JP4508919B2 - Torch mounting jig for welding robot and tandem welding method - Google Patents

Description

  The present invention relates to a welding robot torch mounting jig and a tandem welding method used when two torches are combined in a welding line direction at a predetermined interval and used for tandem welding.

  In the manufacturing process of structures such as construction machinery, industrial machinery, and heavy electrical equipment, automatic welding is performed by a welding robot, which contributes to shortening the welding time and improving the automation rate. However, in recent years, it has been demanded to increase the welding speed by high welding welding for the purpose of further shortening the welding time. Accordingly, attention has been paid to tandem welding in which welding torches are arranged in series in the weld line direction and one molten pool is formed by a preceding wire (leading electrode) and a trailing wire (following electrode). In tandem welding, high-speed welding can be performed with a large current, so it is possible to increase the welding speed by about 4 times compared to a single torch. From these advantages, the working time is reduced, the number of robots is reduced, and the cost is reduced. Reduction is expected.

  FIG. 12 is a view showing a mounting jig for a conventional tandem welding torch. Two torches 101 and 102 for tandem welding are attached to an attachment jig 103a, and this attachment jig 103a is attached to an arm 104 of the robot. The mounting jig 103a shown in FIG. 12 supports the two torches 101 and 102 so as to be symmetric about the robot arm 104 and close to the wire supply side end of the torch tip. By moving the arm 104 in the parallel direction of the torches 101 and 102 (vertical direction in the drawing), 2 generated between the preceding wire and the succeeding wire fed from the torches 101 and 102 and the workpiece. Tandem welding is performed by forming one molten pool by two arcs.

  A torch used for such tandem welding is disclosed in Patent Document 1, and a tandem welding method is disclosed in Patent Document 2. The technique disclosed in Patent Document 1 improves the cooling performance of contact tips in a tandem welding torch. That is, for example, a pair of torch bodies are arranged at a predetermined interval in the welding direction, and the one pair of torch bodies are integrally surrounded and held at the tip of the torch body by one jacket. Patent Document 1 discloses a torch in which one shield gas nozzle that guides shield gas in the direction of the tip of a contact tip attached to a tip body connected to the inner cylinder of the torch is attached to the tip of the jacket ( FIG. 1 of Patent Document 1).

  In the technique disclosed in Patent Document 2, when welding is performed with a tandem welding torch having two torches spaced by a predetermined interval, tandem welding is performed even when welding interference members exist at the start and end of the weld line. It is a way to try to make it possible. The technique disclosed in Patent Document 2 is provided with a start end processing welding start point and a tandem welding start point at a position a predetermined length away from the weld line start point on the weld line end point side, and also from the weld line end point to the weld line start point side. A tandem welding end point and a termination processing welding end point are provided at positions separated by a predetermined length in FIG. 5, and the torch is reciprocated at the starting end portion of the welding line based on the starting end processing welding start point P1, the welding line start point Ps, and the tandem welding start point P2. Run and perform single arc welding with the trailing electrode under the predetermined welding conditions, then run the torch from the tandem welding start point P2 to the tandem welding end point P3 to perform tandem welding with the leading and trailing electrodes, and then tandem The torch is reciprocated to the welding end point P3, the welding line end point Pe, and the end treatment welding end point P4, and the predetermined electrode is used for the preceding electrode. It is a tandem arc welding method of performing Nguruaku welding (FIG. 1 of Patent Document 2).

JP 2003-39172 A Japanese Patent Laid-Open No. 2003-53532

  By the way, as shown in FIG. 12, in the tandem welding torch in which the two torches 101 and 102 are arranged in parallel on both sides of the arm 104, as shown in FIG. If there is an obstacle to insert the robot arm 104, there is a problem that the welding operation cannot be performed.

  FIG. 13 is a front view, in which a horizontal plate member 106 is welded perpendicularly to a vertical plate member 105 inclined from the lower left to the upper right, and a groove 36 is formed at the edge of the horizontal plate member 106. The case where the horizontal plate member 106 and the vertical plate member 107 parallel to the vertical plate member 105 are welded is shown. In this case, the weld line formed by the groove 36 extends in the horizontal direction, but as shown in FIG. 13, the torch posture is determined so that the torches 101 and 102 are arranged in parallel in the horizontal direction, and the robot arm It is impossible to insert 104 in the vicinity of the welded portion because the vertical plate member 105 becomes an obstacle, and therefore the vertical plate member 105 interferes with the movement of the arm 104 and cannot be welded. In the case of a single arm, the welding line as shown in FIG. 13 can be welded by changing the attitude of the torch by 90 °. That is, in the welding mode shown in FIG. 13, the arm 104 is inserted in a direction perpendicular to the weld line so that the torch is disposed on a plane substantially perpendicular to the weld line. In contrast, in the case of a single torch, a vertical plate as shown in FIG. 13 is inserted by inserting the arm 104 in a direction parallel to the weld line so that the torch is arranged on a plane substantially parallel to the weld line. Welding is possible even with a welding line where the member 105 interferes. However, in the case of tandem welding, since it is necessary to arrange two torches on the weld line, there is a restriction that the torch posture with respect to the weld line is naturally determined. As a result, even in the case of tandem welding, there is a case where it is not possible to apply to a welding line that can be applied while avoiding an obstacle with a single torch.

  Such a problem is not disclosed in Patent Documents 1 and 2 described above, and therefore, no solution is disclosed. However, in the welding mode of FIG. 13, as in the case of a single torch, the insertion direction of the arm 104 is rotated by 90 °, and in this insertion posture, the leading ends of the torches 101 and 102 are defined by the groove 36. If the torches 101 and 103 are arranged so as to line up in the direction of the weld line, it is considered that interference by the vertical plate member 105 can be avoided. 14 to 16 show a torch mounting jig that allows the arm 104 to be inserted in a direction along the weld line by rotating the insertion direction of the arm 104 by 90 ° with respect to the case of FIG. 13. . 14 and 15 are plan views, and FIG. 16 is a side view. As shown in FIG. 14, the fixed torch 101 is attached to the distal end of the arm 104 so as to be disposed on the center line of the arm 104 in plan view via an attachment member 103 b. The mounting member 103b arranges the torch 101 so as to be parallel to the center line of the arm 104 in a plan view, and the torch 102 is arranged on the side of the torch 101 in a plan view. The torch 102 has a shape and a structure in which the torch 102 is slightly inclined with respect to the center line of the arm 104 so that the tip is near the wire supply tip of the torch 101. On the other hand, as shown in FIG. 15 (plan view) and FIG. 16 (side view), the third torch 108 is bent sideways and is also bent up and down, and the mounting position of the torch 108 is While being on the side of the torch 101, the wire supply tip of the torch 108 has a shape that allows it to be positioned slightly above the torch 101.

  Therefore, when tandem welding a normal horizontal welding line, as shown in FIG. 14, the torches 101 and 102 are used, the torches 101 and 102 are arranged side by side and welded, and the insertion direction of the arm 104 is set to 90. When welding in a rotated state, as shown in FIGS. 15 and 16, torches 101 and 108 are used, and the torches 101 and 108 are arranged vertically and welded. That is, the torch 102 and the torch 108 are switched according to the welding mode. In either case, the parallel direction of the pair of torches is the direction along the weld line, but the insertion direction of the arm 104 is the direction perpendicular to the weld line in the case of FIG. 14, and the weld line in the case of FIGS. Parallel to the direction.

  However, even when three torches 101, 102, and 108 are prepared as described above, and these torches are switched and attached to the attachment member 103b, there are the following problems. (1) As shown in FIGS. 15 and 16, even when the arc points are arranged vertically, the torch root portion (attachment portion of the torch with respect to the arm) remains side by side, so that it can be applied to narrow portions. Is inhibited. (2) A total of three torches including one fixed torch (torch 101) and two replacement torches (torches 102 and 108) are required. In addition, a wire feeding device for three wires is required for the welding wire, and accordingly, a large space is required as a place for placing the welding wire coil. Further, when the welding wire coil is mounted on the moving device, the coil is increased by one to increase the weight, and therefore it is necessary to increase the drive unit capacity and the frame rigidity of the mounting unit. (3) Since the bending torch 108 is a special shape having two bending points, the manufacturing process becomes complicated.

  The present invention has been made in view of such a problem. When tandem welding is performed using two torches, only two torches are used even when the torch has a different attitude with respect to the weld line. A torch mounting jig for a welding robot that can be tandem welded and can be applied to narrow parts, and the torch shape does not have to be curved, and a torch that is easy to manufacture can be used, and An object is to provide a tandem welding method.

A welding robot torch mounting jig according to the first invention of the present application (Claim 1) is for a welding robot for mounting a second torch for tandem welding to a first torch mounted on an arm of a welding robot. In the torch mounting jig, a first connector having one end attached to the arm of the welding robot or the first torch and having the first detachable portion at the other end, and detachable to the first detachable portion A second attachment / detachment portion connected to the first attachment portion to which the second torch is attached, and a third attachment / detachment portion detachably connected to the first attachment / detachment portion at one end. If a fourth detachable portion to which the second desorption unit is connected is closed and a second connector provided, the said second detachable portion is connected to the first desorption unit, The first connector and the attachment member are used to When the second torch is attached to the torch, or when the third detachable portion is connected to the first detachable portion and the second detachable portion is connected to the fourth detachable portion, first connector, through the second connecting member and the mounting member, and wherein Rukoto the second torch is attached to the first torch.

  The tandem welding method according to the second aspect of the present invention (invention 8) uses the welding robot torch mounting jig according to the first aspect of the present invention, and uses the first detachable portion of the first connector and the first of the mounting member. The tandem welding of the first use mode by connecting the two detachable portions, the first detachable portion of the first connector and the third detachable portion of the second connector, and The tandem welding of the second usage mode for connecting the fourth detachable portion of the second connector and the second detachable portion of the mounting member is switched.

  In the first usage mode (so-called side-by-side), for example, when a robot arm is inserted substantially perpendicular to the welding line, the second usage mode (so-called vertical alignment), for example, the robot arm is substantially parallel to the welding line. This is the case of insertion. In any of the usage modes, only two torches need be prepared. The first usage mode uses the first connector and the mounting member, and the second usage mode includes the first coupling tool and the first coupling tool. By using two connecting tools and mounting members, this can be realized using these two torches. Accordingly, two welding wire supply devices are sufficient. In the second usage mode, since the second torch is arranged by providing the second connector between the first connector and the mounting member, the wire feeding tip of the first torch When the wire feeding tip of the second torch is arranged in the weld line direction, the portion that supports the second torch is also a position separated from the first torch in the weld line direction. For this reason, in this invention, as shown in FIG. 13, the tandem welding with respect to a narrow part in case there exists an interference member is possible. Furthermore, in the present invention, the torch having the same shape and structure can be used in both the first usage mode and the second usage mode. That is, in the present invention, it is not necessary to use a torch that is curved in a complicated shape having two bending points, and it is easy to manufacture the torch, and it is not necessary to prepare various types of torches.

A welding robot torch mounting jig according to a third invention of the present application (Claim 2) is for a welding robot for mounting a second torch for tandem welding to a first torch mounted on an arm of a welding robot. In the torch mounting jig, a first connector having one end attached to the arm of the welding robot or the first torch and having the first detachable portion at the other end, and detachable to the first detachable portion A second attachment / detachment portion connected to the first attachment portion to which the second torch is attached, and a third attachment / detachment portion detachably connected to the first attachment / detachment portion at one end. A dummy member provided with a second connecting tool provided with a fourth attaching / detaching part to which the second attaching / detaching part is connected, and a fifth attaching / detaching part connected removably to the first attaching / detaching part. When, was perforated, the second to the first desorption unit When the detachable part is connected, the second torch is attached to the first torch via the first connector and the attachment member, and the third detachable part is attached to the first detachable part. When the second detachable part is connected to the fourth detachable part, the first torch is connected via the first linking tool, the second linking tool, and the mounting member. the second torch is mounted on, or when performing single weld desorption portion of the fifth is connected to the first detachable element and said Rukoto.

  The tandem welding method according to the fourth aspect of the present invention (invention 9) uses the welding robot torch mounting jig according to the second aspect of the present invention, and the first detachment portion of the first connector and the detachment portion of the mounting member. The tandem welding of the first use mode by connecting the two detachable portions, the first detachable portion of the first connector and the third detachable portion of the second connector, and Tandem welding of the second usage mode for connecting the fourth detachable portion of the second connector and the second detachable portion of the mounting member, the first detachable portion of the first connector and the dummy member The fifth desorption portion is connected to the third welding mode in which the second torch is not used and the single welding is switched.

  In the case of the third and fourth inventions as well, the first usage mode (so-called side-by-side) is the same as that described above. (Vertical alignment) is, for example, the case where the robot arm is inserted substantially parallel to the weld line. However, the third and fourth aspects of the invention include the third usage mode of single welding in which the second torch is not used but the first torch is used alone. In this case, the dummy member is connected to the first connector. Therefore, in this invention, it can apply also to single welding and can be applied to various welding.

  The fifth invention (Claim 3) and the sixth invention (Claim 10) of the present application do not include the second connector and do not use the second usage mode. That is, these inventions select the side-by-side tandem torch arrangement of the first usage mode and the single torch arrangement of the third usage mode. Also in this case, the present invention can be applied to both tandem welding and single welding, and can be applied to various welding.

  In each of the first to sixth inventions, each of the detachable portions has first and second compressed air input ends, and is held in a state of being coupled to each other by the input of the first compressed air. The two can be configured to be separated from each other by the input of compressed air.

  As described above, when the coupling and detachment of the detachable portions are performed by the input of the first compressed air and the second compressed air, the first and second coupling members and the attachment members that use the first and second coupling members are used. The assembly work of the second torch can be easily automated. That is, by placing these first and second coupling tools and mounting members on the tool stand, bringing the robot arm into contact with these jigs, and supplying the first and second compressed air These jigs can be easily connected to and detached from the arm.

  The first and second torches used in the present invention are preferably torches whose front end side is bent in the same direction from the mounting position. That is, the second torch can also have a simple shape with one bending point. Further, the first torch and the second torch can have the same shape.

  When the first and second torches are torches whose front ends are bent in the same direction from the mounting position, a first plane including the first torch and a second plane including the second torch are assumed. Is done. When the weld line is horizontal, in the first usage mode, the first plane and the second plane intersect at a predetermined angle and are substantially perpendicular to the weld line. On the other hand, in the second usage mode, the first plane and the second plane overlap and are parallel to the weld line (including the weld line). By doing in this way, the 1st torch and the 2nd torch can be arranged in the smallest possible space.

  In the torch mounting jig for welding robot according to the present invention, it is preferable that the second connector has a mechanism for adjusting the mounting position of the second torch with respect to the second connector. Thereby, in the second usage mode, the second torch position can be finely adjusted independently of the first torch position.

  According to the torch mounting jig for a welding robot according to the present invention, the first and second usage modes are switched by switching the first usage mode and the second usage mode by selecting a combination of the constituent members constituting the mounting jig. 2 torches can be assembled and the application range is expanded.

  In the welding robot torch mounting jig according to the present invention, the first to fourth attachment / detachment portions have first and second compressed air input ends, respectively, and are mutually connected by the input of the first compressed air. By being held in a coupled state and separated from each other by the input of the second compressed air, the assembly and disassembly can be performed automatically and reliably by the robot.

  In the welding robot torch mounting jig according to the present invention, the first torch includes the first torch in the first usage mode by using, as the first and second torches, the torches whose tip side is bent in the same direction from the mounting position. A horizontal torch in which the plane and the plane including the second torch form a predetermined angle and arc points are arranged in a horizontal direction can be assembled. In the second usage mode, the plane including the first torch and the second torch It is possible to assemble a vertical torch in which the plane including the torch overlaps and the arc points are arranged in the vertical direction. In addition, there are obtained effects that cannot be obtained with a straight torch, such as improved energization stability and less spatter generation.

  The welding torch mounting jig for the welding robot according to the present invention has a mechanism for adjusting the mounting position of the second torch with respect to the second connector, so that the second torch position is set to the first torch in the second usage mode. Fine adjustments can be made independently of the position.

  Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. 1 (a) to (d), FIGS. 2 (a) and 2 (b), and FIGS. 3 (a) to 3 (c) are diagrams showing a first usage mode in the embodiment of the present invention. FIG. 1 (b) is a side view, FIG. 1 (c) is a side view in the direction of arrows AA in FIG. 1 (a), and FIG. It is a side view which shows the structure of the brackets 7 and 8, and is the elements on larger scale of FIG.1 (b). 2 (a) is a plan view showing only the first torch 1 and its mounting mechanism, FIG. 2 (b) is a side view thereof, and FIG. 2 (c) is a side view in the direction of arrows AA in FIG. 2 (a). FIG. 3A is a plan view showing a mode in which the second torch 2 is connected to the first torch 1, FIG. 3B is a side view showing the first torch 1, and FIG. 3C is FIG. It is an AA line arrow direction side view of (a). 4 (a) and (b), FIGS. 5 (a) and (b), FIGS. 6 (a) and (b), FIGS. 7 (a) and (b), FIGS. 8 (a) and (b). ) Is a diagram showing a second usage mode in the embodiment of the present invention, FIG. 4 (a) is a plan view showing a state after the torch is assembled, and FIG. 4 (b) is a side view thereof. FIG. 5A is a plan view showing only the first torch 1 and its mounting mechanism, and FIG. 5B is a side view thereof. FIG. 6A is a plan view showing a mode of connecting the second connector 30 to the first connector 10, and FIG. 6B is a side view thereof. FIG. 7A is a plan view showing a state where the second connector 30 is connected to the first connector 10, and FIG. 7B is a side view thereof. FIG. 8A is a plan view showing a mode in which the mounting member 20 of the second torch 2 is connected to the second connector 30, and FIG. 8B is a side view thereof.

  As shown in FIGS. 1 and 4, the first torch 1 and the second torch 2 are curved at one place between the attachment portion and the wire supply tip, and when installed on the robot arm, They are installed so as to bend in the same direction. The torches 1 and 2 may have the same shape, or the curved portion and / or the magnitude of the curvature may be different from each other. The torch 1 is always installed in a fixed state with respect to the arm 3. That is, in both cases of FIG. 1 (first usage mode) and FIG. 4 (second usage mode), the torch 1 is parallel to the central axis of the arm 3 in plan view, and the torch 1 is viewed in plan view. The central axis at is coincident with the central axis of the arm 3.

A shock sensor 4 is fixed to the tip of the robot arm 3, a bracket 8 is fixed to the tip of the shock sensor 4, and a bracket 7 is fixed to the bracket 8. As shown in FIG. 1 (d), a long hole 6 b extending in the vertical direction is formed in the connecting surface of the bracket 8 in the bracket 7, and in the front-rear direction (longitudinal direction of the arm 3) in the upper surface of the bracket 7. A long hole 6a is formed extending in the direction. And the bracket 8 is being fixed with respect to the bracket 7 with the volt | bolt 9a through the long hole 6a, and the position of the vertical direction with respect to the bracket 8 of the bracket 7 is adjusted by adjusting the position in the long hole 6a of this volt | bolt 9a. Can be adjusted. In addition, the clamp portion 13 is fixed to the bracket 7 by a bolt 9b through a long hole 6b. By adjusting the position of the bolt 9b in the long hole 6b, the clamp portion 13 with respect to the bracket 7 in the front-rear direction Can be adjusted. The first torch 1 is attached to the clamp portion 13. Therefore, by adjusting the positions of the bolts 9a, 9b in the long holes 6a, 6b, the positions of the first torch 1 with respect to the arm 3 in the vertical direction and the front-rear direction can be adjusted.

  On the side surface of the bracket 7, that is, the side surface orthogonal to both the connection surface and the upper surface of the bracket 8 in which the long holes 6 a and 6 b are formed in the bracket 7, 1 torch 1 side end) is fixed. In particular, as shown in FIG. 2C, the first connector 10 has a mounting portion 10 a having a vertically extending elongated hole 6 overlapped on a vertical side surface of the bracket 7, and the bracket 7 is bolted by a bolt through the elongated hole 6. It is fixed to. The first connector 10 extends in the horizontal direction from the mounting portion 10a and further extends in the vertical direction, and a first detachable portion 11 is provided at the tip thereof. By adjusting the position of the bolt in the long hole 6, the height position of the second torch 2 relative to the first torch 1 can be slightly adjusted.

  The attachment member 20 has a second detachable portion 21 detachably attached to the first detachable portion 11 of the first connector 10, and a torch clamp portion 22 is provided at the other end side of the second detachable portion 21. Is provided. The second torch 2 is gripped by the torch clamp portion 22 of the mounting member 20. The first detachable portion 11 and the second detachable portion 21 can be attached and detached by supplying compressed air to be described later. That is, the attachment / detachment between the attachment / detachment portion 11 and the attachment / detachment portion 21 is performed, for example, by a ball lock method, and as described above, the ball lock method ball is pushed outward in the radial direction of the attachment / detachment portion by the first compressed air input. The detachable portion 11 and the detachable portion 21 are coupled to each other, and the ball lock type ball is moved radially inward of the detachable portion by the input of the second compressed air, so that the detachable portion 11 and the detachable portion 21 are separated It is configured. In the attachment / detachment between the attachment / detachment portion 11 and the attachment / detachment portion 21, compressed air may be input to one of the attachment / detachment portions, for example, the master side. To do. The detachable part 11 is provided with a pneumatic port and an electrical contact for supplying to the detachable part 21.

  The first torch 1 is a fixed position type that is always attached to the arm 3 in the same posture, and the second torch 2 is a variable position type that is attached by changing its posture as described later. As shown in FIG. 1, when the second torch 2 is attached to the bracket 7 by the first connector 10 and the attachment member 20, the second torch 2 is viewed in a plan view shown in FIG. The first torch 1 whose central axis coincides with the arm 3 is disposed so as to be adjacent in the horizontal direction, and the wire supply tip of the second torch is in the vicinity of the wire supply tip of the first torch. As described above, the arm 3 is disposed slightly inclined with respect to the central axis. On the other hand, in the side view shown in FIGS. 1 (b) and 1 (c), the first torch 1 and the second torch 2 have horizontal bases held by the torch clamp portions 13 and 22, It is bent or curved slightly downward on the way to the tip side.

  When the first torch 1 and the second torch 2 are arranged as shown in FIG. 1, the first torch 2 including the bent or curved first torch is also bent or curved. When the weld line is horizontal, the first and second planes are vertical, and the first plane is substantially perpendicular to the weld line. . The first torch 1 and the second torch 2 arranged in this way are used for tandem welding in a first usage mode in which the first plane including the first torch 1 is substantially perpendicular to the welding line.

  As shown in FIGS. 4 and 6, the second connector 30 includes a third detachable portion 31 detachably coupled to the first detachable portion 11 of the first connector 10, and an attachment agent. A fourth detachable portion 32 detachably connected to the 20 second detachable portion 21 is provided at both ends thereof. These attachment / detachment portions 31 and 32 are also, for example, ball lock type attachment / detachment members, which are connected to the other attachment / detachment portions 11 and 21 by the supply of the first compressed air and connected by the supply of the second compressed air. Is released (withdrawn). The second connector 30 has a shape such that the position of the fourth detachable portion 32 is above the position of the third detachable portion 31 and is leftward toward the tip side of the torch. . The third detachable portion 31 is inclined to the left in accordance with the fact that the first detachable portion 11 is slightly inclined toward the torch tip side in a plan view. 32 is slightly inclined downward toward the torch tip side. The second connector is configured by connecting three members. That is, it is divided into a member 34 provided with the third detachable portion 31, a member 33 provided with the fourth detachable portion 32, and an intermediate member 35, and the member 34 extends in the vertical direction. A long hole 34a is provided, and the member 33 is provided with two long holes 33a and 33b extending in the front-rear direction. And each hexagon bolt is inserted in each long hole 34a, 33a, 33b, and each member 33, 34, 35 is connected and fixed by tightening this hexagon bolt. Then, by adjusting the position of the bolt with respect to the long holes 33a and 33b, the position of the fourth detachable portion 32 with respect to the third detachable portion 31 can be adjusted, and the position of the bolt with respect to the long hole 34a can be adjusted. By adjusting, the vertical position of the fourth detachable portion 32 relative to the third detachable portion 31 can be adjusted. As will be described later, since the second torch 2 is attached to the fourth detachable portion 32 via the attachment member 20, the second torch 2 is moved up and down relative to the first torch 1 by the long holes 33 a, 33 b and 34 a. The position and the front and back position can be adjusted.

  4 to 8, the third detachable portion 31 of the second connector 30 is detachably connected to the first detachable portion 11 of the first connector 10, The fourth attachment / detachment portion 32 of the second connector 30 is detachably connected to the second attachment / detachment portion 21 of the attachment member 20. And the 2nd torch 2 is gripped and installed in the torch clamp part 22 of the attachment member 20 similarly to a 1st usage condition. In this way, when the first torch 1 and the second torch 2 are assembled by the first connector 10, the second connector 30, and the mounting member 20, the first torch 1 is an arm. 3, the second torch 2 is arranged above the first torch 1, although it is arranged in the same manner as in the first usage mode. That is, the first plane and the second plane including the curved or bent first torch 1 and second torch 2 are both vertical and overlap each other as shown in FIG. And in the 2nd use mode, arm 3 is inserted in a welding part so that the 1st plane and the 2nd plane may become perpendicular to a welding line.

  FIG. 11A is a plan view showing the dummy member 40, and FIG. 11B is a side view thereof. The dummy member 40 is provided with a fifth detachable portion 41 that is detachably connected to the first detachable portion 11. The fifth attachment / detachment portion 41 is also a ball lock type attachment / detachment member, for example, and is connected to the other attachment / detachment portion 11 by the supply of the first compressed air, and the connection is released by the supply of the second compressed air. Is done.

  Note that the second torch 2 is provided with an engaging portion 9 (see FIG. 1A) having a shape in which two truncated cones are joined at their small diameter surfaces. The engagement portion 9 is a portion for storing the second torch 2 in a tool rest (not shown). The engagement portion 9 is engaged with a circular notch portion of the tool rest, and an engagement piece ( The second torch 2 is held in the circular notch by pressing the engaging portion 9 with a notch). Similar engaging portions 9 (see FIGS. 6A and 11) are also provided in the second connector 30 and the dummy member 40.

  Next, the operation of this embodiment will be described. A torch clamp portion 13 is fixed to the bracket 7 fixed to the robot arm 3 via the bracket 8, and the first torch 1 is fixed to the torch clamp portion 13. A first connector 10 is further fixed to the bracket 7. On the other hand, the second torch 2 is held by the tool rest in a state of being connected to the attachment member 20 via the torch clamp portion 22, and further the second connecting tool 30 is held. In the first usage mode, as shown in FIGS. 1 to 3, the second detachable portion 21 of the attachment member 20 is connected to the first detachable portion 11 of the first connector 10. In this case, the robot arm 3 is directed to the tool rest, and the first attachment / detachment portion 11 of the first connector 10 fixed to the arm 3 is connected to the second attachment / detachment portion 21 of the attachment member 20 of the tool rest. The first detachable portion 11 and the second detachable portion 21 are joined by superimposing and supplying the first compressed air and pushing the ball-lock type ball outward in the radial direction of the first detachable portion 11. . As a result, the first torch 1 and the second torch 2 are arranged side by side in the horizontal direction with respect to the arm 3, and as shown in FIG. It arrange | positions in the state with which the torch 2 overlaps. In this first use mode, the posture is set so that the arrangement direction of the first torch 1 and the second torch 2 is along the weld line, and the arm 2 is perpendicular to the weld line with respect to the welded portion. Insert in the direction. Thus, tandem welding is performed in the first usage mode in which the first torch 1 and the second torch 2 are arranged in two horizontal rows.

  Next, as shown in FIG. 13 of the related art, when the torch cannot be inserted into the welded portion in the horizontal two-row arrangement, the first torch 1 and the second torch 2 are used in the second usage mode (vertical two-row arrangement). ). The arm 3 is moved to the tool rest, the first attaching / detaching portion 11 and the second attaching / detaching portion 21 are separated by supplying the second compressed air, and the second torch 2 is stored in the tool rest. Thereafter, the arm 3 is moved to the storage position of the second connector 30, and the first detachable portion 11 is overlapped with the third detachable portion 31 of the second connector 30. Then, the first compressed air is supplied to connect the first detachable portion 11 and the third detachable portion 31 by a ball lock method. Next, the arm 3 is moved to a position where the fourth attachment / detachment portion 32 of the second connector 30 overlaps the second attachment / detachment portion 21 of the mounting member 20, and the first compressed air is supplied to perform the fourth attachment / detachment. The part 32 and the second detachable part 21 are connected. As a result, as shown in FIGS. 4 to 8, the second torch 1 is arranged on the first torch 1, and the first torch 1 and the second torch 2 overlap in a plan view. Be placed. When the first torch 1 and the second torch 2 are arranged in the second usage mode, the plane including the first torch 1 and the second torch 2 has a weld line as shown in FIG. The torch 1 and 2 can be arrange | positioned so that it may be included, and the arm 3 can be inserted in a welding part. Moreover, in the present invention, as shown in FIG. 4A, the first torch 1 and the second torch 2 can be arranged so as to overlap in a plan view, and the wire supply tips of the torches 1 and 2 Since not only the portion but also the attachment portion (torch support portion) is arranged in the arrangement direction of the wire supply tip, the width in the direction perpendicular to the arrangement direction of the wire supply tip is very small. That is, in the present embodiment, the entire structure including the attachment portions of the torches 1 and 2 is extremely slim in the direction perpendicular to the arrangement direction of the wire supply tip portions, and therefore, as shown in FIG. , 107 are narrow and the torch 1, 2 can be sufficiently inserted and tandem welding can be performed even in the welding of a narrow portion where it is difficult to insert the torch. Further, in this embodiment, only two types of torches, the first torch 1 and the second torch 2, are used, and there is no need to use three types of torches as in the prior art. Since there is no need to prepare a place, the space around the robot can be reduced accordingly. Furthermore, it is not necessary to increase the drive unit capacity and frame rigidity of the wire moving device on which the wire coil is mounted. In the case of this embodiment, the torch has only one bending portion or bending portion, and it is not necessary to use a torch having a complicated shape having two or more bending portions or bending portions as in the conventional case. The manufacturing cost is low.

  In both cases of the first usage mode and the second usage mode, the distance between the first torch 1 and the second torch 2 is the distance between the arc points formed by the wires supplied from the tip of the torch. For example, it is set to be 10 to 30 mm.

  Further, if the dummy member 40 is connected to the first detachable portion 11 of the first connector 10, the first torch 1 of this embodiment is applied to the welding of the single torch using only the first torch 1. can do. Therefore, when using the welding robot torch mounting jig according to the present embodiment, the first use mode in which the two torches 1 and 2 are arranged in the horizontal direction and the two torches 1 and 2 are arranged in the horizontal direction. It is possible to select the second usage mode in the vertical two-row arrangement arranged in the vertical direction and the third usage mode of the single torch and apply them to automatic welding. In addition, selection of these usage modes may be achieved by simply combining the first connector 10, the second connector 30, and the mounting jig 20 in an appropriate combination, and easily assembling a structure suitable for the usage mode. Can do.

  Further, according to the present embodiment, the first connecting tool 10, the second connecting tool 30, and the attachment jig 20 are connected and detached by two systems of compressed air, ie, the first compressed air and the second compressed air. Therefore, the assembly of the tandem welding torch can be easily automated and the torch can be assembled with high efficiency. For this reason, this embodiment has excellent consistency when applied to automatic welding by a welding robot, and can be effectively applied to automatic welding by a robot. In addition, in a desorption part, it is preferable to employ | adopt a fail safe mechanism so that once a connection is completed, even if supply of compressed air is stopped, a joining state is not opened.

  In the present embodiment, the contact of the tip of the torch with the interference in the horizontal direction is detected by the shock sensor 4, and an accident can be avoided beforehand by stopping the robot before it becomes important.

  According to the present embodiment, by properly using the first connector 10, the mounting member 20, and the second connector 30, the two torches are arranged in a horizontal direction (horizontal direction) and a vertical direction (vertical direction). In any case, the first torch 1 and the second torch 2 can be assembled in a very compact manner in both the horizontal (lateral) arrangement and the vertical (vertical) arrangement. be able to. Therefore, according to this embodiment, the difficulty in welding due to the interference object is greatly reduced, and the application range of tandem welding can be greatly expanded.

  In the present embodiment, the second torch 2 can be arranged at an arbitrary position with respect to the first torch 1 by changing the shape of the second connector 30. Therefore, the shape of the second torch 2 can be the same as the shape of the first torch 1, so that it is not necessary to prepare two types of torches. In the present embodiment, two systems of the first compressed air and the second compressed air are prepared for supplying compressed air to the desorption part, but the fourth desorption of the second connector 30 is performed. As shown in FIG. 10, the compressed air is supplied to the unit 32 by connecting an air pipe 37 connected to a compressed air source to the first desorbing unit 11, and the third desorbing unit 31 and the fourth desorbing unit. By connecting the part 32 with the air pipe 37, the first desorption part 11 and the third desorption part 31 are used.

  In the present embodiment, the vertical and longitudinal positions of the first connector 10 with respect to the arm 3 (bracket 8) are adjusted by adjusting the positions of the bolts 9a and 9b in the long holes 6a and 6b. Therefore, in the first usage mode shown in FIG. 1, the relative positions in the vertical direction and the front-back direction between the first torch 1 and the second torch 2 can be adjusted. Also, by adjusting the position of the bolts in the long holes 33a, 33b, 34a, in the second usage mode shown in FIG. The relative position can be adjusted. Thereby, even when the arc point position of the welding torch tip portion deviates from the design value due to manufacturing errors of the welding torches 1 and 2, the mounting jig 20, and the couplers 10 and 30, the arc point position is finely adjusted. be able to.

  According to the present invention, in addition to normal tandem welding, it can be applied to narrow tandem welding, and the field of application of automatic tandem welding by a welding robot can be greatly expanded. Welding in various technical fields The robot can be applied.

(A) thru | or (d) is a figure which shows the 1st usage condition of embodiment of this invention, (a) is a top view which shows the state after torch assembly, (b) is a side view, (c) (A) AA arrow side view of (a), (d) is a side view which shows the structure of the brackets 7 and 8. FIG. (A) is a top view which shows only the 1st torch 1 and its attachment mechanism, (b) is the side view, (c) is an AA arrow side view of (a). (A) is a top view which shows the aspect which connects the 2nd torch 2 to the 1st torch 1, (b) is a side view which shows the 1st torch 1, (c) is the AA line of (a). It is an arrow direction side view. (A) And (b) is a figure which shows the 2nd usage condition of embodiment of this invention, (a) is a top view which shows the state after a torch assembly, (b) is the side view. (A) is a top view which shows only the 1st torch 1 and its attachment mechanism, (b) is the side view. (A) is a top view which shows the aspect which connects the 2nd connection tool 30 to the 1st connection tool 10, (b) is the side view. (a) is a top view which shows the state with which the 2nd connection tool 30 was connected with the 1st connection tool 10, (b) is the side view. (a) is a top view which shows the aspect which connects the attachment member 20 of the 2nd torch 2 to the 2nd connection tool 30, (b) is the side view. It is a figure which shows the effect of embodiment of this invention. It is a figure which shows the supply piping of compressed air. (A) is a top view which shows a dummy member, (b) is a side view. It is a top view which shows the structure of the conventional tandem torch (horizontal alignment). It is a side view which shows the problem of the conventional tandem torch (horizontal alignment). It is a top view which shows a structure when other conventional tandem torches are put side by side. It is a top view which shows a structure when other conventional tandem torches are arranged vertically. Similarly, it is a side view showing a structure when other conventional tandem torches are arranged vertically.

Explanation of symbols

1: First torch 2: Second torch 3: Robot arm 4: Shock sensor 6a, 6b: Long hole 7, 8: Bracket 9a, 9b: Bolt 10: First connector 11: First attaching / detaching portion 12: Bolt 13: Torch clamp part 20: Mounting member 21: Second attachment / detachment part 22: Torch clamp part 30: Second connector 31: Third attachment / detachment part 32: Fourth attachment / detachment part 33, 34, 35: Member 33a, 33b, 34a: long hole 40: dummy member 101: single torch 102: single torch 103: tandem welding torch 104: robot arm 105: vertical plate member 106: horizontal plate member 107: vertical plate member 108: curved torch

Claims (10)

In a welding robot torch attachment jig for attaching a second torch for tandem welding to the first torch attached to the arm of the welding robot, one end is connected to the arm of the welding robot or the first torch. A first connector having a first attachment / detachment portion provided at the other end and a second attachment / detachment portion detachably connected to the first attachment / detachment portion are provided, and the second torch is attached. A mounting member and a third detachable portion that is detachably connected to the first detachable portion at one end and a fourth detachable portion that is connected to the second detachable portion at the other end are provided. and 2 of the connector, the possess,
When the second detachable portion is connected to the first detachable portion, the second torch is attached to the first torch via the first connector and the attachment member,
Alternatively, when the third detachable portion is connected to the first detachable portion and the second detachable portion is connected to the fourth detachable portion, the first connector and the second connector and via said mounting member, said first of said second welding robot torch mounting jig torch wherein Rukoto attached to the torch. In a welding robot torch attachment jig for attaching a second torch for tandem welding to the first torch attached to the arm of the welding robot, one end is connected to the arm of the welding robot or the first torch. A first connector having a first attachment / detachment portion provided at the other end and a second attachment / detachment portion detachably connected to the first attachment / detachment portion are provided, and the second torch is attached. A mounting member and a third detachable portion that is detachably connected to the first detachable portion at one end and a fourth detachable portion that is connected to the second detachable portion at the other end are provided. and 2 of the connector, and the dummy member desorption portion of the fifth is provided which is detachably connected to the first desorption unit, was closed,
When the second detachable portion is connected to the first detachable portion, the second torch is attached to the first torch via the first connector and the attachment member,
When the third detachable part is connected to the first detachable part and the second detachable part is connected to the fourth detachable part, the first linking tool, the second linking tool, and The second torch is attached to the first torch via the attachment member,
Or when performing single welding, the first detachable element of the fifth is connected to the desorption unit welding robot torch mounting jig according to claim Rukoto. In a welding robot torch attachment jig for attaching a second torch for tandem welding to the first torch attached to the arm of the welding robot, one end is connected to the arm of the welding robot or the first torch. A first connector having a first attachment / detachment portion provided at the other end and a second attachment / detachment portion detachably connected to the first attachment / detachment portion are provided, and the second torch is attached. a mounting member, a dummy member desorption portion of the fifth is provided which is detachably connected to the first desorption unit, was closed,
When the second detachable portion is connected to the first detachable portion, the second torch is attached to the first torch via the first connector and the attachment member,
Or when performing single welding, the first detachable element of the fifth is connected to the desorption unit welding robot torch mounting jig according to claim Rukoto. Each of the detachable portions has first and second compressed air input ends, and is held in a state of being coupled to each other by the input of the first compressed air, and mutually connected by the input of the second compressed air. The welding robot torch mounting jig according to any one of claims 1 to 3, wherein the jig is detached. The welding torch mounting jig according to any one of claims 1 to 4, wherein the first and second torches are torches whose distal ends are bent in the same direction from the mounting position. In the first usage mode for connecting the first detachable portion of the first connector and the second detachable portion of the mounting member, the first and second torches are arranged so as to be aligned in the weld line direction. And the plane including the first torch and the plane including the second torch form a predetermined angle, and the first attachment / detachment portion of the first connector and the third of the second connector are In a second usage mode of connecting the detachable portion and connecting the fourth detachable portion of the second connector and the second detachable portion of the mounting member, the plane including the first torch and the first The welding robot torch mounting jig according to claim 5, wherein a plane including the two torches overlaps. The welding robot according to any one of claims 1 to 6, wherein the second connector has a mechanism for adjusting an attachment position of the second torch with respect to the second connector. Torch mounting jig. A first usage mode by connecting the first detachable portion of the first connector and the second detachable portion of the mounting member using the welding torch mounting jig according to claim 1. Tandem welding, the first detachable portion of the first connector and the third detachable portion of the second connector, and the fourth detachable portion of the second connector and the attachment A tandem welding method, wherein the tandem welding of the second usage mode for connecting the second detachable portion of the member is switched. Using the welding robot torch mounting jig according to claim 2, the first usage mode is achieved by connecting the first detachable portion of the first connector and the second detachable portion of the mounting member. Tandem welding, the first detachable portion of the first connector and the third detachable portion of the second connector, and the fourth detachable portion of the second connector and the attachment The second tandem welding for connecting the second detachable portion of the member, the first detachable portion of the first connector and the fifth detachable portion of the dummy member are connected to each other. A tandem welding method, wherein the single welding in the third usage mode without using a torch is switched. Using the welding robot torch mounting jig according to claim 3, the first usage mode is achieved by connecting the first detachable portion of the first connector and the second detachable portion of the mounting member. Tandem welding, and switching between the first welding part of the first connector and the fifth welding part of the dummy member, and the third welding mode in which the second torch is not used. Tandem welding method characterized by the above.

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