• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    An automatic device for changing an electric welding gun, operated by the arm (11) of a manipulator, in which two elements (10, 50), one carried by the manipulator arm and the other by the gun, can be connected together by the first element being made to approach and fit into the second; each element is provided with ducts (13) for passage of the liquid for cooling and controlling the opening of the electrodes (63); valve units (31) connect said ducts (13) to each other when the two elements (10, 50) are fitted together; the approach of the two elements is guided and checked, and hydraulically controlled hook portions (42, 71) lock together and separate the elements in accordance with the programming of the manipulator; each element is also provided with male cones (66) and female cones (16) provided on or in copper units (14) in order to fit into each other and establish I electrical contact between the manipulator and gun. I
    公开号:SU1058492A3
    申请号:SU813302796
    申请日:1981-06-25
    公开日:1983-11-30
    发明作者:Фаварето Марчелло；Ансельмино Ренато
    申请人:Комау С.П.А. (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to an automatic device for changing an electric welding gun, controlled by a hand of a programmable manipulator.
    An automatic device for changing welding guns is known, controlled by a hand of a programmable manipulator, consisting of two parts, one of which is connected to the arm of a manipulator and the other to a welding gun, each of which consists of matching with each other the docking station elements and fixing unit in the form of hooks Cll.
    When, during certain welding cycles, it is impossible for a welding gun of the same type to penetrate into each recess of the welded part, it becomes necessary to replace the welding gun, as a result of which welding can be produced without replacing the welding gun with another one with the size and shape.
    Replacing a welded pistol is also necessary in the case when during one cycle it is undesirable to combine different welding machines, each of which carries a welding gun more suited to a particular operation, as well as when other parts of the main cycle are not working. welding operations on another line.
    1 Working in such conditions, even with automatic means, is unproductive, extremely expensive and inefficient.
    The invention provides for the automatic replacement of welding guns by two quick movements of the manipulator; first, the welding gun is released, which has already completed part of the welding cycle, and various connections are broken (water for cooling the electrical contacts and electrodes and oil for the electrode-closing cylinder | and then, during the second movement,
    : new welding gun and simultaneously restored mentioned
    Compound I with no loss
    compressed operating fluids, after which a continuous working cycle can be continued. .
    The device, located between the end of the arm of the programmable arm and the electric welding gun, consists of two separable main parts that are securely connected to each other and carry all the connections and operational connections necessary for the correct operation of the system.
    Thus, between two parts -; A joint structure is formed, one of which is permanently connected to the arm of the manipulator, and the other is equipped to connect to a welding gun used in all necessary cases with different sizes and shapes, but can be reliably connected to the part fixed on the arm the welding gun, and with all the connections and connections on it.
    The goal is achieved by the fact that an automatic device for the replacement of welding guns, controlled by the arm of a programmable manipulator, consists of two parts, one of which is connected to the arm of the manipulator, and the other with a welding gun, each of which consists of response each other of the docking station with the landing elements and the fixing unit in the form of hooks, equipped with a node for selecting the type of tool and controlling the docking of the parts located on the arm of the manipulator and on the gun, made in the form of a row of non-contact. sensors mounted on the handpiece docking station; the docking station of the part connected to the hand hand is made in the form of a flange fixed on the hand of the hand head connected to the body with the central hole in which the cylinder with the stem / p and the center is installed holes located on the flange, in some of which there are valve means, and in others of the children of the fixation unit, the fixer arm fixation unit is made in the form of a spring-loaded bushing housed in the cavity of the cylinder of the docking assembly the ends, the docking station of the part connected to the welding gun, is made in the form of a flange fixed to the gun, connected to the housing with a central hole in which the fixing unit is installed in the form of a sleeve C with locking grooves and valve means, concentrically arranged on the flange the holes corresponding to the concentric hole of the arm docking unit of the manipulator, in one of which there are valve means, and in others the parts of the fixation unit of this part are installed, and both parts of the device are equipped with electric cal contact element, fixed on the docking flange assemblies.
    The details of the arm fixing unit of the manipulator are made in the form of pins with conical heads.
    Details of the fixation unit of the part connected to the welding gun are made in the form of a fixing sleeve. placed in the holes of the body of this part. The valve means are made in the form of two-part sleeves installed in concentricly arranged openings of the housings of the two parts of the sleeves and arranged in them with the possibility of movement of spring-loaded plungers with a conical end. Electrical contact elements are made in B1 of spring-loaded copper blocks with a conical end attached to the arm flange of the manipulator and their corresponding conical holes on the gun flange. Figures 1-3 show the device with the fixing and docking units of the manipulator, the section in FIG. 4 is a view along arrow A in FIG. 1, in FIGS. 5-6 a tool type selection node and a docking control; FIG. 7 shows a part of the device with a gun docking and fixing unit; Fig. 8 is an end view of a part of the device connected to the gun; FIGS. 9 and 10 are views according to arrows B, C in FIG. 8, respectively, in Fig. 11 is a second variant of the device design, made with a mutual combination of parts, section; 12-14 - sections GG, DD, EE in Fig.11, respectively. Part 1 screwed to the end 2 of the arm of the manipulator (shown by a dash-dotted line) iCoc is toe from the flange 3, the upper area of which contains openings 4 serving for receiving pipes with cooling water and oil controlling the closing cylinder of the electrodes of the welding gun . Each of the copper blocks 5 contains a contact cone 6 and an opening. To the lower part of the flange 3 two brackets 9 are fastened with screws; each of them carries a contactless sensor 10, which, when activated, in the corresponding case identifies the type of gun installed. In the central part of the flange 3 there is a hole 11, which serves to center the intermediate element in the form of a body 12. Fastened to the flange 3 case 1. It has two pins 13 with strongly pointed cones 14, used for fixing in the case when the main parts are fastened to the arm of the manipulator, and fastened to the welding (Pistol are opposite to each other. At the end of the body 12 there are holes 15, perpendicular supports The surface and the corresponding position of the holes 4 when the flange 3 is in a certain position. The holes 15 are designed to install in them the plugs 16 of valve means for passing the working fluids. The said valve means are formed by the bushing 17 moving in the sleeve 16 and provided with openings 18 for passing liquids and a sealing gasket 19, which, when separating the main parts, engages with the conical surface 20 provided at the end of the sleeve 16 and is held there by means of a spring 21. Mentioned the plunger ends with a stem 22 for opening the valve assemblies. In the center of the housing 12 there is a hole of large diameter 23 in which the piston 24 moves. An additional hole 25 intended for the passage of oil when the piston 24, which is perpendicular to the latter, and its end reaches the inner region of the orifice 23. Inside the piston there is a sleeve 26, one end 27 of which is located opposite the piston 24, and the outer surface is installed with an annular gap 28 expanding to a large diameter 29 with anterior spherical a surface resting on the cone 30, provided in the plate 31, covering the entire unit with the help of screws interlocked by the housing 12. The sleeve 26 ends outside the plate 31 with a reinforced edge of a special shape. in the form of an annular sector 32, intended for fixing another part of the device and containing longitudinal grooves that make it elastic about the axis. Inside the sleeve 26, there are a plurality of cup-shaped springs 33 held in a loaded connection with a nut 34, connected to a coaxial screw 35 passing inside the springs 33, the inner part being sealed by an endgap and gaskets 36 from the piston 24 and the body 12. Other A portion 37 attached to an electric welding gun (not shown) contains a flange 38 with a hole 39 in the center for centering the welding gun. At the end of the flange there are holes for fastening it with screws to the body. At the ends of the flange, protrusions 40 are provided, provided with grooves 41, serving to guide and center the entire assembly when installed on a support associated with the welding line. In each of the projections 40, a screw 42 is installed with a spring 43, held in a certain position by a coi 44 (FIG. B. At the end of the threaded part of the screw 42 there is an end 45 for adjusting the gap relative to the sensor 1Q located on the other separable part. Top element 46 mounted on the flange 38, provided with openings 47 in which the sleeves 48 1, Fig.7) are installed, serving to receive the pins 13, ending with the cones 14 and placed on the other detachable part 1, and also for centering when 1 and 37 are opposite each other. The apertures 49 are provided in the determined: locations of the body 46 and are intended to receive septal agents that are identical to the other detachable part 1, and are opposite each other when installing two parts. The components of the valve assemblies of the part 37 are identical to the elements of the part 1. The copper blocks 50 are fastened on the side of the housing 46, one for each side and insulated from it. The blocks contain two opposite cones 51 and 52, cooling 5: given by pipelines 53, and are intended to pass the welding current. The two outward-facing cones 51 52 are mated with the corresponding conical 5 and 7 holes in the other separable part 1. Apart from isolation from the base of the device, the blocks 50 are elastically attached to the body 46 for secured in all cases of correct connection. electrical contacts of cones 52 with a tapered bore 7 (fig. 8 /. Elastic fastening is performed by two-by-three screws / 1 and 54 and 55 (one for each side of each block) that can move along its O.C. and in the corresponding compartment for coaxial engagement with a cup-shaped group 56, which, under the action of the connection of the cones 51 and 52 W, last in the hole 7. The fixing assembly 57, part 37 lit. in the central zone between the flange 38 and the housing 46 and is fixed to the latter with screws 58. The fixing assembly 57 contains locking bolts 5 9. The device can have openings for the passage of oil with identical valve means for partially closing the welding gun when more than one welding is required in a uniform zone. The number of electric welding guns can exceed two, and the welding guns are located in their own container supports on the sides of the welding line. In the beginning of the cycle, the programmable keypad receives a starting signal from the control unit and a welding gun may already be installed at the end of his hand, however, for convenience of description, assume that there is still no gun in the man’s hand. At the end of the arm 2 (Fig. 1U, a detachable main part 3 is installed. K is common for all types of welding guns) connected to operational pipes with pipes connected to the openings 4 and .15 and to the welding current supply cables by means of cones 6 and 7 blocks 5 regardless of whether the welding transformer is integrated or externally located; the closed valve nodes are connected to the aforementioned pipelines with openings 14 and 15. Based on this information, the manipulator moves the entire unit to the container support, where the selected welding gun, already supplemented by a detachable main part 37, is located, the joints and fixings of which are facing upwards and connected to the gun via hollow pipelines 49 and valve assemblies. After that, the main parts are located against each other at a distance. A lowering operation then begins when the cones 14 of the housing 12 of the main part 1 on the manipulator are engaged with the holes 47 containing the sleeves 48 on the housing 46 of the part 37 fastened to the welding gun. As the manipulator arm is lowered, the main parts-1 and 37 approach each other and the valve means of the part on the manipulator are inserted into the corresponding holes to form an annular seal (preventing leakage of fluid when opening the valve assemblies). The contact between the valve assemblies and their opening followed by direct communication between the pipelines is carried out as follows. The conical heads 22 of the two valve means lightly protrude above the surfaces of the sleeve 16 and the body 46, the first of them is inserted into the latter, and they act in opposite directions on the plungers 17, to which the head 22 is rigidly connected. 21 is compressed and each plunger 17 moves to the end of the sleeve 16 in which it runs, the fluid enclosed in the pipelines of the orifices .4, 15 passes through the cavity of the plunger 17 between the spring 21 and the holes 18 and flows through the open passage between the conical wall 20 of the sleeve 16 and a conical head 22, since the gasket 19 is no longer at the exit of the sleeve 16, provided for in that case; where the sleeve rests on the corresponding part of the housing 46. The same occurs with the valve assembly installed on the corus 46 and the fluid
    The openings 4, 15, and 18 coming out of the open pipelines flow to the pipelines 49 to obtain the required continuity between the manipulator and the welding gun. A junction of the protruding cones of the 52 copper blocks 50; they are held in this state by springs 56 and guided screws 54 and 55, carrying out the suspension of copper blocks 50.
    At the same time, a signal from the control system of the manipulator passes the activation signal for the passage of compressed oil through a pipe connected to an opening 25 leading to a piston 24 located in the center of the housing 12 of the main body 1 to be separated on the side of the manipulator. The oil pushes the piston 24 out, drives the sleeve 26 enclosed in it, overcoming the resistance of the springs 33 placed inside, so that the spherical circular surface 29 engages with the corresponding conical section 30 provided on the upper closing plate 31, which due to the existence of longitudinal grooves causes compression of the ring sectors 32 at the end.
    With the final approaching of the two main parts 1 and 37, the ring sectors 32 penetrate into the fixing unit 57 enclosed between the flange 38 and the housing 46 of the welding gun main part to be separated, and only at this moment does the hydraulic pressure controlling the piston 24f change as a result of the spring 33 opposed to the sleeve 26, return the piston 24 to its initial position, with subsequent disengagement from the engagement with the spherical surface 30 of the conical surface 29, as a result, the annular sectors 32 expand (due to their elasticity i and t in fixing unit 57, providing a stable connection between the two main parts. At the same time, the sensor 10 is located opposite the elements 42 and provides a signal for the control system of the manipulator, indicating the installation of the desired welding gun, thereby restoring the normal working cycle.
    To replace the welding gun, the manipulator performs the movements opposite to that described and returns the gun to its stand / then approaches the new welding gun, connects with it and starts a new welding cycle.
    According to the second variant (Fig. 11-14J, the pipelines 4 for cooling water and oil, controlling the cylinder of closing of the electrodes of the welding gun, are presented in greater numbers, and the pipelines 49 of the connected part of the welding gun are equal to the number of pipelines 4.
    The advantage of the second design variant is the possibility of obtaining one or several intermediate positions of the welding gun.
    In some operations, it is necessary to keep the welding gun half-closed in non-working passages ot from one welding to another and with a long series of welds of the same type. Then, if the welding gun is not fully open upon completion, the welding will save a significant non-working spetm, and the amount of savings saved is such that the entire welding cycle can be completed in a shorter time.
    So, having provided more than one group of supply and discharge pipelines, it is possible to program at least one additional position of the welding gun (there are more pipelines to be provided, the greater the number of intermediate positions, you can read J.
    Fig 5
    ri.Ts
    five
    FI.6
    7

    55 f-1
    57 /
    6fS
    GG1
    权利要求:
    Claims (5)
    [1]
    1. AUTOMATIC DEVICE; FOR REPLACEMENT OF WELDING GUNS, controlled by the hand of a programmable manipulator, consisting of two parts, one of which is connected to the arm of the manipulator, and the other is connected to the welding gun, each of which consists of a mating unit with fittings and a fixing unit in the form of hooks, characterized in that, in order to increase productivity, it is equipped with a unit for selecting the type of tool and control of the docking of parts located on the arm of the manipulator and on the welding gun, made in the form of a series of of non-contact sensors mounted on the docking unit of the arm of the manipulator, the docking station of the part connected to the arm of the manipulator is made in the form of a flange mounted on the arm of the manipulator connected to it. a housing with a central hole in which a cylinder with a rod is installed, a number of holes concentrically located on the flange, in some of which valve means are installed, and in the other, parts of the fixing unit, the · unit of the manipulator’s arm is made in the form of a docking unit spring loaded sleeve with elastic ends, the joint unit for joining the part connected to the welding gun is made in the form of a flange mounted on the gun, a body connected to it with a central hole in which the ate fixations in the form of a sleeve with fixing grooves and valve means, a number of holes concentrically located on the corresponding flange of the holes corresponding to the concentric holes of the manipulator's hand docking unit, in some of which valve means are installed, and in the other, details of the fixing unit of this part, both parts of the device equipped with electrical contact elements fixed S on the flanges of the docking nodes.
    [2]
    2. The device according to claim 1, characterized in that the details of the fixation unit of the arm of the manipulator are made in the form of pins with conical heads.
    .....
    [3]
    3. The device according to claim 1, with the exception of the fact that the parts of the fixing unit of the part connected to the welding gun are made in the form of a fixing sleeve located in the openings of the housing of this part.
    [4]
    4. The device according to claim 1, characterized in that the valve means are made in the form of housings of both parts of the bushings installed in concentrically located openings and placed in them with the possibility of moving spring-loaded plungers with a conical end.
    [5]
    5. The device according to claim 1, characterized in that the electrical contact elements are made in the form of spring-loaded copper blocks with a conical end, mounted on the flange of the arm of the manipulator, and the corresponding conical holes, and the flange of the gun.
    SU 10584921
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    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    IT67994/80A|IT1129104B|1980-06-26|1980-06-26|AUTOMATIC DEVICE FOR CHANGE OF ELECTRIC WELDING CALIPER OPERATED BY THE ARM OF A PROGRAMMABLE MANIPULATOR|
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