Wire Cable and Welding Robot Systems

Abstract

This wire cable is for use in a welding robot system that is provided with a welding robot to which a welding torch is provided and a relay part which relays welding wire to be supplied to the welding torch, said wire cable comprising: a cable body which is connected to the welding torch and to a wire connection part provided to the relay part, and inside which the welding wire is inserted; and a cover part which is provided to the cable body and that covers at least part of the wire connection part when the cable body is connected to the wire connection part.

Description

[Technical Field]

[0001] The present disclosure relates to wire cables and welding robot systems. [Background technology]

[0002] Patent Document 1 discloses a wire feeder that stably feeds welding wire regardless of the posture of an arc welding robot. The wire feeder is a wire feeder for an arc welding robot, and includes a tube that draws air around the outer periphery of a conduit cable, and air supply control means that fills the tube with air.

[0003] Patent Document 2 discloses an arc welding robot equipped with a conduit that has a bending radius of at least a certain value and is routed so as not to be subjected to undesirable stress due to arm movement. The arc welding robot includes a welding wire supply source disposed around the robot and a conduit with both ends connected to a wire feeder and through which a welding wire is inserted. The conduit is connected to a bottom plate member installed on an installation surface at a position offset from the rotation center of the robot's rotating body and an upper plate member to which the robot's rotating body is fixed. The conduit extends from the welding wire supply source and passes through a through-hole for passing from the offset side to the rotation center and a space between the bottom plate member and the upper plate member. The conduit is then supported by a first support member provided on the rotating body and routed in a substantially S-shaped manner to the wire feeder. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 11-33723 [Patent Document 2] Japanese Patent Application Laid-Open No. 2010-36231 Summary of the Invention

[0005] The present disclosure provides a wire cable and a welding robot system that prevents incorrect connection of a power cable.

[0006] The present disclosure provides a wire cable for use in a welding robot system including a welding robot equipped with a welding torch and a relay unit that relays welding wire supplied to the welding torch, the wire cable having: a cable main body having one end connected to the welding torch and the other end connected to a wire connection unit provided on the relay unit, and having the welding wire inserted therethrough; and a cover unit provided on the cable main body that covers at least a portion of the wire connection unit when the cable main body is connected to the wire connection unit.

[0007] The present disclosure also provides a welding robot system including the wire cable, the welding robot equipped with the welding torch, the relay unit that relays the welding wire supplied to the welding torch, and a power cable that supplies power to the welding robot, wherein the power cable is configured to be connectable to the wire connection unit when the wire cable is not connected to the wire connection unit, and is configured to be unable to be connected to the wire connection unit by the cover unit when the wire cable is connected to the wire connection unit.

[0008] According to the present disclosure, incorrect connection of a power cable can be prevented. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an example of a welding robot system according to a first embodiment. [Figure 2] FIG. 10 is a perspective view illustrating a connection portion between a wire feeder and a wire cable. [Figure 3] FIG. 10 is a side view illustrating a connection portion between the wire feeder and the wire cable. [Figure 4] AA cross section of wire connection [Figure 5]FIG. 1 is a diagram illustrating an example of connection between a wire cable and a welding power cable in a welding robot system according to the first embodiment. [Figure 6] FIG. 1 is a diagram illustrating the connection between the wire feeder and the wire cable when the cover is attached. [Figure 7] Cross-sectional view of the wire feeder and wire cable with the cover attached [Figure 8] Diagram explaining the cover's function [Figure 9] FIG. 1 is an external perspective view of a cover according to a first embodiment; [Figure 10] FIG. 1 is a side view of a cover according to the first embodiment. [Figure 11] 1 is a cross-sectional view of the cover taken along line CC in the first embodiment; [Figure 12] FIG. 1 is a front view of a cover according to the first embodiment; [Figure 13] DD cross-sectional view of the cover in the first embodiment. [Figure 14] Diagram explaining the function of the cover cutout [Figure 15] FIG. 1 is a diagram illustrating a first modified example of the cover. [Figure 16] FIG. 10 is a diagram illustrating a second modified example of the cover. [Figure 17] A diagram explaining an example of using a cover on a pull-feeder type manipulator [Figure 18] A diagram explaining an example of using a cover on a two-feeder wire switching type manipulator [Figure 19] Diagram explaining examples of external and built-in manipulators [Figure 20] Diagram showing connection examples of armored and built-in welding power cables DETAILED DESCRIPTION OF THE INVENTION

[0010] (Background to this disclosure) In a welding robot system, the routing of a wire feed path for feeding a welding wire toward the tip of a welding torch and a welding current path for supplying a welding current to the welding torch differs depending on the torch cable type of the welding robot system. Conventional torch cable types include, for example, an armored type (see, for example, Patent Document 1), an internal type (see, for example, Patent Document 2), and a separate type. The torch cable type of a robot welding system is changed by the worker at the welding site. Here, with reference to FIGS. 19 and 20, the wire feed path 503 and the welding current path 505 of the armored type and the internal type will be described. FIG. 19 is a diagram illustrating an example of an armored type and an internal type of torch cable. FIG. 20 is a diagram illustrating an example of a connection of an armored type and an internal type of welding power cable 521.

[0011] 19, an external-mounted welding robot system 500A includes an external torch cable 507 that integrates a wire feed path 503 for feeding welding wire 501 and a welding current path 505 for supplying a welding current. In external torch cable 507, welding power cable 521 for supplying a welding current to welding current path 505 is connected to a CC (conduit cable) mounting bracket 519, and wire feed path 503 and welding current path 505 are routed outside robot arm 509.

[0012] Furthermore, built-in type welding robot system 500B includes built-in torch cable 511 that integrates wire feed path 503 and welding current path 505. Built-in torch cable 511 has welding power cable 521 that supplies welding current to welding current path 505 and is connected to CC mounting bracket 519, and integrally incorporates wire feed path 503 and welding current path 505, and is routed inside the hollow portion of robot arm 509.

[0013] However, with the above-described exterior torch cable 507, both wire feed path 503 and welding current path 505 are routed outside robot arm 509, which causes problems such as wire feed path 503 and welding current path 505 easily interfering with each other and making it difficult for the welding torch to approach the workpiece to be welded. Also, with built-in torch cable 511, the bending rate of wire feed path 503 is high, which makes it easy for welding wire 501 to develop a bending habit while passing through wire feed path 503, which causes problems such as the welding position being easily misaligned and the feedability of welding wire 501 being easily reduced.

[0014] To solve the above-mentioned problems, there is a welding robot system 11 (see FIG. 1) that includes a separate-type torch cable in which wire feed path 503 is routed outside robot arm 509 and welding current path 505 is routed inside the hollow portion of robot arm 509. This type of welding robot system 11 is designed so that CC mounting bracket 519, to which wire feed path 503 and welding power cable 521 are connected, are common to both external and internal types. This allows the cable type to be easily changed between the external or internal type and the separate type by changing the fixing base (e.g., external fixing base 515, internal fixing base 517, etc.) attached to robot 513 with a hollow arm structure and the connection point of welding power cable 521.

[0015] However, because CC mounting bracket 519, to which wire feed path 503 and welding power cable 521 are connected in the external and internal types, is also shared with the separate type welding robot system, when changing from the external or internal type to the separate type, there is a possibility that an operator may incorrectly connect welding power cable 521 to CC mounting bracket 519. In the separate type welding robot system, such an incorrect connection can cause a large current to flow through welding wire 501, resulting in burnout, so there has been a demand for technology to prevent incorrect connection of welding power cable 521.

[0016] Therefore, in the present disclosure, each embodiment specifically disclosing a wire cable and a welding robot system will be described in detail below with reference to the accompanying drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed description of already well-known matters or redundant description of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter recited in the claims.

[0017] First, a welding robot system 11 according to the first embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of a welding robot system 11 according to the first embodiment.

[0018] Welding robot system 11 includes manipulator 13. The torch cable type of welding robot system 11 can be changed by an operator changing components (e.g., exterior fixing base 37 that fixes first wire supply device 39, RW connection unit 119, etc.) or changing the connection points of wire cable 49 or welding power cable 61. The torch cable type of welding robot system 11 described in embodiment 1 is a separate type in which a feeding path (second feeding path 47) of welding wire 45 from first wire supply device 39 (an example of a relay section) to welding torch 15 and welding current path 51 are routed differently.

[0019] Manipulator 13, which is an example of a welding robot, is a six-axis articulated robot in which welding torch 15 is attached to the tip of wrist 23. Manipulator 13 includes base 17, upper arm 19, forearm 21, and wrist 23. Manipulator 13 rotates a first axis 25, a second axis 27, a third axis 29, a fourth axis 31, a fifth axis 33, and a sixth axis 35, thereby driving upper arm 19, forearm 21, wrist 23, and welding torch 15, respectively. Note that the number of axes (joints) of manipulator 13 is not limited to this.

[0020] As described above, in the separate-type welding robot system 11, the welding wire 45 is routed around the outside of the upper arm 19 and the forearm 21 by the wire cable 49 (i.e., the second feeding path 47) that is fed to the welding torch 15. Meanwhile, the welding robot system 11 routes the welding current path 51 around the inside of the hollow portion in the forearm 21.

[0021] Manipulator 13 has an intermediary unit fixed to the back of forearm 21 by an exterior fixing base 37. Welding robot system 11 shown in Fig. 1 has a first wire supply device 39 (an example of an intermediary unit) that feeds welding wire 45 from a wire supply source 41 toward the tip of welding torch 15 to the intermediary unit.

[0022] Manipulator 13 draws welding wire 45 from wire supply source 41 using first wire supply device 39. Manipulator 13 feeds welding wire 45 toward the tip of welding torch 15 via first feeding path 43, first wire supply device 39, and second feeding path 47. Second feeding path 47 is formed by a wire cable 49. Welding wire 45 is inserted through wire cable 49.

[0023] The welding wire 45 fed to the welding torch 15 is supplied with power by a forced power supply mechanism (not shown) that is attached to the tip of the welding torch 15 and receives power from a welding power cable 61 (an example of a power cable), and is sent out toward the target welding position (welding location).

[0024] Next, the connection portion between the first wire supply device 39 and the wire cable 49 (second feeding path 47) in the separate type welding robot system 11 will be described with reference to Figs. 2 to 4. Fig. 2 is a perspective view illustrating the connection portion between the first wire supply device 39 and the wire cable 49. Fig. 3 is a side view illustrating the connection portion between the first wire supply device 39 and the wire cable 49. Fig. 4 is a cross-sectional view of the wire connection portion 53 taken along line AA.

[0025] Wire cable 49 forming second feed path 47 of welding wire 45 has one end connected to welding torch 15 (see FIG. 1) and the other end connected to wire connection portion 53 provided on first wire supply device 39.

[0026] The wire connection portion 53 is composed of a CC mounting bracket 55 and a fixing bolt 65 (an example of a protrusion). The CC mounting bracket 55 is fixed to the first wire supply device 39, which is an intermediary portion. The bracket 71 is fixed to and integrated with the cable main body 57 via a spiral cable gland 79. The bracket 71 can be connected to the CC mounting bracket 55 at any rotational position, with the extension direction (X direction) of the cable main body 57 as the rotation center. This allows the manipulator 13 to connect the wire cable 49 between the welding torch 15 and the CC mounting bracket 55 during setup without twisting in accordance with the bending tendency of the cable main body 57.

[0027] The CC mounting bracket 55 is a half-split socket with a split clamping structure that is fastened by a fixing bolt 65, and is provided with a terminal fastening hole 63 to which a welding power cable 61 can be connected. The CC mounting bracket 55 allows the wire cable 49 to be connected to the first wire feeder 39 by fastening the fixing bolt 65 to a through-hole 67 in a state in which a bracket 71 is inserted into a mounting hole 69 formed along the extension direction of the spiral cable gland 79. The bracket 71 is coaxially provided with a substantially cylindrical liner mouthpiece 73 through which the welding wire 45 passes.

[0028] The CC mounting bracket 55 is the same member as the CC mounting bracket 519 used in the external or internal type welding robot systems 500A and 500B.

[0029] Forearm 21 includes RW connection unit 119 (see FIG. 5) to which welding power cable 61 can be connected. When welding power cable 61 is connected to RW connection unit 119, it supplies power to the forced power feed mechanism of welding torch 15 through welding current path 51.

[0030] As described above, in separate type welding robot system 11, wire cable 49 (second feeding path 47) is connected to first wire supply device 39 attached to exterior fixing base 37 of forearm 21, and welding power cable 61 is connected to RW connection unit 119 (see FIG. 5 ) of forearm 21. In other words, in separate type welding robot system 11, welding power cable 61 is not connected to terminal fastening hole 63 to which welding power cable 61 can be connected.

[0031] Next, with reference to each of Figs. 5 to 8, a welding robot system 11 capable of preventing erroneous connection of a welding power cable 61 according to the first embodiment will be described. Fig. 5 is a diagram illustrating an example of connection between a wire cable 49 and a welding power cable 61 in the welding robot system 11 according to the first embodiment. Fig. 6 is a diagram illustrating a connection portion between the first wire supply device 39 and the wire cable 49 when the cover 59 is attached. Fig. 7 is a B-B cross-sectional view of the first wire supply device 39 and the wire cable 49 when the cover 59 is attached. Fig. 8 is a diagram illustrating the function of the cover 59.

[0032] A liner mouthpiece receiving hole 75 is formed coaxially in the metal fitting 71. An O-ring 77 is attached to the outer periphery of the liner mouthpiece 73 and contacts the inner periphery of the liner mouthpiece receiving hole 75. The base end of the cable main body 57 of the wire cable 49 is covered by a spiral cable gland 79. Note that the base end here refers to the upstream side in the feeding direction of the welding wire 45.

[0033] A liner 81, through which the welding wire 45 passes, is inserted and fitted inside the flexible conduit covered by the spiral cable gland 79. The liner 81 prevents the welding wire 45 from being bent beyond a predetermined curvature. The base end of the liner 81 is connected to the liner mouthpiece 73.

[0034] The wire cable 49 is attached to the cable main body 57 by fitting the peripheral portion of the mounting hole 87 of the cover 59 into the circumferential groove 85 provided between the large diameter portion 83 of the metal fitting 71 and the spiral cable gland 79.

[0035] When the metal fitting 71 is connected to the CC mounting bracket 55 with the cover 59 attached to the wire cable 49, the terminal fastening hole 63 of the CC mounting bracket 55 is covered by the cover 59 and blocked so that the welding power cable 61 cannot be connected (see Figure 7).

[0036] Therefore, when the wire cable 49 is not connected to the wire connection portion 53, the manipulator 13 exposes the welding power cable 61 to the terminal fastening hole 63 of the CC mounting bracket 55 so that it can be connected, and when the wire cable 49 is connected to the wire connection portion 53, the cover 59 covers the terminal fastening hole 63 of the CC mounting bracket 55 so that the welding power cable 61 cannot be connected.

[0037] As shown in FIG. 8, if the welding power cable 61 is connected to the CC mounting bracket 55 of the wire connection portion 53 of the manipulator 13 before the wire cable 49, the welding power cable 61 will interfere with the cover 59, making it impossible for the wire cable 49 to be connected to the wire connection portion 53.

[0038] As a result, in welding robot system 11 in the present embodiment 1, when the connection point of welding power cable 61 is changed in conjunction with a change in torch cable type, by attaching cover 59 to wire cable 49, welding power cable 61 can be prevented from being connected to terminal fastening hole 63 of CC mounting bracket 55. Therefore, welding robot system 11 can more effectively prevent incorrect connection of welding power cable 61 to terminal fastening hole 63 when changing torch cable type.

[0039] Now, the cover 59 will be described with reference to Figs. 9 to 13. Fig. 9 is an external perspective view of the cover 59 in the first embodiment. Fig. 10 is a side view of the cover 59 in the first embodiment. Fig. 11 is a CC cross-sectional view of the cover 59 in the first embodiment. Fig. 12 is a front view of the cover 59 in the first embodiment. Fig. 13 is a DD cross-sectional view of the cover 59 in the first embodiment.

[0040] Cover 59, which is an example of a cover portion, is made of rubber (elastic material), such as silicone-based, fluorine-based, urethane-based, etc. Cover 59 is made of rubber (elastic material), which allows attachment hole 87 to expand and contract, and is configured to be detachable and rotatable relative to cable main body 57.

[0041] Here, the cover 59 is configured to be detachable, so that if the cover 59 is damaged, it can be easily replaced with a new cover 59.

[0042] Furthermore, since the cover 59 is made of rubber (elastic material), even if a gap occurs between the cover 59 and the cable main body 57 when the cover 59 is attached to the cable main body 57, abnormal noise, damage, etc. caused by vibration when the manipulator 13 is driven can be suppressed.

[0043] The material of the cover 59 is not limited to the above-mentioned rubber (elastic material). For example, the cover 59 may be made of metal such as iron, aluminum, or copper, or resin such as POM (Polyoxymethylene), nylon, PPS (Poly Phenylene Sulfide), or glass epoxy.

[0044] The cover 59 includes a first cover portion 89 and a second cover portion 91. The first cover portion 89 and the second cover portion 91 are formed to fit the shape of the wire connection portion 53.

[0045] The first cover portion 89 has an opening 93 formed in a substantially rectangular shape and a notch 95 formed in a semi-elliptical shape.

[0046] The opening 93 is formed with an opening width R1 that is larger than the opening width R2 of the second cover part 91. When the wire cable 49 is connected to the wire connection part 53, the opening 93 covers the wire connection part 53, which has a substantially hexahedral shape, from the outside so that the terminal fastening hole 63 is not exposed.

[0047] The cutout portion 95 is formed at an arbitrary position on one or two surfaces of the first cover portion 89. The shape of the cutout portion 95 in the first embodiment is an example and is not limited to this.

[0048] The second cover part 91 is formed in a generally cylindrical shape that covers from the outside the large diameter part 83 of the metal fitting 71 that constitutes the cable main body 57. The second cover part 91 has an attachment hole 87 on the opposite side to the opening 93 of the first cover part 89. The attachment hole 87 is formed with an opening width R1 that is smaller than the large diameter part 83 of the wire connection part 53, and functions to prevent the cover 59 from slipping off from the wire cable 49.

[0049] A step 99 is formed between the first cover part 89 and the second cover part 91, following the outer shape of the CC mounting bracket 55. Note that the step 99 is not essential and may be omitted.

[0050] In the cover 59 in the first embodiment, one of the four corners of the substantially rectangular first cover portion 89 is removed when viewed from the front in the X direction, and the second cover portion 91 is formed close to (off-centered from) this removed corner, but the cover 59 is not limited to this. The cover 59 may have any shape and dimensions that can prevent the welding power cable 61 from being connected to the wire connection portion 53 (specifically, the terminal fastening hole 63 of the CC mounting bracket 55) when the wire cable 49 and the wire connection portion 53 are connected.

[0051] Here, the cutout portion 95 of the cover 59 will be described with reference to Fig. 14. Fig. 14 is a diagram illustrating the function of the cutout 95 of the cover 59. The wire cable 49 and the wire connection portion 53 shown in Fig. 14 are each shown as viewed from the bottom side (-Z direction).

[0052] The cutout portion 95 is formed along the connection direction (extension direction of the wire cable 49) between the wire cable 49 and the wire connecting portion 53. The cutout portion 95 is formed so as to be able to expose the fixing bolt 65 protruding from the CC mounting bracket 55 of the wire connecting portion 53 when the wire cable 49 is connected to the wire connecting portion 53. As a result, the cutout portion 95 prevents interference between the fixing bolt 65 and an inner surface 97 of the first cover portion 89 when the wire cable 49 is connected.

[0053] Furthermore, the fixing bolt 65 exposed from the cutout portion 95 can be fastened and untightened from the outside of the cover 59. This allows the wire cable 49 to avoid interference with the fixing bolt 65 and to fasten and untighten the fixing bolt 65 while covering the terminal fastening hole 63 of the CC mounting bracket 55.

[0054] As described above, the cover 59 in the first embodiment has been described as including the first cover portion 89 formed in a substantially rectangular shape and the second cover portion 91 formed in a substantially cylindrical shape. Below, covers 101 and 109 will be described as first and second modifications of the cover 59, respectively.

[0055] (Cover variation 1) Next, a cover 101 as a first modification of the cover 59 will be described with reference to Fig. 15. Fig. 15 is a diagram illustrating the first modification of the cover 59.

[0056] The cover 101, which is an example of a cover portion, is formed by bending a substantially rectangular sheet metal member at multiple locations along the longitudinal direction. Because the cover 101 is formed by processing the sheet metal member, the cost of the part can be reduced. The cover 101 includes a protrusion 105 and two walls 103.

[0057] The protrusion 105 has an attachment hole (not shown) formed therein, through which the other end side (the side connected to the first wire supply device 39) of the cable main body 57 can pass. With the other end side of the cable main body 57 inserted into the attachment hole, the cover 101 is threadedly engaged with the metal fitting 71 by a fixing screw 107, and is detachably attached.

[0058] Each of the two wall portions 103 is formed along the long side direction of the cover 101. Each of the two wall portions 103 blocks the welding power cable 61 from accessing the side (Y direction) of the CC mounting bracket 55 when the wire cable 49 is connected to the CC mounting bracket 55 of the first wire feeder 39.

[0059] 15 shows an example in which the cover 101 is formed by bending a rectangular sheet metal member along the longitudinal direction, but is not limited to this. For example, the cover 101 may be formed with the convex portion 105 and the two wall portions 103 by bending the cover 101 along the short side direction that is approximately perpendicular to the longitudinal direction. More specifically, the cover 101 only needs to be formed so that each of the two wall portions 103 has a length that prevents the welding power cable 61 from being connected to the terminal fastening hole 63 of the CC mounting bracket 55.

[0060] 15 has a configuration in which, when the wire cable 49 is connected to the CC fitting 55 of the first wire feeder 39, two wall portions 103 are arranged opposite each other along the side surfaces of the CC fitting 55, thereby preventing access by the welding power cable 61, but this is not limiting. For example, the cover 101 shown in FIG. 15 may have two wall portions 103 arranged opposite each other along the surface on which the terminal fastening hole 63 of the CC fitting 55 is formed. In such a case, the cover 101 can prevent the welding power cable 61 from accessing the terminal fastening hole 63.

[0061] (Cover variation 2) Next, a cover 109 as a second modification of the cover 59 will be described with reference to Fig. 16. Fig. 16 is a diagram illustrating the second modification of the cover 59.

[0062] Cover 109, which is an example of a cover portion, is formed from, for example, rubber (elastic material) such as silicone-based, fluorine-based, or urethane-based, or resin such as POM, nylon, PPS, or glass epoxy. Cover 109 includes a first cover portion 111 and a second cover portion 113.

[0063] The first cover part 111 has an opening 115 formed in a substantially cylindrical shape, a substantially dome shape, or the like. The opening 115 is formed in a substantially circular shape, and when the wire cable 49 is connected to the wire connection part 53, it covers the wire connection part 53 from the outside so as not to expose the terminal fastening hole 63. Although not shown in Fig. 16, the opening 115 may be provided with a notch that allows the fixing bolt 65 to be exposed.

[0064] The second cover part 113 is formed in a generally cylindrical shape that covers from the outside the large diameter part 83 of the metal fitting 71 that constitutes the cable main body 57. The second cover part 113 has an attachment hole (not shown) on the opposite side to the opening 115 of the first cover part 111. The attachment hole is formed with an opening width that is smaller than the large diameter part 83 of the wire connecting part 53, and functions to prevent the wire connecting part 53 from coming off.

[0065] As described above, in the first embodiment, an example has been described in which covers 59, 101, and 109 are used in manipulator 13 having a separate torch cable type to prevent erroneous connection of welding power cable 61. In the following description, an example in which cover 59 is used in each of manipulators 13A and 13B having other separate torch cable types will be described. Note that in the description of the other separate types, examples of using covers 101 and 109 will be omitted and only an example of using cover 59 will be described.

[0066] (Pulley feeder type manipulator) An example of using a cover 59 in a pull-feeder type manipulator 13A will be described with reference to Fig. 17. Fig. 17 is a diagram illustrating an example of using a cover 59 in a pull-feeder type manipulator 13A.

[0067] A pull-feeder type manipulator 13A as an example of a welding robot is configured by attaching a relay unit 117 to an exterior fixed base 37 and a second wire feeder 121 to the top of welding torch 15, respectively.

[0068] Intermediate portion 117 is installed at the joint between first feeding path 43 and second feeding path 47. Intermediate portion 117 supports welding wire 45 that is drawn from wire supply source 41 by second wire supply device 121 and fed toward the tip of welding torch 15.

[0069] The second wire feeder 121 draws the welding wire 45 from the wire supply source 41 and feeds it toward the tip of the welding torch 15 .

[0070] The manipulator 13A has a wire cable 49 (second feed path 47) connected to a CC mounting bracket 55 attached to the relay portion 117, and a welding power cable 61 connected to an RW connection unit 119 (a CC mounting bracket, an example of a power supply connection portion) attached to the forearm portion 21.

[0071] When the wire cable 49 with the cover 59 attached is connected to the CC mounting bracket 55 of the relay section 117, the manipulator 13A can prevent the welding power cable 61 from being connected to the terminal fastening hole 63 of the CC mounting bracket 55. Therefore, by using the cover 59, the manipulator 13A can prevent the worker from incorrectly connecting the welding power cable 61 when changing the torch cable type.

[0072] (2-feeder wire switching manipulator) An example of using a cover 59 in a two-feeder wire switching manipulator 13B will be described with reference to Fig. 18. Fig. 18 is a diagram for explaining an example of using a cover 59 in a two-feeder wire switching type manipulator 13B.

[0073] The two-feeder wire switching type manipulator 13B is configured by attaching two first wire feeders 39 to an exterior fixed base 123, respectively.

[0074] Each of the two first wire feeders 39 draws welding wire 45 from wire supply 41 and feeds it toward welding torch 15 .

[0075] In the manipulator 13B as an example of a welding robot, wire cables 49 (second feeding paths 47) are connected to CC mounting brackets 55 attached to each of the two first wire supply devices 39, and a welding power cable 61 is connected to an RW connection unit 119 (CC mounting bracket) attached to the forearm 21.

[0076] By connecting the wire cables 49 with the covers 59 attached to the CC mounting brackets 55, the manipulator 13B can prevent the welding power cables 61 from being connected to the terminal fastening holes 63 of the CC mounting brackets 55. Therefore, by using the covers 59, the manipulator 13B can prevent the worker from incorrectly connecting the welding power cables 61 when changing the torch cable type.

[0077] As described above, wire cable 49 according to the first embodiment is used in welding robot system 11 that includes manipulator 13, 13A, 13B (an example of a welding robot) provided with welding torch 15, and first wire supply device 39 (an example of a relay unit) or relay unit 117 that relays welding wire 45 supplied to welding torch 15. Wire cable 49 has cable main body 57 that is connected to welding torch 15 and wire connecting unit 53 provided in first wire supply device 39 or relay unit 117 and has welding wire 45 inserted therethrough, and cover 59 (an example of a cover unit) that is provided on cable main body 57 and that covers at least a portion of wire connecting unit 53 as cable main body 57 is connected to wire connecting unit 53.

[0078] As a result, the wire cable 49 in embodiment 1 is attached to the CC mounting bracket 55 of the wire connection portion 53 by the cover 59, and by covering the terminal fastening hole 63 to which the welding power cable 61 can be connected, it is possible to prevent the welding power cable 61 from being incorrectly connected to the terminal fastening hole 63.

[0079] Furthermore, the cover 59 of the wire cable 49 according to the first embodiment is provided rotatably with respect to the cable main body 57. As a result, the wire cable 49 according to the first embodiment can adjust the attachment direction of the cover 59 relative to the wire cable 49 during setup by making the cover 59 rotatable independently of the bending direction of the wire cable 49. Therefore, even with the cover 59 attached, the worker can connect the wire cable 49 between the welding torch 15 and the CC mounting bracket 55 without twisting the wire cable 49 in accordance with the bending direction of the cable main body 57, and it is possible to prevent damage to the cable main body 57 due to excessive twisting of the wire cable 49 caused by the operation of the manipulator 13.

[0080] Furthermore, the cover 59 of the wire cable 49 according to the first embodiment is fixed to the cable main body 57. As a result, the wire cable 49 according to the first embodiment has a structure in which the cover 59 cannot be removed unless the cable main body 57 is removed from the first wire supply device 39 or the relay section 117. Furthermore, the connection point of the wire cable 49 is the CC mounting bracket 55 of the first wire supply device 39 or the relay section 117, regardless of the torch cable type. Therefore, the wire cable 49 with the cover 59 attached can more effectively prevent incorrect connection of the welding power cable 61.

[0081] Moreover, the cover 59 of the wire cable 49 according to the first embodiment is configured to be detachable from the cable body 57. This allows the wire cable 49 according to the first embodiment to easily replace the cover 59 with a new cover 59 when the cover 59 is damaged.

[0082] Moreover, the cover 59 of the wire cable 49 according to the first embodiment is made of an elastic material. As a result, even if there is a gap between the wire cable 49 and the cover 59, the wire cable 49 according to the first embodiment can suppress abnormal noise and damage to the cover 59 due to the driving vibration of the manipulators 13, 13A, and 13B.

[0083] Moreover, the cover 59 of the wire cable 49 according to the first embodiment is made of metal or resin. As a result, the wire cable 49 according to the first embodiment can reduce the cost of parts by having the cover 59 made of metal. Furthermore, the wire cable 49 can be manufactured in any shape by die molding by having the cover 59 made of resin.

[0084] Moreover, the cover 59 of the wire cable 49 according to the first embodiment has a first cover portion 89 that conforms to the shape of the wire connection portion 53 and covers at least a portion of the wire connection portion 53, and a second cover portion 91 that conforms to the cable main body 57 and engages with the cable main body 57. As a result, the wire cable 49 according to the first embodiment is attached to the cable main body 57 by engaging the second cover portion 91, and the terminal fastening hole 63 of the CC mounting bracket 55 can be covered by the first cover portion 89.

[0085] Furthermore, in wire cable 49 according to the first embodiment, wire connection portion 53 is provided with a protrusion, and cover 59 is provided with a notch 95, and when cable main body 57 is connected to wire connection portion 53, fixing bolt 65 (an example of a protrusion) fits into notch 95. This makes it possible for wire cable 49 according to the first embodiment to prevent interference between fixing bolt 65 fastened to CC mounting bracket 55 having a split clamping structure and cover 59 attached to cable main body 57.

[0086] Furthermore, cable main body 57 in wire cable 49 according to the first embodiment is made of resin that has a tendency to bend. As a result, wire cable 49 according to the first embodiment can use, for cable main body 57, an inexpensive gas hose that has a tendency to bend due to being wound on a reel.

[0087] Furthermore, the wire connection portion 53 of the wire cable 49 according to the first embodiment is provided exposed to the outside of the first wire supply device 39 or the relay portion 117. This allows easy access to the wire connection portion 53 of the wire cable 49 according to the first embodiment, and allows the manipulator 13 to be easily changed to an internal type, an external type, or a separate type.

[0088] Furthermore, the relay section in wire cable 49 according to the first embodiment is first wire supply device 39 that supplies welding wire 45 to welding torch 15. As a result, wire cable 49 according to the first embodiment makes the area around welding torch 15 more compact than when second wire supply device 121 is provided above welding torch 15, ensuring accessibility to the workpiece.

[0089] Welding robot system 11 according to the first embodiment includes wire cable 49, manipulators 13, 13A, and 13B (an example of a welding robot) provided with welding torch 15, first wire supply device 39 (an example of a relay unit) or relay unit 117 that relays welding wire 45 supplied to welding torch 15, and welding power cable 61 (an example of a power cable) that supplies power to manipulators 13, 13A, and 13B. Welding power cable 61 is configured to be connectable to wire connecting unit 53 when wire cable 49 is not connected to wire connecting unit 53, and is configured to be unable to be connected to wire connecting unit 53 by cover 59 when wire cable 49 is connected to wire connecting unit 53.

[0090] Note that wire cable 49 here is used in welding robot system 11 that includes manipulator 13, 13A, 13B with welding torch 15 provided thereon, and first wire supply device 39 or relay unit 117 that relays welding wire 45 supplied to welding torch 15. Wire cable 49 is connected to welding torch 15 and wire connecting unit 53 that is provided in first wire supply device 39 or relay unit 117. Wire cable 49 also includes cable main body 57 through which welding wire 45 is inserted, and cover 59 that is provided on cable main body 57 and that covers at least a portion of wire connecting unit 53 by connecting cable main body 57 to wire connecting unit 53.

[0091] As a result, when the torch cable type is changed from an external type or an internal type to a separate type, a pull-feeder type manipulator, or a two-feeder wire switching type manipulator, welding robot system 11 according to embodiment 1 can use wire cable 49 with cover 59 attached to cover terminal fastening hole 63 that is provided on CC mounting bracket 55 of wire connection portion 53 and to which welding power cable 61 can be connected. Therefore, welding robot system 11 can prevent a worker from erroneously connecting welding power cable 61 to terminal fastening hole 63.

[0092] Furthermore, first wire supply device 39 in welding robot system 11 according to embodiment 1 is one of a plurality of first wire supply devices 39. Wire cable 49 is one of a plurality of wire cables 49. As a result, even when the torch cable type is a two-feeder wire switching type, welding robot system 11 according to embodiment 1 can prevent erroneous connection of welding power cables 61 to terminal fastening holes 63 of the respective CC mounting brackets 55 by attaching covers 59 to wire cables 49 connected to each first wire supply device 39.

[0093] Furthermore, manipulator 13 in welding robot system 11 according to the first embodiment is provided with RW connection unit 119 (an example of a power supply connection portion) that is connected to welding power cable 61. When wire cable 49 is connected to wire connection portion 53, welding power cable 61 is connected to RW connection unit 119. As a result, welding robot system 11 according to the first embodiment can prevent erroneous connection of welding power cable 61 to terminal fastening hole 63 of CC mounting bracket 55 by attaching cover 59 to wire cable 49 connected to each first wire feeder 39, even in cases where the torch cable type is a separate type, a pull-feeder type manipulator, a two-feeder wire switching type, or the like.

[0094] Furthermore, wire connecting section 53 in welding robot system 11 according to embodiment 1 is provided near RW connection unit 119. As a result, even if two connection points of welding power cable 61 based on the torch cable type (i.e., CC mounting bracket 55 of wire connecting section 53 and RW connection unit 119) are provided in positions close to each other, welding robot system 11 according to embodiment 1 can prevent erroneous connection of welding power cable 61 to terminal fastening hole 63 of CC mounting bracket 55 by attaching covers 59 to wire cables 49 connected to each first wire feeder 39.

[0095] Furthermore, welding power cable 61 in welding robot system 11 according to embodiment 1 is connected to wire connection portion 53 at the time of shipment from the factory. As a result, even if welding robot system 11 according to embodiment 1 is shipped from the factory with the torch cable type of the manipulator being an external type or an internal type and welding power cable 61 connected to wire connection portion 53, by later attaching cover 59 to wire cable 49, it is possible to prevent erroneous connection of welding power cable 61 to terminal fastening hole 63 of CC mounting bracket 55 when changing to a separate type, a single-feeder type manipulator, or a two-feeder wire switchable type manipulator.

[0096] Although various embodiments have been described above with reference to the drawings, it goes without saying that the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner without departing from the spirit of the invention. [Industrial Applicability]

[0097] The present disclosure is useful as a wire cable and a welding robot system that prevent incorrect connection of a power cable. [Explanation of symbols]

[0098] 11 Welding robot system 13, 13A, 13B Manipulator 15 Welding Torch 39 First wire supply device (an example of a relay unit) 121 second wire feeder 45 welding wire 49 Wire Cable 53 Wire connection 57 Cable body 59 Cover 61 Welding power cable (an example of a power cable) 63 Terminal fastening hole 65 Fixing bolt 89 First cover part 91 Second cover part 95 Notch 117 Relay Section 119 RW connection unit

Claims

1. a welding robot provided with a welding torch; a relay unit that relays the welding wire supplied to the welding torch, a cable main body having one end connected to the welding torch and the other end connected to a wire connection portion provided in the relay portion, the cable main body having the welding wire inserted therein; a cover portion provided on the cable main body, the cover portion covering at least a part of the wire connection portion when the cable main body is connected to the wire connection portion; Wire cable.

2. The cover portion is provided rotatably with respect to the cable main body. The wire cable according to claim 1 .

3. The cover portion is fixed to the cable main body. The wire cable according to claim 1 .

4. The cover is configured to be detachable from the cable main body. The wire cable according to any one of claims 1 to 3.

5. The cover portion is made of an elastic material. The wire cable according to any one of claims 1 to 3.

6. The cover is made of metal or resin. The wire cable according to any one of claims 1 to 3.

7. The cover portion includes a first cover portion that covers at least a part of the wire connection portion along the shape of the wire connection portion, and a second cover portion that engages with the cable main body along the cable main body. The wire cable according to any one of claims 1 to 3.

8. The wire connection portion is provided with a protrusion, The cover portion is provided with a notch portion, the protrusion fits into the notch when the cable main body is connected to the wire connecting portion; The wire cable according to any one of claims 1 to 3.

9. The cable body is made of resin with a bent shape. The wire cable according to any one of claims 1 to 3.

10. The wire connection portion is provided so as to be exposed to the outside of the relay portion. The wire cable according to any one of claims 1 to 3.

11. the relay unit is a wire supply device that supplies the welding wire to the welding torch, The wire cable according to any one of claims 1 to 3.

12. The wire cable according to any one of claims 1 to 3; the welding robot provided with the welding torch; the relay unit relaying the welding wire supplied to the welding torch; a welding power source that supplies power to the welding robot; a welding robot system including the welding robot and a power cable connected to the welding power source, The power cable is When the wire cable is not connected to the wire connection part, the wire cable is connectable to the wire connection part; When the wire cable is connected to the wire connection portion, the cover portion prevents the wire cable from being connected to the wire connection portion. Welding robot system.

13. the relay unit is one of a plurality of relay units, the wire cable is one of a plurality of wire cables; The welding robot system according to claim 12.

14. the welding robot has a power connection part that is connected to the power cable, the power cable is connected to the power connection portion when the wire cable is connected to the wire connection portion; The welding robot system according to claim 12.

15. The wire connection portion is provided near the power connection portion. The welding robot system according to claim 14.

16. The power cable is connected to the wire connection portion at the factory. The welding robot system according to claim 12.

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