JP6302333B2 - Containment device, arc system - Google Patents

Description

  The present invention relates to a storage device and an arc system.

  Conventionally, a method of performing welding or thermal spraying using a wire is known. In such a method, a wire buffer forming device may be arranged between the push roller and the pull roller, each of which feeds the wire, in order to smoothly feed the wire. As such a buffer forming device, a welding wire storage device shown in Patent Document 1 is known.

  In the welding wire housing device disclosed in the document, the welding wire surrounded by the wire core is arranged in an arch shape. When the welding wire receiving device is used, this arch shape changes with a change in the amount of wire accommodated in the welding wire receiving device. In such a conventional welding wire storage device, there is a possibility that the welding wire storage device vibrates due to the change in the arch shape.

Japanese Patent No. 4490976

  The present invention has been conceived under the circumstances described above, and it is a main object of the present invention to provide a wire accommodating device capable of suppressing the occurrence of vibration.

  According to the 1st side surface of this invention, it is equipped with the container containing the 1st area | region by which a wire is penetrated to each, 2nd area | region, and 3rd area | region, The said 3rd area | region is on the axis line of the said wire. A first storage chamber located between the first region and the second region in the axial direction along the axis, and the container being positioned between the first region and the third region in the axial direction. And a second storage chamber positioned between the second region and the third region in the axial direction, wherein the first storage chamber is a first of the first directions orthogonal to the axial direction. The wire is accommodated in a state curved in two directions, and the second accommodation chamber accommodates the wire in a state curved in a third direction opposite to the second direction, and the first accommodation. The chamber and the second storage chamber allow vibration of the wire in the first direction; During vibration, bending state changes of the wire, the wire of the receiving device is provided.

  Preferably, a support portion that supports the wire is further provided, and the support portion is located between the first storage chamber and the second storage chamber in the axial direction.

  Preferably, the support portion is rotatably supported with respect to the container.

  Preferably, a detection sensor for detecting the amount of the wire accommodated in the container is further provided, and the detection sensor detects a rotation angle of the support portion with respect to the container.

  Preferably, the apparatus further includes a force applying mechanism that applies force to the wire in a direction in which the accommodation amount of the wire in the container increases.

  Preferably, the guide portion further includes a guide portion that is inserted through the wire and accommodated in the first accommodation chamber and the second accommodation chamber, the guide portion including a first end portion and a second end portion, The end portion is supported by the container so as to be slidable along the axial direction in the first region or the third region, and the second end portion is supported by the second region or the third region. In the region, the container is supported so as to be slidable along the axial direction.

  Preferably, a first nut fixed to the first end, a second nut fixed to the second end, and a first sleeve and a second sleeve fixed to the container are further provided. The first nut is supported by the first sleeve so as to be slidable along the axial direction, and the second nut is attached to the second sleeve so as to be slidable along the axial direction. It is supported.

  Preferably, the container is made of an insulating material.

  Preferably, the first region is located at one end of the container, the second region is located at the other end of the container, and the first region is connected to a portion of the container in the first region. 1 connection member and the 2nd connection member connected to the site | part in the said 2nd area | region among the said accommodating bodies are further provided.

  Preferably, a first opening that communicates with the first accommodation chamber and a second opening that communicates with the second accommodation chamber are formed in the container, and the wire is connected to the container from the first opening. The wire is fed out of the container from the second opening, and the traveling direction of the wire located in the first opening and the traveling direction of the wire located in the second opening And the angle formed is 0-45 °.

  According to a second aspect of the present invention, there is provided an arc system comprising a receiving device provided by the first aspect of the present invention and a first feeding device for feeding the wire.

  Preferably, the apparatus further includes a second feeding device that feeds the wire, wherein the first feeding device is a push device that feeds the wire to the housing device, and the second feeding device is the housing device. A pulling device for pulling the wire from

  Preferably, the wire is disposed between the first feeding device and the housing device, and is disposed between the first cable for housing the wire and the second feeding device and the housing device, and houses the wire. And a second cable.

  Preferably, a torch for guiding the wire fed from the first feeding device to a member to be processed is further provided.

  Preferably, the robot further includes a robot that supports the accommodation device.

  Preferably, the storage device is supported so as to be rotatable with respect to the robot.

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

It is a figure showing the arc system of a 1st embodiment of the present invention. FIG. 2 is a diagram schematically showing the arc system shown in FIG. 1 (a cross section is shown for some configurations). It is sectional drawing which shows the accommodating apparatus shown in FIG. It is sectional drawing which follows the IV-IV line of FIG. It is sectional drawing which follows the VV line of FIG. It is the figure which looked at the accommodating apparatus shown in FIG. 3 from the back surface. It is sectional drawing which shows a force provision mechanism. It is sectional drawing when the accommodation amount of the wire by an accommodation apparatus becomes the maximum. It is sectional drawing when the accommodation amount of the wire by an accommodation apparatus becomes the minimum. It is sectional drawing of the accommodating apparatus of the 1st modification of 1st Embodiment of this invention. It is sectional drawing of the accommodating apparatus of the 2nd modification of 1st Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings.

<First Embodiment>
1st Embodiment of this invention is described using FIGS.

  FIG. 1 is a diagram showing an arc system according to a first embodiment of the present invention. FIG. 2 is a diagram schematically showing the arc system shown in FIG. 1 (a cross section is shown for a part of the configuration).

  The arc system A1 shown in these drawings includes a robot 1, a first feeding device 21, a second feeding device 22, a housing device 4, a first cable 6A, a second cable 6B, and a torch 7. .

  The robot 1 performs an arc process on the workpiece W1. Examples of such arc treatment include welding and thermal spraying. In the present embodiment, the robot 1 automatically performs arc welding on the workpiece W1. The robot 1 is an articulated robot, for example. The robot 1 performs arc processing using the wire 89 fed by the first feeding device 21 and the second feeding device 22.

  The first feeding device 21 is for feeding the wire 89 toward the member to be processed W1. The first feeding device 21 is a push device that feeds the wire 89 to the housing device 4. The first feeding device 21 includes two first feeding rollers 211. At least one of the first feed rollers 211 is driven by a drive unit (not shown). In a state where the wire 89 is sandwiched between the first feed rollers 211, the first feed rollers 211 rotate in the opposite directions. Thus, the first feeding roller 211 feeds the wire 89 fed from the wire supply source 29 toward the member to be processed W1.

  The wire supply source 29 is, for example, a wire reel around which a wire 89 is wound. Alternatively, the wire supply source 29 may be a pack wire.

  The second feeding device 22 is for feeding the wire 89 toward the processing target member W1. The second feeding device 22 is a pull device that pulls the wire 89 from the housing device 4. The second feeding device 22 includes two second feeding rollers 221. At least one of the second feed rollers 221 is driven by a drive unit (not shown). In a state where the wire 89 is sandwiched between the second feed rollers 221, the second feed rollers 221 rotate in the opposite directions. Thereby, the 2nd feed roller 221 sends out wire 89 sent out from storage device 4 toward processed member W1.

  FIG. 3 is a cross-sectional view illustrating the accommodation device illustrated in FIG. 2.

  The accommodating device 4 is for accommodating the wire 89. In the present embodiment, the storage device 4 functions as a buffer mechanism for the wire 89. The accommodation device 4 is disposed between the first feeding device 21 and the second feeding device 22 in the axial direction F1 along the axis Ox of the wire 89. The wire 89 sent by the first feeding device 21 is stored in the storage device 4, and then goes to the second feeding device 22. When the arc system A1 is used, the accommodation amount of the wire 89 by the accommodation device 4 varies. When the accommodation amount of the wire 89 by the accommodation device 4 varies, the path length of the wire 89 between the first feeding device 21 and the second feeding device 22 varies. As shown in FIG. 1, in this embodiment, the storage device 4 is supported so as to be rotatable with respect to the robot 1 around a point C1.

  The storage device 4 includes a storage body 41, a support portion 43, a detection sensor 45 (see FIG. 6), a force applying mechanism 46 (see FIG. 6), and a guide portion 47.

  The accommodating body 41 is for accommodating the wire 89. In the present embodiment, the container 41 is made of an insulating material. The insulating material constituting the container 41 is, for example, a resin.

  The container 41 includes a first region 411A, a second region 411B, and a third region 411C. The third region 411C is located between the first region 411A and the second region 411B in the axial direction F1 along the axis Ox of the wire 89. That is, the first region 411A, the third region 411C, and the second region 411B are located in this order from the first region 411A in the axial direction F1 toward the member to be processed W1. In the present embodiment, the first region 411 </ b> A is located at one end of the container 41, and the second region 411 </ b> B is located at the other end of the container 41. The third region 411C is located substantially at the center of the container 41. Unlike the present embodiment, the first region 411 </ b> A and the second region 411 </ b> B may be located in the middle of the container 41 that is not the end. In addition, the third region 411 </ b> C does not need to be located at the approximate center of the container 41.

  4 is a cross-sectional view taken along line IV-IV in FIG. FIG. 5 is a cross-sectional view taken along line VV in FIG.

  As shown in FIGS. 3 to 5, the storage body 41 is formed with a first storage chamber 413A, a second storage chamber 413B, a first opening 415A, and a second opening 415B.

  The first storage chamber 413A is located between the first region 411A and the third region 411C in the axial direction F1. The first accommodation chamber 413A accommodates the wire 89 in a state curved toward the second direction X2 side of the first direction X1 orthogonal to the axial direction F1. The first storage chamber 413A allows vibration of the wire 89 in the first direction X1. During this vibration, the bending state of the wire 89 changes. Thereby, the accommodation amount of the wire 89 in the first accommodation chamber 413A changes. FIG. 8 shows a case where the accommodation amount of the wire 89 in the first accommodation chamber 413A is maximum. FIG. 9 shows a case where the accommodation amount of the wire 89 in the first accommodation chamber 413A is minimized. FIG. 3 shows a case where the accommodation amount of the wire 89 in the first accommodation chamber 413A is an intermediate value between the cases shown in FIGS.

  The second storage chamber 413B is located between the second region 411B and the third region 411C in the axial direction F1 along the axis Ox of the wire 89. The second storage chamber 413B stores the wire 89 in a state of being bent in the third direction X3 side opposite to the second direction X2. The second storage chamber 413B allows the wire 89 to vibrate in the first direction X1. During this vibration, the bending state of the wire 89 changes. Thereby, the accommodation amount of the wire 89 in the second accommodation chamber 413B changes. FIG. 8 shows a case where the accommodation amount of the wire 89 in the second accommodation chamber 413B is maximum. FIG. 9 shows a case where the accommodation amount of the wire 89 in the second accommodation chamber 413B is minimized. FIG. 3 shows a case where the accommodation amount of the wire 89 in the second accommodation chamber 413B is an intermediate value between the cases shown in FIGS.

  In FIG. 8, since the accommodation amount of the wire 89 in the first accommodation chamber 413A and the second accommodation chamber 413B is maximized, the accommodation amount of the wire 89 in the accommodation body 41 is maximized. In FIG. 9, since the accommodation amount of the wire 89 in the first accommodation chamber 413A and the second accommodation chamber 413B is minimized, the accommodation amount of the wire 89 in the accommodation body 41 is minimized. In FIG. 3, since the accommodation amount of the wire 89 in the first accommodation chamber 413A and the second accommodation chamber 413B is an intermediate value in the case shown in FIGS. 8 and 9, the accommodation amount of the wire 89 in the accommodation body 41 is It is an intermediate value in the case shown in FIGS.

  The first opening 415A communicates with the first storage chamber 413A. A wire 89 is introduced into the container 41 from the first opening 415A. On the other hand, the second opening 415B communicates with the second storage chamber 413B. From the second opening 415B, the wire 89 is fed out of the container 41. The angle formed by the traveling direction of the wire 89 positioned in the first opening 415A and the traveling direction of the wire 89 positioned in the second opening 415B is, for example, 0 to 45 °. In the present embodiment, the angle formed by the traveling direction of the wire 89 positioned in the first opening 415A and the traveling direction of the wire 89 positioned in the second opening 415B is 0 °.

  The guide portion 47 shown in FIGS. 3 to 5 and the like is inserted into the first storage chamber 413A and the second storage chamber 413B through the wire 89. The guide portion 47 has a tubular shape and may be referred to as a liner. The guide portion 47 includes a first end portion 47A and a second end portion 47B. 47 A of 1st edge parts are supported with respect to the container 41 so that sliding movement is possible along the axial direction F1 in 411 A of 1st area | regions, or 411 C of 3rd area | regions. In the present embodiment, the first end 47A is supported by the container 41 so as to be slidable along the axial direction F1 in the first region 411A. The second end portion 47B is supported by the container 41 so as to be slidable along the axial direction F1 in the second region 411B or the third region 411C. In the present embodiment, the second end 47B is supported with respect to the container 41 so as to be slidable along the axial direction F1 in the second region 411B.

  Unlike the present embodiment, the first end 47A may be supported with respect to the container 41 so as to be slidable along the axial direction F1 in the third region 411C. Similarly, the second end 47B is supported by the container 41 so as to be slidable along the axial direction F1 in the third region 411C. In this case, for example, the guide portion 47 may be configured by two or more parts, that is, a part accommodated in the first accommodation chamber 413A and a part accommodated in the second accommodation chamber 413B.

  The support portion 43 is for supporting the wire 89. In the present embodiment, the support portion 43 supports the wire 89 inserted through the guide portion 47. The support portion 43 is located between the first storage chamber 413A and the second storage chamber 413B in the axial direction F1. In the present embodiment, the support portion 43 is disposed in the third region 411C. The support part 43 has the 1st site | part 431 and the 2nd site | part 432, for example. The first part 431 and the second part 432 sandwich the guide part 47. This prevents the guide portion 47 located in the third region 411C from sliding in the axial direction F1.

  In the present embodiment, the support portion 43 is rotatably supported with respect to the container 41. As shown in FIG. 8, when the accommodation amount of the wire 89 in the first accommodation chamber 413 </ b> A and the accommodation amount of the wire 89 in the second accommodation chamber 413 </ b> B increase, the support portion 43 rotates counterclockwise with respect to the accommodation body 41. Rotate. On the other hand, as shown in FIG. 9, when the accommodation amount of the wire 89 in the first accommodation chamber 413 </ b> A and the accommodation amount of the wire 89 in the second accommodation chamber 413 </ b> B are small, the support portion 43 rotates clockwise relative to the accommodation body 41. Rotate to.

  The support part 43 does not necessarily have to rotate with respect to the container 41, and may be fixed so that the support part 43 does not rotate with respect to the container 41.

  FIG. 6 is a view of the storage device shown in FIG. 3 as viewed from the back. FIG. 7 is a cross-sectional view showing the force applying mechanism. In FIG. 6, the detection sensor 45 and the force applying mechanism 46 are simplified using hatching.

  The detection sensor 45 shown in FIG. 6 detects the accommodation amount of the wire 89 in the accommodation body 41. In the present embodiment, the detection sensor 45 is an angle sensor and detects the rotation angle of the support portion 43 relative to the container 41. In addition, the detection sensor 45 may not detect the rotation angle with respect to the container 41 of the support part 43. For example, the detection sensor 45 may be a sensor that detects the position of the apex of the arch of the guide portion 47 in the first storage chamber 413A or the second storage chamber 413B. Alternatively, the detection sensor 45 may be a sensor that detects the displacement in the axial direction F1 of the first end 47A or the second end 47B.

  The force applying mechanism 46 shown in FIGS. 6 and 7 applies a force to the wire 89 in the direction in which the accommodation amount of the wire 89 in the accommodating body 41 increases.

  An example of the force applying mechanism 46 is as follows. In the present embodiment, the force applying mechanism 46 includes a disk 461, a rotating member 462, a shaft 465, and a torsion spring 467.

  The disk 461 is a circular plate and is fixed to the container 41. A part of the rotating member 462 is inserted into the disk 461 (not shown). The rotation member 462 is fixed to the support portion 43, and the rotation shaft of the rotation member 462 and the rotation shaft of the support portion 43 are the same. When the support portion 43 rotates, the rotating member 462 rotates in the same manner. A hole 463 is formed on the side surface of the rotating member 462.

  The shaft 465 is erected on the disk 461. One end of the torsion spring 467 is fixed to the shaft 465, and the other end is inserted into the hole 463 in the rotating member 462. A middle portion of the torsion spring 467 is wound around the rotation member 462.

  When the accommodation amount of the wire 89 in the accommodation body 41 is maximum (see FIG. 8), the torsion spring 467 is in a natural state. When the support portion 43 rotates clockwise in FIG. 8 (that is, when the accommodation amount of the wire 89 by the accommodation body 41 decreases), the rotation member 462 rotates counterclockwise. As the rotation member 462 rotates, the hole 463 also rotates, so that the torsion spring 467 bends. When the torsion spring 467 is bent, a force in the clockwise direction is applied to the rotating member 462 by the elastic force of the torsion spring 467. As a result, a force in the counterclockwise direction is applied to the support portion 43. Thereby, a force is applied to the wire 89 from the support portion 43 through the guide portion 47 in a direction in which the accommodation amount of the wire 89 in the housing body 41 increases.

  As shown in FIG. 3, in this embodiment, the storage device 4 further includes a first nut 481A, a first sleeve 482A, a second nut 481B, and a second sleeve 482B. The first nut 481A, the first sleeve 482A, the second nut 481B, and the second sleeve 482B are all made of metal.

  The first sleeve 482A shown in FIG. 3 has a cylindrical shape and is fixed to the container 41. The first nut 481A is fixed to the first end portion 47A of the guide portion 47. A wire 89 is inserted through the first nut 481A. The first nut 481A is located in the first sleeve 482A. The first nut 481A is supported by the first sleeve 482A so as to be slidable along the axial direction F1. Thereby, the sliding movement along the axial direction F1 of the first end 47A is smoothly performed.

  The second sleeve 482 </ b> B has a cylindrical shape and is fixed to the container 41. The second nut 481B is fixed to the second end portion 47B of the guide portion 47. A wire 89 is inserted through the second nut 481B. The second nut 481B is located in the second sleeve 482B. The second nut 481B is supported by the second sleeve 482B so as to be slidable along the axial direction F1. Thereby, the sliding movement along the axial direction F1 of the 2nd end part 47B is performed smoothly.

  49 A of 1st connection members are connected and fixed to the site | part in 1st area | region 411A among the accommodating bodies 41. FIG. A wire 89 is inserted through the first connecting member 49A. The first connecting member 49A is made of metal, for example.

  The second connection member 49B shown in FIG. 2 is connected and fixed to a part of the container 41 in the second region 411B. A wire 89 is inserted through the second connection member 49B. In the present embodiment, the second connection member 49B includes an adapter 491 and a connection fitting 492. The adapter 491 is connected and fixed to the container 41. The adapter 491 is provided with a connection port for a welding cable (detailed illustration is omitted). A gas tube, a power line, a ground line, or the like can be connected to the connection port in the adapter 491. The connection fitting 492 is connected and fixed to the adapter 491. The connection fitting 492 is substantially the same as the first connection member 49A. An adapter 491 is disposed between the connection fitting 492 and the container 41.

  The first cable 6 </ b> A shown in FIGS. 1 and 2 is disposed between the first feeding device 21 and the accommodating device 4 and accommodates the wire 89. A wire 89 is inserted through the first cable 6A. The first cable 6A may be referred to as a conduit cable, for example. A liner (not shown) for guiding the wire 89 may be inserted through the first cable 6A.

  The second cable 6 </ b> B is disposed between the second feeding device 22 and the accommodation device 4 and accommodates the wire 89. A wire 89 is inserted through the second cable 6B. The second cable 6B may be referred to as a one-wire power cable, for example. For example, a tube connected to the connection port of the adapter 491 for supplying gas from the gas tube to the torch 7 and a line for supplying power from the power line to the torch 7 are inserted into the second cable 6B. Yes. A liner (not shown) for guiding the wire 89 may be inserted through the second cable 6B.

  The torch 7 is for guiding the wire 89 sent out from the first feeding device 21 to the member to be processed W1. The torch 7 has a torch body and a wire delivery nozzle. Electric power is supplied to the wire 89 via a tip (not shown) in the torch 7, and arc processing (welding or thermal spraying) is performed.

  The operation of the arc system A1 is briefly described as follows.

  When the feeding speed of the wire 89 by the second feeding device 22 is lower than the feeding speed of the wire 89 by the first feeding device 21, the accommodation amount of the wire 89 in the container 41 becomes large (see FIG. 8). ). On the other hand, when the feeding speed of the wire 89 by the second feeding device 22 is higher than the feeding speed of the wire 89 by the first feeding device 21, the accommodation amount of the wire 89 in the container 41 becomes small ( (See FIG. 9). The accommodation amount of the wire 89 in the housing body 41 is constantly monitored, and the accommodation amount of the wire 89 in the housing body 41, that is, the first feeding device 21 and the like is adjusted by adjusting the feeding speed by the first feeding device 21. The path length of the wire 89 to the second feeding device 22 is controlled to be constant.

  Next, the effect of this embodiment is demonstrated.

  In the present embodiment, the first accommodation chamber 413A accommodates the wire 89 in a state curved toward the second direction X2 side of the first direction X1 orthogonal to the axial direction F1. The second storage chamber 413B stores the wire 89 in a state of being bent in the third direction X3 side opposite to the second direction X2. The first storage chamber 413A and the second storage chamber 413B allow the wire 89 to vibrate in the first direction X1, and the bending state of the wire 89 changes during the vibration. According to such a configuration, when the accommodation amount of the wire 89 by the accommodation body 41 is increased, the path of the curved wire 89 is displaced to the second direction X2 side in the first accommodation chamber 413A, and the second accommodation chamber. In 413B, the path of the curved wire 89 is displaced to the third direction X3 side (FIG. 8). On the other hand, when the accommodation amount of the wire 89 by the accommodating body 41 is small, the path of the curved wire 89 is displaced to the third direction X3 side in the first accommodating chamber 413A and is curved in the second accommodating chamber 413B. The path of the wire 89 is displaced to the second direction X2 side (FIG. 9). Thus, according to this embodiment, when the accommodation amount of the wire 89 by the container 41 changes, the path of the wire 89 in the first storage chamber 413A and the path of the wire 89 in the second storage chamber 413B are changed. , They can be displaced to the opposite sides. Thereby, the vibration of the container 41 that can be generated due to the vibration of the wire 89 in the first storage chamber 413A and the vibration of the container 41 that can be generated due to the vibration of the wire 89 in the second storage chamber 413B. Vibrations cancel each other. As a result, it is possible to suppress the occurrence of vibration of the storage device 4.

  In the present embodiment, the wire 89 is vibrated in each of the first accommodation chamber 413A and the second accommodation chamber 413B. It can be made smaller. If the amplitude of the wire 89 can be reduced, it is possible to further suppress the occurrence of vibration of the storage device 4.

  The ability to suppress the occurrence of vibration of the storage device 4 is very suitable for performing high-speed feeding and withdrawal of the wire 89.

  In the present embodiment, the support portion 43 is rotatably supported with respect to the container 41. According to such a configuration, when the path of the wire 89 that is curved in the first storage chamber 413A is displaced in the second direction X2, the support portion 43 rotates counterclockwise. When the support portion 43 rotates counterclockwise, the axis Ox of the wire 89 supported by the support portion 43 rotates counterclockwise, and the path of the wire 89 that is curved in the second storage chamber 413B is in the third direction X3. Displace to the side. Similarly, when the path of the wire 89 that is curved in the second storage chamber 413B is displaced toward the third direction X3, the support portion 43 rotates clockwise. When the support portion 43 rotates clockwise, the axis Ox of the wire 89 supported by the support portion 43 rotates clockwise, and the path of the wire 89 that is curved in the first storage chamber 413A is directed to the second direction X2 side. Displace. Thus, the configuration of this embodiment is suitable for simultaneously displacing the path of the wire 89 in the first storage chamber 413A and the path of the wire 89 in the second storage chamber 413B to the opposite sides. Therefore, the vibration of the container 41 that can be generated due to the vibration of the wire 89 in the first storage chamber 413A and the vibration of the container 41 that can be generated due to the vibration of the wire 89 in the second storage chamber 413B. Can be more effectively canceled with each other. As a result, it is possible to further suppress the occurrence of vibration of the storage device 4.

  In the present embodiment, the storage device 4 includes a detection sensor 45 for detecting the storage amount of the wire 89 in the storage body 41. The detection sensor 45 detects a rotation angle of the support portion 43 with respect to the container 41. According to such a configuration, the accommodation amount of the wire 89 of the container 41 can be detected more precisely. Accordingly, the wire 89 can be fed and pulled back at a higher speed. Further, by using the detection sensor 45, the accommodation amount of the wire 89 in the first accommodation chamber 413A and the accommodation amount of the wire 89 in the second accommodation chamber 413B can be detected simultaneously. Therefore, the configuration of the present embodiment is suitable for efficiently detecting the accommodation amount of the wire 89 in the accommodation body 41.

  When the accommodation amount of the wire 89 in the first accommodation chamber 413A and the accommodation amount of the wire 89 in the second accommodation chamber 413B are increased, the wire 89 is further bent. The wire 89 has a property of returning straight. Therefore, when the accommodation amount of the wire 89 in the first accommodation chamber 413A and the accommodation amount of the wire 89 in the second accommodation chamber 413B are increased, the wire 89 may not be bent quickly. In the present embodiment, the storage device 4 includes a force applying mechanism 46. The force applying mechanism 46 applies force to the wire 89 in a direction in which the accommodation amount of the wire 89 in the container 41 increases. Therefore, even if there is a force for the wire 89 to return straight, the wire 89 can be bent quickly. Thereby, the accommodation amount of the wire 89 of the container 41 can be increased with higher responsiveness.

  In the present embodiment, the storage device 4 includes a guide portion 47. The guide portion 47 is inserted through the wire 89 and is accommodated in the first accommodation chamber 413A and the second accommodation chamber 413B. The guide portion 47 includes a first end portion 47A and a second end portion 47B. 47 A of 1st edge parts are supported with respect to the container 41 so that sliding movement is possible along the axial direction F1 in 411 A of 1st area | regions, or 411 C of 3rd area | regions. The second end portion 47B is supported by the container 41 so as to be slidable along the axial direction F1 in the second region 411B or the third region 411C. As described above, in this embodiment, the amplitude of the wire 89 can be reduced. Therefore, according to the present embodiment, the slide width of the first end 47A and the second end 47B can be made relatively small. Thereby, the part which is not penetrated by the guide part 47 among the wires 89 in the container 41 can be made smaller. As a result, the wire 89 can be prevented from buckling in the container 41.

  In the present embodiment, since the slide width of the first end portion 47A can be made relatively small, metal debris caused by wear of the first nut 481A and the first sleeve 482A can be reduced. Similarly, metal debris caused by wear of the second nut 481B and the second sleeve 482B can be reduced.

  In the present embodiment, the container 41 is made of an insulating material. According to such a configuration, it is possible to prevent electric leakage from being transmitted from the power line connected to the adapter 491 to the container 41 or the like.

  In the present embodiment, the storage device 4 is supported so as to be rotatable with respect to the robot 1. According to such a configuration, the accommodation device 4 can be rotated in accordance with a change in the posture of the robot 1. Thereby, the posture of the robot 1 can be changed relatively freely.

<First Modification of First Embodiment>
A first modification of the first embodiment of the present invention will be described with reference to FIG.

  FIG. 10 is a cross-sectional view of a storage device according to a first modification of the first embodiment of the present invention.

  In the following description, the same or similar components as those described above will be denoted by the same reference numerals as those described above, and description thereof will be omitted as appropriate.

  In this modification, force application mechanisms 46A and 46B are provided instead of the force application mechanism 46 in the above-described embodiment.

  The force applying mechanism 46A is, for example, a coil spring, and is interposed between the first nut 481A and the first sleeve 482A. The force applying mechanism 46A applies a force to the first nut 481A on the right side of FIG. As a result, the wire 89 receives a force in the direction in which the accommodation amount of the wire 89 in the first accommodation chamber 413A is increased via the first nut 481A and the guide portion 47.

  The force applying mechanism 46B is, for example, a coil spring, and is interposed between the second nut 481B and the second sleeve 482B. The force applying mechanism 46B applies a force to the second nut 481B on the left side of FIG. Thereby, the wire 89 receives a force in the direction in which the accommodation amount of the wire 89 in the second accommodation chamber 413B is increased via the second nut 481B and the guide portion 47.

  In the present modification, as described above, the force applying mechanisms 46A and 46B apply force to the wire 89 in the direction in which the accommodation amount of the wire 89 in the accommodating body 41 increases.

  Even with such a configuration, the same effects as those of the above-described embodiment can be obtained.

<Second Modification of First Embodiment>
A second modification of the first embodiment of the present invention will be described with reference to FIG.

  FIG. 11 is a cross-sectional view of a storage device according to a second modification of the first embodiment of the present invention.

  In this modification, the angle formed by the traveling direction of the wire 89 located in the first opening 415A and the traveling direction of the wire 89 located in the second opening 415B is not 0 ° but 20 °. Different from that shown in FIG. Unlike this modification, the angle formed by the traveling direction of the wire 89 positioned in the first opening 415A and the traveling direction of the wire 89 positioned in the second opening 415B is 10 °, 30 °, or 40 °. It may be.

  According to this modification, in addition to the effects described with respect to the arc system A1, the following effects are achieved.

  According to this modification, as shown in FIG. 11, the first cable 6 </ b> A connected to the housing device 4 can be hung diagonally downward. Thereby, it is not necessary to ensure a large extra space for the first cable 6 </ b> A on the left side of the housing device 4.

  The present invention is not limited to the embodiment described above. The specific configuration of each part of the present invention can be changed in various ways.

  In the above embodiments and modifications, the storage device has been described as including a guide portion, but the present invention is not limited to this. For example, when the wire is hard, the guide portion need not be used.

  In the above-described embodiments and modifications, an example in which the first storage chamber and the second storage chamber are formed in the storage body that is an integral body is shown, but the present invention is not limited to this. For example, the container may include separate parts, a first housing chamber may be formed in one of the parts, and a second housing chamber may be formed in the other one part.

DESCRIPTION OF SYMBOLS 1 Robot 21 1st feeding apparatus 211 1st feeding roller 22 2nd feeding apparatus 221 2nd feeding roller 29 Wire supply source 4 Housing apparatus 41 Housing 411A 1st area | region 411B 2nd area | region 411C 3rd area | region 413A 1st 1 accommodation chamber 413B 2nd accommodation chamber 415A 1st opening 415B 2nd opening 43 support part 431 1st site | part 432 2nd site | part 45 detection sensor 46 force application mechanism 461 disk 462 rotation member 463 hole 465 shaft 467 torsion spring 46A force application mechanism 46B force applying mechanism 47 guide portion 47A first end portion 47B second end portion 481A first nut 481B second nut 482A first sleeve 482B second sleeve 491 adapter 492 connection fitting 49A first connection member 49B second connection member 6A first 1 cable 6B second cable 7 torch 89 wire A1 arc system C 1 point F1 axis direction Ox axis W1 processed member X1 first direction X2 second direction X3 third direction

Claims (10)

A containment device;
Comprising a first delivery device for feeding the word ear, and
The receiving device includes a first region in which the wire each is inserted, and a second region, the container including a third region, and
The third region is located between the first region and the second region in an axial direction along the axis of the wire;
The housing includes a first housing chamber located between the first region and the third region in the axial direction, and a second housing located between the second region and the third region in the axial direction. A containment chamber,
The first storage chamber stores the wire in a state of being curved toward the second direction side of the first direction orthogonal to the axial direction,
The second storage chamber stores the wire in a state of being curved in a third direction opposite to the second direction,
The first storage chamber and the second storage chamber allow the wire to vibrate in the first direction, and the bending state of the wire changes during the vibration,
A second feeding device for feeding the wire;
The first feeding device is a push device that feeds the wire to the housing device,
The second feeding device is a pull device that pulls the wire from the housing device,
Due to the feeding speed of the wire by the pull device being smaller than the feeding speed of the wire by the push device, the accommodation amount of the wire in the first accommodation chamber and the second accommodation chamber is increased. ,
Due to the wire feeding speed of the pull device being larger than the wire feeding speed of the push device, the amount of wire accommodated in the first accommodation chamber and the second accommodation chamber is reduced. , Arc system. A container including a first region, a second region, and a third region through which wires are inserted,
The third region is located between the first region and the second region in an axial direction along the axis of the wire;
The housing includes a first housing chamber located between the first region and the third region in the axial direction, and a second housing located between the second region and the third region in the axial direction. A containment chamber,
The first storage chamber stores the wire in a state of being curved toward the second direction side of the first direction orthogonal to the axial direction,
The second storage chamber stores the wire in a state of being curved in a third direction opposite to the second direction,
The first storage chamber and the second storage chamber allow the wire to vibrate in the first direction, and the bending state of the wire changes during the vibration,
A support portion for supporting the wire;
The support device is a storage device that is located between the first storage chamber and the second storage chamber in the axial direction. The support portion is rotatably supported with respect to the container,
A detection sensor for detecting the amount of the wire accommodated in the container;
The storage device according to claim 2, wherein the detection sensor detects a rotation angle of the support portion with respect to the storage body. A container including a first region, a second region, and a third region through which wires are inserted,
The third region is located between the first region and the second region in an axial direction along the axis of the wire;
The housing includes a first housing chamber located between the first region and the third region in the axial direction, and a second housing located between the second region and the third region in the axial direction. A containment chamber,
The first storage chamber stores the wire in a state of being curved toward the second direction side of the first direction orthogonal to the axial direction,
The second storage chamber stores the wire in a state of being curved in a third direction opposite to the second direction,
The first storage chamber and the second storage chamber allow the wire to vibrate in the first direction, and the bending state of the wire changes during the vibration,
The accommodation apparatus further provided with the force provision mechanism which gives force with respect to the said wire in the direction where the accommodation amount of the said wire in the said accommodating body becomes large. A container including a first region, a second region, and a third region through which wires are inserted,
The third region is located between the first region and the second region in an axial direction along the axis of the wire;
The housing includes a first housing chamber located between the first region and the third region in the axial direction, and a second housing located between the second region and the third region in the axial direction. A containment chamber,
The first storage chamber stores the wire in a state of being curved toward the second direction side of the first direction orthogonal to the axial direction,
The second storage chamber stores the wire in a state of being curved in a third direction opposite to the second direction,
The first storage chamber and the second storage chamber allow the wire to vibrate in the first direction, and the bending state of the wire changes during the vibration,
Further comprising a guide portion inserted through the wire and accommodated in the first accommodation chamber and the second accommodation chamber,
The guide portion includes a first end and a second end,
The first end is supported in the first region or the third region with respect to the container so as to be slidable along the axial direction.
The storage device, wherein the second end portion is supported by the storage body so as to be slidable along the axial direction in the second region or the third region. A first nut fixed to the first end;
A second nut secured to the second end;
A first sleeve and a second sleeve fixed to the container;
The first nut is supported by the first sleeve so as to be slidable along the axial direction,
The accommodation device according to claim 5, wherein the second nut is supported by the second sleeve so as to be slidable along the axial direction. The container is formed with a first opening that communicates with the first housing chamber and a second opening that communicates with the second housing chamber,
From the first opening, the wire is introduced into the container, and from the second opening, the wire is sent out of the container,
The angle formed by the traveling direction of the wire located in the first opening and the traveling direction of the wire located in the second opening is 0 to 45 °. A storage device according to claim 1. A storage device according to any one of claims 2 to 7,
An arc system comprising: a first feeding device that feeds the wire. A containment device;
Comprising a first delivery device for feeding the word ear, and
The receiving device includes a first region in which the wire each is inserted, and a second region, the container including a third region, and
The third region is located between the first region and the second region in an axial direction along the axis of the wire;
The housing includes a first housing chamber located between the first region and the third region in the axial direction, and a second housing located between the second region and the third region in the axial direction. A containment chamber,
The first storage chamber stores the wire in a state of being curved toward the second direction side of the first direction orthogonal to the axial direction,
The second storage chamber stores the wire in a state of being curved in a third direction opposite to the second direction,
The first storage chamber and the second storage chamber allow the wire to vibrate in the first direction, and the bending state of the wire changes during the vibration,
A second feeding device for feeding the wire;
The first feeding device is a push device that feeds the wire to the housing device,
The second feeding device is a pull device that pulls the wire from the housing device,
A first cable disposed between the first feeding device and the accommodating device and accommodating the wire;
An arc system further comprising: a second cable that is disposed between the second feeding device and the accommodating device and accommodates the wire. A containment device;
Comprising a first delivery device for feeding the word ear, and
The receiving device includes a first region in which the wire each is inserted, and a second region, the container including a third region, and
The third region is located between the first region and the second region in an axial direction along the axis of the wire;
The housing includes a first housing chamber located between the first region and the third region in the axial direction, and a second housing located between the second region and the third region in the axial direction. A containment chamber,
The first storage chamber stores the wire in a state of being curved toward the second direction side of the first direction orthogonal to the axial direction,
The second storage chamber stores the wire in a state of being curved in a third direction opposite to the second direction,
The first storage chamber and the second storage chamber allow the wire to vibrate in the first direction, and the bending state of the wire changes during the vibration,
A robot for supporting the storage device;
The storage system is an arc system supported so as to be rotatable with respect to the robot.

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