JP2591458Y2 - Rotating device for wire feeder mounting - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method for attaching a wire feeding device to a robot body in order to stably feed a welding wire to a welding torch movably instructed at the tip of the robot body of the welding robot. Rotating device for attaching a wire feeding device.

[0002]

2. Description of the Related Art The construction of a generally used welding robot will be described. For example, in FIG. 1, 1 is a welding power source, 2 is a welding wire support, 3 is a welding wire reel attached to the welding wire support 2, Reference numeral 4 denotes a flexible conduit for guiding the welding wire from the welding wire reel 3 to the wire feeding device 5, and reference numeral 6 denotes a welding robot, which is a base 6a and can be tilted with respect to the base 6a. The robot body 6b is provided, an arm 6c rotatably provided at the other end of the robot body 6b, and a welding torch T rotatably supported by the arm 6c.

[0003] The welding wire is supplied by a wire feeding device 5.
The welding is performed while being fed to the welding torch T via the power cable 8. By the way, at the time of welding, the welding robot 6
Is appropriately controlled, and in particular, the welding torch T is freely displaced with respect to the robot body 6b. In this case, if the wire feeding device 5 is fixedly supported on the robot body 6b, one end of the power cable 8 connected to the welding torch T is displaced together with the welding torch T, whereas the wire feeding device 5 is displaced. And the other end of the power cable 8 connected to the power cable 8 is fixed. In this case, depending on the positional displacement of the welding torch T, the power cable 8 may be pulled forcibly or may be slackened more than necessary, and the welding wire may not be fed stably. I do.

In order to eliminate this state, the wire feeding device 5 is attached to the robot body 6b via the rotating device 7, and when the welding torch T moves, the movement of the end of the power cable 8 due to the movement of the welding torch T. It is proposed that the wire feeding device 5 rotates with the movable table in accordance with the condition.

For example, the structure of a conventional rotating device will be described with reference to FIG. 5. Reference numeral 30 denotes a frame fixed to one end of a robot body 6b, and 31 denotes a fixed spherical bearing supported by the frame 30. Reference numeral 32 denotes a rotation-side spherical bearing, and the frame 30 and the spherical bearings 31 and 32 constitute a fixed-side base 33.

Reference numeral 34 denotes a shaft body slidably inserted into the spherical bearing 32, reference numeral 35 denotes a mounting table integrally formed on the upper end of the shaft body 34, and reference numeral 36 denotes a lower end of the shaft body 34. A movable table 37 is constituted by a shaft bearing 34, a mounting table 35, and a bearing 36. The wire feeder 5 is integrally attached to the movable table 37. Incidentally, the inner wall surface 30 having a gap in the radial direction with the bearing 36 is provided inside the frame body 30.
1 is provided so that the shaft body 34 can be rotated in all directions within the range of the gap while being restrained by the spherical bearings 31 and 32. For this reason, the wire feeding device 5 supported by the mounting base 35 is mounted rotatably in all directions with respect to the base 33, that is, with respect to the robot body 6b. Further, since the shaft body 34 is slidable with the spherical bearing 32, when an external force in the direction of the mounting base 35 acts on the shaft body 34, the shaft body 34 moves in the axial direction with respect to the spherical bearing 32. Can be done.

[0007]

However, in the conventional rotating device, for example, as shown in FIG. 6A, when the free end side of the robot body 6b faces downward, the rotating device 7
Due to the weight of the wire feeding device 5, the movable base 37 rotates forward of the center of rotation of the rotating device 7, that is, the center of the spherical bearing. That is, the shaft body 34 is
Rotate until it comes into contact with the inner wall surface 301. At this time, of course, the wire feeding device 5 also tilts forward together with the movable table 37, so that the end of the power cable 8 connected to the wire feeding device 5 also moves obliquely downward and forward. Therefore, FIG.
As shown in (A), the power cable 8 becomes slack near the connection side with the welding torch T, and the feeding of the welding wire is hindered, and the welding wire is stably fed to the welding torch T. You will not be able to do it.

Further, as shown in FIG. 6B, when the arm 6c and the welding torch T are moved upward about the point P1 from the state shown in FIG. However, since the end of the power cable 8 approaches the fixed wire feeding device 5, the slack of the power cable 8 is further increased, and the welding wire is further reduced from the state shown in FIG. The feeding state is disturbed.

On the other hand, as shown in FIG. 7A, when the free end side of the robot main body 6b is in the upward state, the movable table 37 of the rotating device 7 is rotated by the weight of the wire feeding device 5 due to its own weight. 7 rotates backward from the rotation center. At this time, the wire feeding device 5 naturally also tilts backward. For this reason,
The end of the power cable 8 connected to the wire feeding device 5 also attempts to move backward, but the other end of the power cable 8 is connected to the welding torch T, so that the power cable 8 is connected to the wire feeding device. 5 and the welding torch T are pulled. In this case, a local bend occurs at a connection portion between the wire feeding device 5 and the power cable 8. Therefore, the feeding of the welding wire is hindered, and the stable feeding of the welding wire to the welding torch T cannot be performed.

[0010] Further, as shown in FIG.
When the arm 6c and the welding torch T are moved downward about the power cable 8, the power cable 8 is connected as shown in FIG.
And the connection portion between the wire feeding device 5 and the welding torch T is locally bent, so that stable welding wire cannot be fed to the welding torch T. .

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a rotating device for mounting a wire feeding device, wherein the position of a movable base of the rotating device changes the posture of the robot. Regardless, it is an object of the present invention to provide a rotating device that hardly changes and the position of the movable base can be changed according to the movement of the power cable.

[0012]

The present invention is applied to a rotating device for mounting a wire feeding device for mounting a wire feeding device on a robot body of a welding robot. And has as its features, the fixed side of the frame supported by the robot body, the frame and the mount in the vertical direction is Hanare設a movable side of the wire feeder mounted, the frame body and the A spherical bearing for connecting the mounting base, a compression spring abutting on the frame and the mounting base, a spring force adjusting means for the compression spring;
Bar-shaped upright on the frame and having a cushion member on the outside
And a support that is disposed horizontally on the
A contact member that regulates the amount of horizontal movement of the mounting table to a predetermined amount
And the compression spring around the axis of the spherical bearing.
Located at least three places in the outer horizontal circumferential direction,
When the mounting base is tilted by a predetermined amount, the mounting base or the front
A cushion member that comes into contact with the frame body is provided.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the illustrated embodiments. 2, reference numeral 10 denotes a welding robot body 6.
The frame body 11 fixed to the upper end of the frame b is a fixed-side spherical bearing integrally supported by the frame body 10. For example, the spherical bearing 11 is detachably supported on the frame body 10. .
Reference numeral 12 denotes a rotating-side spherical bearing, 13 denotes a mounting base into which the spherical bearing 12 is fitted, and 14 denotes a retaining ring that integrally supports the spherical bearing 12 and the mounting base 13.
It is rotatably attached to the frame body 10 in all directions via 1 and 12.

Reference numeral 15 denotes a spring receiving member integrally attached to the lower portion of the mounting base 13, 16 is housed in a circumferential groove 101 provided in the frame body 10, and the other end thereof is a spring receiving member 15; , 17 is a donut-shaped abutment plate housed in the bottom of the circumferential groove 101, 18 is an adjusting bolt screwed into a threaded portion screwed into the frame 10, and this adjusting bolt 18 is In order to make contact with the contact plate 17, three or four circumferential members are used. The spring force of the compression spring 16 is appropriately adjusted by the adjustment bolt 18. After adjustment, adjust bolt 1
8 is supported integrally with the frame 10 by a lock nut 19. 20 is a cushion member supported to the lower portion of the mount 13, the cushion member 20 out of the compression spring 16
It is arranged at three or four places in the horizontal circumferential direction on the side . 2
Reference numeral 1 denotes a cushion member which is supported by the frame 10 via a support 22. The mounting base 13 has projections 131 and 132 for regulating the amount of movement in the circumferential direction.
The mounting base 13 is formed so as to be movable within a section that abuts on the mounting base 1. The rotation device 7 is constituted by the above 10 to 22. The wire feeding device 5 is mounted on the rotating device 7, and the rotating device 7 is attached to the robot body 6b.

By the way, when the posture of the robot changes, the amount of tilt of the rotating device 7 due to the change in the position of the center of gravity of the wire feeding device 5 mounted on the rotating device 7 should be limited by disposing the compression spring 16. Can be. That is,
Even if the posture of the robot changes, the weight of the wire feeding device 5 is offset by the compression spring 16 and the mounting base 13 does not tilt freely. Of course, although it depends on the state of adjustment of the spring force of the compression spring 16, the adjustment can be made so that it hardly tilts. Therefore, even when the posture of the robot changes, the power cable 8 between the wire feeding device 5 and the welding torch T does not locally bend, and the welding wire is always stably fed to the welding torch T. can do.

The case where the robot posture changes during welding will be described with reference to FIGS. FIG. 3 shows that when the position of the center of gravity of the wire feeding device 5 mounted on the mount 13 changes due to a change in the posture of the robot, the mount 13 moves to a point P2.
(= Center point of spherical bearing) as a center. For example, when the force to rotate is greater than the restoring force of the compression spring 16, the cushion member 20 disposed on the mounting base 13 tilts until it comes into contact with the frame base 10. At this time, the mounting base 13 does not suddenly operate due to the elasticity of the compression spring 16. Here, the compression spring 1 is adjusted by adjusting the spring force adjusting bolt 18.
6 is increased to the same degree as the force by which the mount 13 tries to tilt, the mount 13
Are in a balanced state at a position before contact with the frame base 10 and stop.

FIG. 4 is a diagram showing a state in which the mounting base 13 has been rotated counterclockwise about the point P3 in the horizontal direction. At this time, the mounting table 1 is
Since an appropriate frictional force acts on 3, abrupt operation is prevented. As shown in the figure, the projections for regulating the rotation range , that is, the contact members 131 and 132 can be rotated until they come into contact with the cushion member 21. If the cushion members 20 and 21 are made of rubber or plastic material, it is possible to absorb the impact when the mounting base 13 comes into contact .

Further, the spring force of the compression spring 16 can be adjusted with an adjusting bolt or the like because the force of the compression spring 16 tends to change when the mass or the like of the wire feeding device 5 changes.
Wear. Of course, the welding robot can be operated freely, especially
Sometimes the robot is stopped suddenly after moving at high speed,
Wire feeder attached to body via spherical bearing 12
Generation of inertia such as 5 is inevitable. In this case, the stick
Cushion member 21 disposed outside of support member 22 in a shape of a circle
And the contact members 131 and 132 appropriately contact each other.
Horizontal inertia is buffered and positioned.
Further, regarding the inertia in the vertical direction, the compression spring 16
At least three places in the outer horizontal circumferential direction
The cushion member 20 and the mounting base 13 or the frame body 10 are appropriately
Is positioned by being buffered by contacting the
The horizontal and vertical tilt amounts of the mounting base 13 are desired.
Regulated within the state. In this way, the welding robot is free
Operation, the wire feeder can be moved horizontally and vertically.
Each of them is buffered and regulated within a predetermined tilt amount.
Power cable and wire feeder connected to the welding torch.
There is no danger of extreme force acting on the connection with the feeding device.
Connection between power cable and wire feeder
Operation of the welding robot for a long time without any
Can be done.

Further, even if the fixed side and the rotating side of the spherical bearings 11 and 12 are used by reversing each other, there is no functional problem. For example, fitting the spherical bearing 12 to the frame 10 and fixing the spherical bearing 11 to the mounting base 13 or fixing the mounting base 13 to the robot body 6b and mounting the wire feeding device to the frame 10 Can be.

[0020]

As is apparent from the above description, the rotating device for mounting the wire feeder according to the present invention is a fixed frame supported by the robot body and a movable mount for mounting the wire feeder. And the base are connected via a spherical bearing, and
Adjustable elasticity between the fixed frame and movable mount
Since the compression spring is provided, even if the posture of the robot changes, the wire feeding device does not significantly displace due to its own mass. In addition, since the movable part of the rotating device is gently rotated in response to the movement of the power cable, it is possible to prevent the local bending of the power cable connecting the wire feeding device and the welding torch. The welding wire can always be supplied stably.

Of course, the welding robot can be freely operated.
Inevitably, the generation of inertia is unavoidable.
If the cushion member is provided outside the rod-shaped support
When the contact member is in proper contact, the horizontal
The cushion is positioned with a buffer, and the vertical
Regarding the nutrient, the horizontal circumferential direction outside the compression spring
Cushion members and mounting bases arranged in at least three places
Or, it is buffered by proper contact with the frame
As a result, the wire feeder is horizontal and
Each is buffered in the vertical direction and regulated within a predetermined tilt amount
With the power cable connected to the welding torch
There is no danger of extreme forces acting on the connection with the wire feeder.
Connection between the power cable and the wire feeder
The welding robot for a long time without loosening
Can be operated.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a welding robot to which the present invention is applied.

FIG. 2 is a longitudinal sectional view showing an embodiment of the present invention.

FIG. 3 is an explanatory diagram of a use state of FIG. 2;

4 is a sectional view taken along the line IV-IV in FIG.

FIG. 5 is a longitudinal sectional view showing a conventional example.

FIG. 6 is an explanatory view of a use state of FIG. 5;

FIG. 7 is an explanatory view of a use state of FIG. 5;

[Explanation of symbols]

 Reference Signs List 5 wire feeding device 6 welding robot 6a base 6b robot main body 6c arm T welding torch 7 wire feeding device mounting rotation device 8 power cable 10 frame body 11, 12 spherical bearing 13 mounting base 16 compression spring 18 spring force adjustment Bolt 131, 132 Moving amount regulating member

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B23K 9/133 B23K 9/12

Claims (1)

(57) [Scope of request for utility model registration] A rotating device for attaching a wire feeding device to a robot main body of a welding robot, wherein a fixed side frame supported by the robot main body is vertically separated from the frame body. the mounting of the movable base for setting the wire feeder attachment, a spherical bearing connecting said frame member and said mounting base, a compression spring which abuts on the frame body and the mount, the spring of the compression spring Force adjustment means and front
Bar-shaped upright on the frame and having a cushion member on the outside
And a support that is disposed horizontally on the
A contact member that regulates the amount of horizontal movement of the mounting table to a predetermined amount
And the compression spring around the axis of the spherical bearing.
Located at least three places in the outer horizontal circumferential direction,
When the mounting base is tilted by a predetermined amount, the mounting base or the front
A rotating device for attaching a wire feeding device, comprising: a cushion member that comes into contact with the frame .