JP4820643B2 - Welding torch straightening device - Google Patents

Description

  The present invention relates to a welding torch straightening device, and more particularly to a welding torch straightening device mounted on a welding robot.

  The welding robot is configured with a welding torch connected to the tip of a robot arm. In a teaching playback type welding robot, welding work can be performed while guiding the tip of the welding torch to a welding point or welding path that has been taught in advance with high accuracy.

In the teaching, first, while viewing the operator the work and the welding torch, by operating the teaching pendant, the welding line of the target welding torch, or sequentially while moving and stores the moving path to the computer to the welding point. Then, a confirmation operation is performed to determine whether or not the welding torch performs a desired movement, and an operation program for the welding torch is established when the operation confirmation is performed or when a correction necessary for the operation is made. After such teaching, the welding robot can perform the welding operation by moving the welding torch along the programmed movement path by automatic operation.

  By the way, in the process from performing teaching as described above to establishing the operation program of the welding torch, the welding torch may move unexpectedly and collide with a workpiece or a jig and be deformed. Such a situation occurs when teaching is performed to an incorrect point or when the welding torch is moved in a direction different from the target by mistakenly operating the teaching pendant.

  The welding torch is usually attached to the robot arm via a mechanism called a shock sensor (see Patent Document 1) so that the operation can be automatically stopped when a collision or the like occurs. However, even if the shock sensor mechanism works, if the moving speed of the robot is high, the welding torch is not a little deformed.

  If the welding torch is deformed, the tip of the torch cannot move the programmed welding point even if the robot operates automatically. As a countermeasure method for this, firstly, there is a method of correcting an already established operation program in consideration of the deformation amount of the tip of the welding torch, and secondly, the welding torch is replaced with a new one. There is a method, and third, there is a method of correcting the welding torch deformed in the field to the original form.

  The first method is very troublesome and requires a lot of time, especially when there are many welding points and the welding torch is programmed to move along a complicated path. There is. In the second method, because there is a manufacturing error in the welding torch itself, even if the entire torch is moved according to the operation program established using the welding torch before the replacement even if it is replaced with a new welding torch, The tip of the welding torch does not always move while pointing accurately at a predetermined welding line or welding point. Moreover, if the deformed welding torch is replaced with a new one every time, it is disadvantageous in terms of cost.

  In the third method, at present, the operator fixes the welding torch tip by fixing the welding torch in a vise and correcting the deformed portion manually with a tool. . This correction work requires a delicate operation to make the tip position accuracy about ± 0.2 mm, but it is very difficult because the direction and size of applying force must be relied on the operator's senses. It becomes work. Specifically, if too much force is applied, the bend becomes large, so that it is necessary to return in the reverse direction. If the force is applied in the wrong direction, redoing is required. As described above, the current correction method in the field often involves repeated trial and error, and is a work that requires a lot of man-hours.

  After all, in order to quickly cope with the deformation of the welding torch as described above and to resume the welding operation without interruption for a long time, the third countermeasure method of correcting the welding torch on site can be appropriately and easily executed. An apparatus for performing such a correction work has been desired.

JP 58-171279 A

  The present invention has been conceived under the circumstances described above, and an object thereof is to provide a welding torch correction device capable of correcting a deformed welding torch quickly and appropriately.

  In order to solve the above problems, the present invention employs the following technical means.

That is, the welding torch correction device provided by the present invention is installed on the support base, the torch holding portion that is installed on the support base and holds the welding torch at the base end thereof, and the support base. and the torch correction unit for applying an external force in a direction intersecting the axis at the site of the distal end side of the welding torch held by the upper Quito over switch holding portion, is placed on the supporting base, the upper Quito over switch holding portion A correction target indicating section indicating a correction target position of the tip of the welding torch held by the bracket, and the torch correction section rotates about a horizontal axis with respect to the bracket fixed to the support base. A rotatable housing supported by the rotating housing, and guided and supported by the rotating housing so as to be movable in a direction crossing the horizontal axis, and inserting and holding the tip side portion of the welding torch. And body, is characterized in that it is configured to include a feed screw mechanism for moving the straightening member in the movable direction.

Welding torch is held in a cantilever relative preparative chromatography switch holding portion, the distal end side of the welding torch is corrected by the torch correction unit. More specifically, the tip side portion of the welding torch has a torch correction portion, and a correction body that is moved by a feed screw mechanism crosses the axis line on the tip side of the torch, preferably orthogonal to the coaxial line. An external force in the direction to be applied is applied. Since this corrector is supported by a rotating housing that rotates about a horizontal axis, by changing the rotational position of this rotating housing, it is determined in which radial direction the corrector is moved along the horizontal axis. You can make a choice. Therefore, no matter what radial direction the tip side of the welding torch is deformed relative to its original position, the rotational position of the rotating housing can be selected so as to move the correction body in the direction to return the deformation. The direction in which the tip side of the welding torch is deformed can be easily known by the positional deviation of the tip of the welding torch relative to the correction target position indicated by the correction target instruction unit. Moreover, since the correction body is moved by the feed screw mechanism, the force to be applied by the operator may be small.

  Therefore, according to the correction device for a welding torch according to the present invention, in order to position the tip of the welding torch corresponding to the correction target indicated by the correction target instruction unit, the rotating housing of the torch correction unit is rotated for correction. By selecting the direction and moving the correction body with a slight operating force by the feed screw mechanism, the deformed welding torch can be corrected easily and quickly.

  In a preferred embodiment, the bracket includes a cylindrical portion centered on the horizontal axis, while the rotating housing is rotatably supported on the inner side of the cylindrical portion of the bracket, and A cylindrical portion is provided through which a portion on the tip side of the welding torch can be inserted.

  In a preferred embodiment, the rotating housing includes a correction body guide portion that guides and supports the correction body adjacent to the cylindrical portion.

  In a preferred embodiment, the correction body further includes a through-hole penetrating substantially in the horizontal axis direction and inserting and holding a portion on the tip side of the welding torch with play.

  In a preferred embodiment, the feed screw mechanism extends in a direction orthogonal to the horizontal axis so as to be pivotable with respect to the rotary housing and rotated by a handle, and the correction shaft. The screw hole is formed in the body and screwed into the screw shaft.

  In a preferred embodiment, the correction target instruction section includes a bracket fixed to the support base and an indicator that protrudes horizontally from the bracket and has a sharp tip.

  In a preferred embodiment, the correction target indicating unit further includes a deformation amount measuring means for measuring a deformation amount in a direction perpendicular to the axis of the tip portion of the welding torch.

  In a preferred embodiment, the torch correction unit and the correction target instruction unit are configured to be able to change the installation position with respect to the support base.

  Other features and advantages of the present invention will become more apparent from the detailed description given below with reference to the drawings.

  Hereinafter, preferred embodiments of the present invention will be specifically described. FIG. 1 is an explanatory diagram of a welding torch 100 to be corrected, FIG. 2 is an explanatory diagram of the welding torch 100 with a gauge tip attached during correction, FIG. 3 is a plan view of the correction device A, and FIG. -A arrow sectional drawing, FIG. 5 is BB arrow sectional drawing of FIG. 3, FIG. 6 is CC arrow sectional drawing of FIG.

A welding torch 100 to be corrected by the welding torch correction device A of the present invention is called a so-called torch body, and as shown in FIG. 1, a shock is applied to the tip of a welding robot (not shown). The torch body holder 120 having a sensor function is used by being appropriately connected. The welding torch 100 has a base end portion 110 having a slightly reduced diameter that is inserted into and fixed to the torch body holder 120 . The base end portion 110 is also formed with a projection 111 for positioning in the direction around the axis with respect to the torch body holder 120. In the example shown in FIG. 1, the welding torch 100 is bent at an angle of 45 degrees on the distal end side with respect to the base end portion 110. The welding torch 100 also has a known configuration having a guide (not shown) for guiding the welding wire to the distal end side and a passage for guiding an inert gas to the distal end side. However, when performing the correction work, preferably, as shown in FIG. 2, the tip part is removed, and a correction gauge tip 130 having a sharp tip part is attached to the welding torch 100. The tip portion of the gauge tip 130 in the mounted state is made to correspond to the planned position of the welding point.

  As shown in FIGS. 3 to 6, the welding torch straightening device A of the present invention includes a support base 200, a torch holding part 300, a torch straightening part 400, and a straightening respectively installed on the support base 200. A target instruction unit 500 is provided.

  In the embodiment shown in the figure, the support base 200 is made of a plate-like member having a rectangular shape in plan view, and is formed of a hard metal.

  The torch holding part 300 is for holding the above-described welding torch 100 in a cantilevered manner at the base end part 110 thereof. In the embodiment shown in the figure, a clamp that clamps the base end portion 110 of the welding torch 100 in cooperation with a block-shaped main body portion 310 and a clamping surface 311 provided perpendicularly to a predetermined height position of the main body portion 310. And a piece 320. The main body 310 is fixed to the support base 200 by tightening the bolt 330 in the screw hole 210. The clamp piece 320 is attached to the main body 310 by a bolt 321. Grooves 312 and 322 each having a cylindrical inner surface and extending in the horizontal direction are formed on one surface of the clamping surface 311 and the clamp piece 320 of the main body 310. The base end portion 110 of the welding torch 100 is firmly inserted between the clamping surface 311 and the clamp piece 320 by tightening the bolt 321 while being inserted into the cylindrical holding space formed by the grooves 312 and 322. Sandwiched between. Note that an engagement recess 313 that engages with a positioning projection 111 around the axis formed on the proximal end portion 110 of the welding torch 100 is also formed on the clamping surface 311 of the main body portion 310. The members constituting these torch holding parts 300 are formed of hard metal such as tool steel.

The torch correction part 400 is for applying an external force in a direction perpendicular to the axis to the portion on the tip side of the welding torch 100 held by the torch holding part 300 as described above. In the embodiment shown, the torch correction unit 400, as best appears in Figure 3, a bracket 410 which is secured by bolts 411 to the supporting base 200, upper Quito against the bracket 410 A rotating housing 420 rotatable about a horizontal axis L having a height equivalent to that of the base end portion 110 of the welding torch 100 held by the torch holding portion 300, and the rotating housing 420 in a direction perpendicular to the horizontal axis L. A straightening body 450 that is guided and supported so as to be movable and that inserts and holds the tip side portion of the welding torch 100 and a feed screw mechanism 470 that moves the straightening body 450 in the movable direction are provided. The member which comprises this torch correction | amendment part 400 is formed with hard metals, such as tool steel.

As clearly shown in FIG. 4, the bracket 410 includes a cylindrical portion 412 having the horizontal axis L as the center. On the other hand, the rotating housing 420 includes a cylindrical portion 421 that fits inside the cylindrical portion 412 and is supported so as to be rotatable about the horizontal axis L with respect to the bracket 410. For example, an oilless bearing (not shown) is embedded in the inner surface of the cylindrical portion 412 of the bracket 410, and the inner surface of the cylindrical portion 412 of the bracket 410 and the outer surface of the cylindrical portion 421 of the rotary housing 420 cooperate with each other. And constitutes a sliding bearing.

The rotating housing 420 may also comprise, as is clearly shown in Figure 4, and adjacent to the opposite side of the upper Quito over switch holding portion 300 with respect to the cylindrical portion 421, corrective body for guiding supporting the straightening member 450 A guide unit 430 is provided. The correction body guide part 430 is connected to the cylindrical part 421 via an outward flange part 422 and includes a substantially cylindrical outer part 431 having an opening in the lower part, and the horizontal axis L of the outer part 431 is provided. A pair of guide plates 434 are fixed to the end vertical wall 432 in the direction by bolts 435. Each of the pair of guide plates 434 has an arcuate outer edge portion 434a corresponding to the outer shape of the outer shell portion 431 and a linear guide edge 434b extending in a direction of forming a chord of the outer shape of the outer shell portion 431. Yes. The pair of guide plates 434 are fixed to the vertical wall 432 of the outer shell portion 431 so that the guide edges 434b are parallel to each other at a position equidistant from the horizontal axis L.

On the other hand, as shown in FIGS. 4 to 6, the correction body 450 is accommodated in the outer portion 431 with a margin and has an axial thickness substantially corresponding to the axial length of the outer portion 431. And is provided with a through hole 451 that penetrates in the horizontal axis L direction and penetrates the tip side portion of the welding torch 100 with play. The straightening member 450, together with the vertical end face 452 of the upper Quito over switch holding portion 300 side comes into contact with the inner surface of the outward flange portion 422 of the rotary housing 420, opposite part the pair of guide plates of the end face 453 of the By contacting the inner surface of 434, the position in the vertical axis direction is regulated. Further, the end surface 453 of the correction body 450 is formed with a bulging portion 454 having a pair of guided side surfaces 454a that are in sliding contact with the guide edges 434b of the pair of guide plates 434, and the guide edges. When the guided side surface 454a is in sliding contact with 434b, the moving direction of the correction body 450 is regulated in a direction orthogonal to the horizontal axis L. The correction body 450 is also formed with a screw hole 455 extending in a direction corresponding to the moving direction of the correction body 450 so as to reach the through hole 451 from the peripheral surface of the correction body 450.

  As shown in FIGS. 4 and 5, a screw shaft 460 that is screwed into the screw hole 455 of the corrector 450 is rotatably supported on the outer portion 431 of the corrector guide 430. In this embodiment, the screw shaft 460 includes a male screw portion 461 at the lower end, a flange portion 462, an outer portion insertion portion 463, and an upper end connecting portion 464 in this order, and the flange portion 462 is an inner surface of the outer portion 431. The outer portion insertion portion 463 is inserted into the through hole 436 formed in the outer portion 431 and the cap member 465 is fitted and fixed to the upper end connecting portion 464 so that it rotates at a fixed position in the axial direction. It becomes possible. The cap member 465 is provided with a handle bar 467 inserted through a holding hole 466 opened in the direction orthogonal to the axis. Thus, by rotating the handle bar 467, the screw shaft 460 can be rotated in a desired direction with a small force. By means of a feed screw mechanism 470 comprising a screw shaft 460 thus rotated and a screw hole 455 provided in the correction body 450 so as to be screwed to the screw shaft 460, the correction body 450 is in a direction perpendicular to the horizontal axis. Moved to.

  As shown in FIG. 3, the welding torch 100 to be corrected is bent at an angle of 45 degrees from the proximal end portion 110 to the distal end side. Therefore, the torch correction part 400 is installed so as to substantially correspond to the torch axis on the distal end side inclined at an angle of 45 degrees with respect to the base end part 110. Note that the welding torch 100 to be corrected may be curved as shown in the figure or may be linearly extended from the base end to the tip end. In order to cope with this, in the embodiment shown in the figure, the position of the torch correction part 400 on the support base 200 can be changed. Specifically, another bolt for screwing the fixing bolt 411 so that the torch correction part 400 can be installed on the support base 200 so as to correspond to the case where the front end side of the welding torch 100 extending linearly is corrected. A set 220 of screw holes is provided.

The correction target instruction unit 500 is for indicating the original position of the tip of the welding torch 100. In the embodiment shown in the figure, the correction target instruction unit 500 includes a block-shaped bracket part 520 fixed to the support base 200 by a bolt 510 and an indicator 530 attached to the bracket part 520. . The indicator 530, a shaft 532 that holds the gauge tip 531 having a sharpened tip, the axis of the proximal end 110 of the torch 100 to be held by the upper Quito over switch holding portion 300 equal the height of the horizontal axis Along L , the bracket portion 520 is configured to be movable in the axial direction. The correction target instruction unit 500 is installed on the support base 200 so that the axial direction of the shaft body 532 substantially coincides with the axial direction on the distal end side of the welding torch 100 to be corrected. In addition, this correction target instruction | indication part 500 can also be installed by changing the position on the support base 200 so that it can respond to the case where the welding torch 100 extended linearly is corrected. In particular,
Another set 230 of screw holes into which bolts 510 for fixing the correction target instruction unit 500 are to be screwed is provided on the support base 200.

Further, in the embodiment shown in the figure, the correction target instruction unit 500 is attached with a deformation amount measuring means 540 for measuring the deformation amount in the direction perpendicular to the axis of the tip of the welding torch 100 to be corrected. Specifically, as shown in FIGS. 3 and 4, two instruments 541 and 543 that can digitally display the amount of axial movement of the pusher 542 relative to the main body, one instrument 541 has the pusher 542 connected to the horizontal axis line. direction and a direction perpendicular to the L and the horizontal direction, the other of the instrument 543 is its pusher 542 so as to face the direction perpendicular to the horizontal axis L and the vertical direction, it is attached to the bracket 520 via a stay 545 Yes.

Next, a description will be given work procedure to correct the welding torch 100 which is deformed using a correction device A welding torch as described above.

As described above, the correction gauge tip 130 is attached to the tip of the welding torch 100. The gauge tip 130 preferably has a pointed tip 131, but in the example shown in the figure, a tip provided with a spherical portion 132 on the proximal side of the pointed tip 131 is used. The spherical portion 132 is formed so that the center thereof is located on the axis of the gauge tip 130 or the tip side of the welding torch 100. Then, the welding torch 100, a portion of the distal end side passes through the through hole 451 of the correctional 450 in the torch correction unit 400, and so as to pass through the cylindrical portion 421 of the rotary housing 420, proximal portion 110 It is is held by the preparative chromatography switch holding portion 300. Incidentally, the engagement between the engaging recesses 313 of the engaging protrusion 111 and the preparative chromatography switch holding portion 300 of the proximal end portion 110 of the welding torch 100, the welding torch 100 is basically a plane containing the axis of curvature Is held horizontally.

  Next, the indicator 530 of the correction target instruction unit 500 is moved in the axial direction, the sharp tip thereof is brought close to the sharp tip portion 131 of the gauge tip 130, and how much the tip of the welding torch 100 is deformed in which direction. Check if it is. At this time, the distal ends of the pushers 542 of the two instruments 541 and 543 are brought into contact with the peripheral surface of the spherical portion 132 provided on the gauge tip 130, so that the horizontal deformation amount and the vertical direction of the distal end of the welding torch 100 are increased. Since the deformation amount can be known, the deformation direction and deformation amount of the torch tip can be known more accurately.

  Next, the rotary housing 420 of the torch correction section 400 is rotated (see FIG. 5), and the direction of movement of the correction body 450, that is, the direction corresponding to the deformation direction of the tip of the torch 100 that the screw shaft 460 is found as described above. To face. For example, if the torch tip is deformed in the 10 o'clock direction as viewed from the torch tip direction, the rotary housing 420 is rotated so that the screw shaft 460 faces the 10 o'clock direction or the 4 o'clock direction.

Subsequently, by rotating the handle bar 467, the screw shaft 460 is rotated, and the correction body 450 is displaced in a direction in which the deformation of the tip of the welding torch 100 is eliminated. Since the correction body 450 constrains the tip side portion of the welding torch 100 in the through-hole 451, the correction body 450 is moved as described above, so that the correction body 450 is perpendicular to the tip side portion of the welding torch 100. An external force in the direction can be applied. Since the external force is generated by the feed screw mechanism 470, the external force becomes large. In this way, the deformation of the welding torch 100 is corrected by repeating the movement and returning operation of the correction body 450 until the deformation amount indicated by the instruments 541 and 543 is eliminated while considering the spring back of the welding torch 100. can do. The welding torch 100 that has been straightened is removed from the welding torch straightening device A , the gauge tip 130 is replaced with a regular torch tip member, and the work is completed by attaching it to the torch body holder 120 of the welding robot.

Thus, according to the welding torch correction apparatus A having the above-described configuration, the deformation can be easily corrected with a small operating force while easily confirming the deformation direction on the distal end side of the welding torch 100.

  Note that the scope of the present invention is not limited to the above-described embodiment, and all changes within the scope of matters described in the claims are all included in the scope of the present invention.

  In particular, the configuration of the torch correction unit 400 is not limited to the specific configuration of the embodiment. The structure for rotatably supporting the rotating housing 420 with respect to the bracket 410, the structure of the rotating housing 420 itself, and the structure for moving the corrector 450 in a predetermined direction with respect to the rotating housing 420 by the feed screw mechanism 470, respectively. As long as such a function is provided, the specific configuration is not limited. For example, in the embodiment, the screw shaft 460 that rotates in the axial fixed position with respect to the rotary housing 420 is screwed into the screw hole 455 provided in the corrector 450, but rotates in the axial fixed position with respect to the corrector 450. Even if the screw shaft to be screwed is screwed into the screw hole provided in the rotary housing 420, the correction body 450 can be corrected and fed in a predetermined direction by rotating the screw shaft.

  In the embodiment, the rotation housing 420 is rotated to a predetermined rotation position and the screw shaft 460 is manually rotated. However, these can be automatically performed. For example, the two meters 541 and 543 detect the deformation direction and amount of the tip of the welding torch 100 as deformation data, and based on the deformation data, the rotating housing 420 is rotated to a predetermined rotation position by a motor, In addition, the screw shaft 460 can be rotated by a motor by feedback control using the deformation data.

Furthermore, in the embodiment, remove the torch body from the torch body holder of a welding robot, but configured to perform a corrective for the torch body, while wearing torch body to the torch body holder to clamp the torch body In this state, it is possible to correct the deformation of the tip of the torch by the operation of the torch correction unit 400.

It is explanatory drawing of the example of the welding torch correct | amended with the correction apparatus of the welding torch of this invention. It is explanatory drawing of the welding torch of the state which mounted | wore with the gauge tip at the time of correction. It is a top view of an example of the correction device of a welding torch. It is AA arrow sectional drawing of FIG. It is a BB arrow sectional view of Drawing 3. It is CC sectional view taken on the line of FIG.

Explanation of symbols

A Welding torch straightening device 100 Welding torch 110 Base end (of welding torch)
DESCRIPTION OF SYMBOLS 130 Gauge tip 200 Support base 210 Screw hole 300 Torch holding part 310 Main body part 311 Holding surface 320 Clamp piece 400 Torch correction part 410 Bracket 420 Rotating housing 430 Correction object guide part 450 Correction object 451 Through hole (correction object)
455 Screw hole (for orthodontic body)
460 Screw shaft 467 Handle 470 Feed screw mechanism 500 Correction target instruction unit 520 Indicator 540 Deformation amount measuring means

Claims (8)

A support base;
A torch holding part installed on the support base and holding the welding torch at its proximal end;
Is placed on said support base, and the torch correction unit for applying an external force in a direction intersecting the axis at the site of the distal end side of the welding torch held by the upper Quito over switch holding portion,
It is placed on the supporting base, and correcting the target instruction section showing a correction target position of the tip of the welding torch held by the upper Quito over switch holding portion,
With
The torch correction part is movable in a direction that intersects the horizontal axis on the rotary housing supported by the bracket fixed to the support base, a rotary housing that is rotatably supported about the horizontal axis. It is configured to include a correction body that is guided and supported, and that inserts and holds the tip side portion of the welding torch, and a feed screw mechanism that moves the correction body in a movable direction thereof. Straightening device for welding torch.   The bracket includes a cylindrical portion centered on the horizontal axis, while the rotating housing is rotatably supported on the inner side of the cylindrical portion of the bracket, and a portion on the tip side of the welding torch. The correction device for a welding torch according to claim 1, comprising a cylindrical portion that can be inserted.   The welding torch straightening device according to claim 2, wherein the rotating housing includes a straightening body guide portion that guides and supports the straightening body adjacent to the cylindrical portion.   The welding torch straightening device according to claim 3, wherein the straightening body includes a through hole that penetrates substantially in the horizontal axis direction and inserts and holds a portion on the tip side of the welding torch with play.   The feed screw mechanism extends in a direction orthogonal to the horizontal axis and is rotatably supported with respect to the rotary housing, and is formed on the straightening body and a screw shaft that is rotated by a handle. The correction device for a welding torch according to any one of claims 2 to 4, wherein the correction device includes a screw hole screwed into the shaft.   The welding torch correction device according to claim 1, wherein the correction target instruction unit includes a bracket fixed to the support base and an indicator that protrudes horizontally from the bracket and has a sharp tip.   The welding torch correction device according to claim 6, wherein the correction target instruction unit includes a deformation amount measuring unit for measuring a deformation amount in a direction perpendicular to the axis of the tip of the welding torch. The welding torch straightening device according to any one of claims 1 to 7 , wherein the torch straightening section and the straightening target instruction section are configured to be able to change an installation position with respect to the support base.

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