts of a workpiece that were difficult to weld with conventional arm designs, by using an attachment arm.

[0009] In particular, in a collaborative robot that can flexibly change the arm's motion pattern based on movements input via direct teaching, the challenge is to achieve automatic welding of complex shapes of objects or in narrow areas by using the bending portion of the attachment arm to position the welding laser oscillator in a location unintended by conventional programs. [Means for solving the problem]

[0010] This invention relates to an attachment arm for a collaborative robot and a collaborative robot for metal welding equipped therewith, and solves conventional problems in welding operations by having the following configuration.

[0011] The attachment arm of the present invention includes the following elements:

[0012] (Mounting part) It features a mounting section for vertically attaching to the tip of a collaborative robot's welding arm, ensuring that the attachment arm is securely attached to the welding arm.

[0013] (Bending section) The mounting portion is connected to a bent portion with a bending angle in the range of 110 to 130 degrees. The bent portion extends the range of motion of the welding arm, allowing it to reach the inner areas and narrow parts of the workpiece that were difficult to reach with conventional straight arm structures.

[0014] (Support part) The bending section is connected to a support section that supports the laser oscillator for welding. This support section is for stably holding the laser oscillator and maintaining accuracy during welding operations.

[0015] (Arrangement of the laser oscillator) The bending angle of the bent portion is configured such that the welding laser oscillating unit is positioned to reach the inner region or narrow area of ​​the object to be welded.

[0016] These elements allow the attachment arm to be mounted on a collaborative robot, expanding the range of motion of the welding arm and enabling highly accurate welding work even in complex shapes and confined spaces. [Effects of the Invention]

[0017] The attachment arm and collaborative robot equipped therewith of the present invention can achieve the following effects.

[0018] (Flexible welding work) The bending section has an angle ranging from 110 to 130 degrees, improving access to the inner area and confined spaces of the workpiece, making it easy to reach places that were difficult to access with conventional straight arm structures. This automates welding work in complex shapes and narrow spaces, improving work efficiency.

[0019] (High-precision welding) The bending section ensures that the laser oscillator is positioned correctly, improving the accuracy of welding operations. Furthermore, the support section stably holds the laser oscillator, providing high resistance to vibration and shock, enabling sustained, high-precision welding.

[0020] (The convenience of direct teaching) Since the collaborative robot can input operations through direct teaching, an operator can directly teach the robot and flexibly change the operations of the welding arm. As a result, it is possible to quickly respond to changes in the working environment and easily optimize the operation pattern for a specific welding location.

[0021] (Reduction of operator burden and improvement of safety) By automating the welding operation in a narrow area that conventionally had to be performed manually, the burden on the operator can be significantly reduced, and the safety of the welding operation can be improved.

[0022] The attachment arm and collaborative robot of the present invention have the above effects and contribute to the improvement of efficiency and accuracy in metal welding operations in the manufacturing industry.

Brief Description of the Drawings

[0023] [Figure 1] FIG. 1 is a diagram showing the configuration of a collaborative robot for metal welding according to an embodiment of the present invention. [Figure 2] FIG. 1 is a diagram showing the configuration of a collaborative robot for metal welding according to an embodiment of the present invention. [Figure 3] FIG. 2 is a diagram showing the configuration of the attachment arm of the present invention. [Figure 4] FIG. 3 is a diagram showing a situation where welding is performed on a narrow part by using the collaborative robot for metal welding of the present invention.

Modes for Carrying Out the Invention

[0024] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0025] As shown in FIGS. 1 and 2, a collaborative robot 001 for metal welding according to an embodiment of the present invention includes a welding arm 002, a control device 003 (not shown), an attachment arm 004, and a laser oscillation unit 005.

[0026] The control device 003 controls the welding arm 002 based on the operation data input by direct teaching. The welding arm 002 is controlled by the control device 003 and performs the desired welding operation on the workpiece 006.

[0027] The attachment arm 004 is mounted vertically to the tip of the welding arm 002, and a laser oscillating unit 005 is provided at its tip. As shown in Figure 3, the attachment arm 004 has a bent portion 007 having a predetermined angle, and the bend angle is preferably in the range of 110 to 130 degrees, but in the example in Figure 3 it is 120 degrees.

[0028] Furthermore, as shown in Figure 4, this bent portion 007 allows the welding arm 002 to access the inner region or narrow portion 008 of the object to be welded 006.

[0029] This configuration allows the welding arm 002 to automatically perform welding even on complex inner areas and narrow sections 008 of the workpiece 006 by utilizing the bent portion 007 of the attachment arm 004. This enables highly efficient and high-precision welding work that could not be achieved with conventional robots. [Industrial applicability]

[0030] The collaborative robot for metal welding of the present invention is widely applicable to welding operations of metal parts in the manufacturing industry. [Explanation of Symbols]

[0031] 001 Collaborative Robot 002 Welding Arm 003 Control device 004 Attachment Arm 005 Laser Oscillator 006 Object to be welded 007 Bending section 008 Narrow part

Claims

1. In an attachment arm for a collaborative robot in which motion is input by direct teaching, A mounting part for vertically attaching to the tip of the welding arm of a collaborative robot, A bent portion connected to the aforementioned mounting portion, having a bending angle in the range of 110 to 130 degrees, It comprises a support portion connected to the aforementioned bent portion and supporting a laser oscillating unit for welding, The bending angle of the bent portion determines the position of the laser oscillating unit so that it can reach the inner region or narrow area of ​​the object to be welded. An attachment arm for collaborative robots.

2. In collaborative robots for metal welding, A control device that controls the welding arm based on motion data input via direct teaching, A welding arm controlled by the control device, An attachment arm having a mounting portion that is attached vertically to the tip of the welding arm, A bent portion connected to the aforementioned mounting portion, having a bending angle in the range of 110 to 130 degrees, It comprises a support portion connected to the aforementioned bent portion and supporting a laser oscillating unit for welding, The bending angle of the bent portion determines the position of the laser oscillating unit so that it can reach the inner region or narrow area of ​​the object to be welded. A collaborative robot for metal welding.

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