JPS649115B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of Industrial Application The present invention relates to a welding robot that can be taught while being moved directly by hand.

Conventional structure and problems Conventionally, the teaching methods for transversely articulated robots have been (i) inputting data through key operations called NC teaching, and (ii) teaching while remotely controlling the machine using a teaching box. There were two options: to do so. However, the teaching method (i) has the problem that it cannot teach while watching the robot's position (teaching point), and the teaching method (ii) teaches by moving the robot to the teaching point while remotely controlling it. However, there was a problem that it took time to teach.

OBJECT OF THE INVENTION The present invention solves the above-mentioned conventional drawbacks.
Hold the robot directly in your hand and move it to the teaching point.
The purpose of this is to issue commands to start and end welding at the teaching point by operating a switch.

Structure of the Invention In order to achieve this object, the present invention includes a first switch 9a of a motor that moves up and down a slider having a welding torch attached to a part of the first arm or a part of the second arm, and a welding start switch 9a made in advance. a second switch 9b for selecting the sequence of welding termination and welding conditions; a third switch 9b for storing the sequence and position;
A switch section 9c, a fourth switch 9d for correcting the sequence and position, and a fifth switch 9e for setting the speed are provided, and the robot can be taught while being moved directly by hand.

DESCRIPTION OF EMBODIMENTS In FIG. 1, 1 is a base, 2 is a pivot axis,
A first arm 3 is attached to the pivot shaft 2 and driven by a motor 4. Reference numeral 5 denotes a first rotating shaft attached to the first arm 3. A second arm 6 is attached to the first rotating shaft 5, and the second arm 6 is driven by a motor 7. The first arm 3 includes a handle 8 and a first switch 9a for a motor that moves the welding torch up and down, a second switch 9b for selecting the sequence of welding start, welding end, and welding conditions, and a second switch 9b for sequence selection. A switch section 9 is installed which includes a switch 9b, a third switch 9c for storing the sequence and position, a fourth switch 9d for correcting the sequence and position, and a fifth switch 9e for speed setting. Further, a wrist portion 10 is attached to the second arm 6, and a welding torch 12 is attached to a slider 11 at the tip thereof. The operator moves the robot to the teaching point while holding the handle 8 with his left hand and the wrist portion 10 or the welding torch 12 with his right hand, and operates the first to fifth switches of the switch portion 9 with his left hand. . The internal structure of the wrist portion 10 is shown in FIG. 13 is a motor that moves the slider 11 up and down, and the motor 13 causes gears 14,
By rotating a ball screw bearing 17 supported by a bearing 16 via a bearing 15, the ball screw 18 is moved up and down. A bracket 19 is fixed to the ball screw 18. Further, the slider 11 is attached to the other end of the bracket 19 via a bearing 20, and this slider 11 also moves up and down. Further, the slider 11, the second rotating shaft 21, and the third rotating shaft 22 are slidably connected. The second rotating shaft 21 supported by a bearing 23 is fixed to a gear 25 and rotated by a motor 26 via a gear 27, but the second rotating shaft 21, the third rotating shaft 22 and the slider 11 are rotated in the radial direction. Since it is fixed to
The slider 11 has a second rotating shaft 21 and a third rotating shaft 2.
2 and rotate at the same time.

As shown in FIG. 3, the robot is composed of a control device consisting of a CPU, a storage device, and a servo amplifier, a main operation section, and a robot body including a switch section.

As shown in FIG. 4, the robot is operated in the order of power-on, return to origin, teaching, operation, and power-off. Teaching is the operation of registering the movement route to the robot.
Row) Operate each switch of the switch section 9. FIG. 5 shows an example of the arrangement of switches, and FIG. 6 shows a teaching route and an operation timing chart of each switch.

As shown in FIG. 6, teaching point C is the welding start point, teaching point D is the welding point, and teaching point E is the welding end point. The teaching procedure is as follows. Manually guide the robot to passing points A and B on the way to the welding start point and press the memory switch 9c to register the position and speed. The speed can be freely selected using the speed switch 9e. Guide the welding start point C by hand, press the welding start switch 9b, and then press the memory switch 9c. Guide to welding passing point D and press memory switch 9c. Guide the robot to the welding end point E, press the welding end switch 9b, and then press the memory switch 9c. When the "start welding" and "end welding" switches are pressed during teaching, a standard welding work sequence is automatically created. If the welding start switch or welding end switch is pressed by mistake at a time other than the start or end of welding, the correction can be made by pressing the correction switch before pressing the memory switch 9c. Guide to passing points F and G after welding and press the memory switch. The robot is taught by operating each switch of the switch section 9 as described above.

Effects of the Invention According to the present invention, a worker can directly teach the work point to the robot by holding and moving the robot while simultaneously operating the switch part, thereby shortening the teaching time. This has the excellent effect of making the teaching work extremely easy and completely eliminating the need for operator skill.

[Brief explanation of drawings]

FIG. 1 is a perspective view showing a teaching operation of a welding robot according to an embodiment of the present invention, FIG. 2 is a schematic perspective view of the inside of the wrist, FIG. 3 is a block configuration diagram of the welding robot, and FIG. The figure shows the operating procedure, FIG. 5 is a front view showing the arrangement of the switches, and FIG. 6 is a timing chart of each switch corresponding to the taught path. DESCRIPTION OF SYMBOLS 1... Base, 2... Rotation axis, 3... First arm, 4... Motor, 5... First rotating shaft, 6... Second arm, 7... Motor, 8... Handle, 9... ...Switch part, 10...Wrist part, 11...Slider, 12...Welding torch, 13...Motor, 1
4, 15... Gear, 16... Bearing, 17
... Ball screw bearing, 18 ... Ball screw, 19
... Bracket, 20, 23, 24 ... Bearing, 21 ... Second rotating shaft, 25, 27 ... Gear, 26 ... Motor, 9a ... First switch,
9b...Second switch, 9c...Third switch, 9d...Fourth switch, 9e...Fifth switch.

Claims (1)

[Claims] 1. One end of the first arm is attached to the pivot shaft so that the first arm can rotate around the pivot shaft installed on the base, and the second arm is freely rotatable around the first pivot shaft provided at the other end of the first arm. a second rotation shaft is installed at the other end of the second arm, and a slider is provided that moves linearly through the second rotation shaft and rotates integrally with the second rotation shaft; The welding robot has a welding torch attached to the slider, a motor for moving the slider up and down via a ball screw, and the pivot shaft, first and second rotation shafts, and the slider are respectively arranged parallel to each other. a first switch of a motor that moves the slider up and down on a part of the first arm or the second arm, a second switch that selects a pre-made sequence of welding start, welding end, and welding conditions; A switch section is provided, each having a third switch for storing the sequence and position, a fourth switch for correcting the sequence and position, and a fifth switch for setting the speed. Robot.