JPH0614939Y2 - Welding bolt welding equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial field of application> The present invention relates to a welding bolt welding apparatus capable of supplying and welding a welding bolt with high supply accuracy and at a high supply speed.

<Prior Art> Conventionally, as a welding machine for welding a welding bolt having a protrusion on the head of the bolt to a steel plate member, a resistance welding machine having an upper electrode and a lower electrode facing each other vertically (hereinafter referred to as a welding machine) (Abbreviated) is used.

In general, this type of welding machine is configured to automatically supply welding bolts from a parts feeder to the electrode portion and perform welding on a carried-in welding work in order to improve work efficiency.

As such a welding bolt welding device, a real-life machine 51-
Examples thereof include those disclosed in Japanese Patent No. 130721 and Japanese Utility Model Publication No. 59-5510. For example, the actual exploitation 51-13
The apparatus disclosed in Japanese Patent No. 0721 includes an upper electrode that can be moved up and down, and a bolt holder that can hold a welding bolt by spring force is arranged so as to follow the upper electrode. A bolt supply pipe is inclined to the bolt holder. Then connected. Then, the welding bolt fed from the bolt supply pipe is sandwiched by the bolt holder, the bolt holder is opened by lowering the upper electrode, and the welding bolt is supplied to the welding position of the welding work to perform welding. Has been done. In addition to the above, Japanese Utility Model Publication No. 59-5510 includes a bolt guide plate that faces the opening surface of the bolt supply pipe and can be opened and closed. A device configured to guide a turn is disclosed.

<Problems to be solved by the invention> Generally, in these welding machines, the lower electrodes of the welding electrodes facing each other vertically are fixed, and the upper electrode moves up and down to sandwich the welding work and to energize it under pressure. It has a welded structure. However, in the case of using a welding bolt with a long shaft, or when welding a welding work having a large uneven shape, in order to facilitate the supply of the welding bolt and the transfer movement of the welding work,
A welding machine is used in which the upper and lower electrodes move up and down to increase the distance between the electrodes.

In addition, the welding of the welding bolt to the welded work The welding work is carried into the electrode section of the welding machine, and after predetermined positioning, welding bolts are supplied and charged to perform welding.

B. Welding bolts are supplied to and held by the lower electrode of the welding machine, and the welding work is carried onto it for positioning welding.

In the former case, the welding bolt is supplied with the head on top and the shank on the bottom (this is referred to as "downward supply"). In the latter case, the welding bolts are supplied with the shaft portion up and the head down (this is referred to as "upward supply").

On the other hand, with the recent progress in automation of welding, robots for welding have been introduced, and the field of use is expanding by taking advantage of their versatility. For example, the carrying-in, carrying-out, positioning, etc. of the welding work at the time of spot welding have conventionally been performed by a carrying device and a positioning device provided along with the welding machine. Since the shape and size are unique, they are not versatile and increase equipment costs. Therefore, as the accuracy and size of welding robots are improved, the processes such as loading and unloading and positioning of welding work are converted from the above-mentioned unique devices to general-purpose robots, resulting in wider labor and labor saving. It is being implemented. When the robot technology is applied to the welding of the welding bolts as described above, a welding bolt welding apparatus capable of supplying and welding the welding bolts with a high supply accuracy and a high supply speed is required.

However, the conventional device has the following problems, and it is not possible to adapt to the above usage conditions, and its solution is a major problem.

A bolt supply device (which is composed of a bolt supply pipe and a bolt holder in the conventional example) is provided on the upper electrode of the welding machine, which complicates the structure of the upper electrode portion.

Since the upper electrode and the bolt supply device are integrated,
The space between the lower electrodes becomes smaller, making it difficult to handle welding bolts with long shafts and various welding work shapes.

Since the upper electrode is provided with the bolt supply device, electrical insulation must be provided between the two to prevent the welding current from being shunted.

When the welding bolt changes its direction in the bolt supply device, if the bolt feeding speed changes due to fluctuations in the air pressure and flow rate of the bolt feeding, the direction cannot be reliably changed, and the welding bolt tilts or falls. Bolt feeding posture is not stable.

Since the bolt holder of the bolt feeding device is opened and closed by a spring or the like, when the bolt feeding pressure changes, the opening and closing force of the spring cannot follow and the welding bolt tends to pop out and tilt.

When the upper electrode penetrates the bolt holder and pushes out the welding bolt, if the welding bolt is tilted, the welding can be pushed out as it is and proper feeding cannot be performed.

When the upper electrode penetrates the bolt holder, the claws of the holding portion and the like come into contact with the upper electrode, so that the upper electrode is damaged quickly.

Since the bolt holder is dedicated to the shape (diameter, length, etc.) of the welding bolt, it lacks versatility.

The above problems have been a major obstacle when applying the robot technology to a welding machine and performing welding of welding bolts with high efficiency in accordance with various shapes of welding works.

The present invention has been made in order to solve the above-mentioned problems of the prior art device, and can deal with various kinds of welding bolts, and the welding bolts can be supplied with high accuracy and at high speed. An object of the present invention is to provide a welding bolt welding device having high versatility, which can be supplied at a speed and can be welded in accordance with various shapes of welding works.

<Means for Solving the Problems> The present invention has been made in order to achieve the above object, and a welding machine having an upper electrode and a lower electrode facing each other, and a welded portion between the upper electrode and the lower electrode. A robot provided to carry in and carry out a welding work to, a parts feeder for aligning and feeding welding bolts, and a bolt supply device for supplying the welding bolts fed to the welding processing part, The bolt supply device includes a supply head having a chuck portion capable of holding the welding bolt, the chuck portion being driven by a drive mechanism to open and close, and having an opening control mechanism capable of controlling the degree of opening and closing thereof, and the supply head. The head has a moving mechanism that reciprocates the head between the welding position and a feeding position separated from the welding portion, and a bolt feeding pipe connected to the parts feeder. And a bolt feeding mechanism provided so as to be movable between the feeding position and the retreat position and capable of feeding the welding bolt to the supply head at the feeding position. It is a welding bolt welding device.

<Operation> The present invention is configured as described above, and in the feeding position, the feeding head which receives the feeding of the welding bolt from the parts feeder through the bolt feeding pipe has the chuck portion for controlling the opening. Driven by a drive mechanism whose opening is controlled by the mechanism, the welding bolt is clamped.

The supply head holding the welding bolt is moved to the welded portion by the moving mechanism, and the bolt feeding pipe is moved to the retracted position.

In the welding portion, the chuck portion of the supply head is driven by a drive mechanism whose opening is controlled by the opening control mechanism to release the clamp of the welding bolt and supply the welding bolt to the welding position.

The supply head that has finished supplying the bolts is returned to the feed position by the moving mechanism, and the chuck portion is driven by the drive mechanism whose opening is controlled by the opening control mechanism to be in the half-open state. The welding bolts are delivered to the chuck portion in the half-opened state from the bolt feeding pipe of the bolt feeding mechanism that has moved to the feeding position.

On the other hand, the robot carries the welding work into and out of the welding processing part at a predetermined timing, and the welding machine performs welding by welding bolts by the upper and lower electrodes, pressing the welding work, and energizing.

<Embodiment> An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view showing the overall structure of a welding bolt welding device of the present invention, which is a welding machine 1 having an upper electrode 3 and a lower electrode 4 facing each other, and a welded portion between the upper and lower electrodes 3, 4. The welding workpiece 65 is carried in and out of the robot 6, the parts feeder 8 for aligning and feeding the welding bolts 60, and the welding bolts 60 fed for welding.
It is configured mainly with a bolt supply device 10 for supplying to.

The upper electrode 3 and the lower electrode 4 of the welding machine 1 are supported by the frame 2 so as to be vertically movable by cylinders (not shown), and the pressing force of the upper electrode 3 is larger than that of the lower electrode 4. Is set to.

A guide hole 3a having a diameter and a depth that allows the shaft portion 60a of the welding bolt 60 to be loosely inserted is formed in the center of the lower surface of the upper electrode 3. Further, in the center of the upper surface of the lower electrode 4, a recess 4a shallower than the thickness of the bolt head 60b of the welding bolt 60 is provided for head guide. If the positioning of the welding bolt 60 is not particularly required, it is not necessary to provide the recess 4a, and the upper surface of the lower electrode 4 may be flat.

The robot 6 is a general-purpose robot having a robot hand 7 capable of gripping the welding work 65, and is arranged so that the welding work 65 can be carried in and out of the welding processing section 5 of the welding machine 1.

The parts feeder 8 is a general-purpose aligning and feeding device configured to arrange a large number of welding bolts 60 in a predetermined direction and sequentially feed the bolts one by one, and is connected to the bolt feeding device 10 via a feeding hose 9. Has been done.

As shown in FIGS. 2 and 3, the bolt supply device 10 includes
It comprises a supply head 11, a moving mechanism 30, and a bolt feeding mechanism 50, and is arranged at a predetermined position of the frame 2 of the welding machine 1 via a mounting member 59.

As shown in FIG. 5, the supply head 11 includes opposed chuck portions 12a and 12b, a chuck cylinder 17 that is a drive mechanism that drives the opening and closing of the chuck portions 12a and 12b, and an opening control that can control the opening of the chuck cylinder 17. It is composed of the mechanism 20 and the like.

As shown in FIG. 6A, the chuck portions 12a and 12b are provided with substantially V-shaped groove-shaped holding surfaces 13a and 13b capable of holding the shaft portion 60a of the welding bolt 60. Further, the bolt heads 60 are respectively provided on the lower surfaces of the holding surfaces 13a and 13b.
A half-conical concave bolt receiving portion 14 capable of receiving b
a and 14b are formed, and bolt receiving portions 15a and 15b similar to the above are also formed on the upper surface side. The chuck portions 12a and 12b are fixed to rod plates 18a and 18b, which will be described later, via receiving plates 16a and 16b, respectively.

The check cylinder 17 is a parallel fluid cylinder having rods 17a and 17b that bilaterally advance and retreat, and is formed so as to move the check portions 12a and 12b in parallel by the operation thereof to drive the opening. A rod plate 18a is fixed to a rod 17a of the check cylinder 17, and a stopper cylinder 21 is attached to the rod plate 18a via a cylinder fixing plate 25. A rod plate 18b is fixed to one rod 17b, and the open / close regulating plate 2 is attached to the rod plate 18b.
6 is fixed.

The stop cylinder 21 is a fluid cylinder serving as an operation source of the opening degree control mechanism 20, and its operation axis is arranged in parallel with the operation axis of the check cylinder 17, and its operation force is set to the check cylinder 17. The operating stroke is set to be the same as that of the check cylinder 17. At the tip of the rod 21a of the stopper cylinder 21, a stopper 22 is attached, which has an H-shaped longitudinal section and has a shaft portion 22a of a predetermined length.

The opening / closing restriction plate 26 is provided with a through hole 26a having a predetermined diameter, and the shaft portion 22a of the stopper 22 is inserted into the through hole 26a.
Has been inserted.

The stopper cylinder 21, the stopper 22, the cylinder fixing plate 25, and the opening degree regulating plate 26 constitute an opening degree control mechanism 20 for controlling the opening / closing degree of the check cylinder 17.

As shown in FIG. 7, the chuck portions 12a and 12b are provided.
In order to detect the feeding of the welding bolt 60,
Bolt feed detection sensor 58 consisting of a transmission type photoelectric switch
a and 58b are provided.

The supply head 11 configured as described above is fixed to the moving mechanism 30 via the head holder 27.

The moving mechanism 30 mainly includes a slide cylinder 32 that moves the supply head 11 in the horizontal direction (left and right direction in FIG. 3) and a lift cylinder 42 that moves the supply head 11 in the vertical direction.

The slide cylinder 32 is composed of a fluid cylinder and is attached to the head support plate 33 with its axis lined in the horizontal direction, and the tip end of the rod 32 a thereof is fixed to the head holder 27. The head support plate 33 is provided with a pair of bearings 34 parallel to the axis of the slide cylinder 32. Further, a pair of head guides 28 extending parallel to the horizontal direction are fixed to the head holder 27,
The head guide 28 is supported by a bearing 34 so as to be movable in the horizontal direction. A guide connecting plate 29 for preventing twisting is fixed to the tip end portion of the head guide 28, and the advancing end of the supply head 11 is adjusted within the stroke of the slide cylinder 32 by adjusting the fixing position. It is formed so that the position can be changed.

Further, a lift guide 46 for vertically guiding is fixed to the head support plate 33 in a hanging shape. In addition, 35,
36 is fitted into the head guide 28 to supply the supply head 11
This is a spacer for adjusting the forward and backward end positions.

The lift cylinder 42 is composed of a fluid cylinder, and is attached to the substrate 43 with its axis lined in the vertical direction, and the front end of the rod 42a is fixed to the head support plate 33. A guide holder 47 having a bearing 48 parallel to the axis of the lift cylinder 42 is fixed to the substrate 43, and the lift guide 46 penetrates the bearing 48 and is supported so as to be vertically movable. The board 43 is the mounting member 5
It is fixed at 9.

When the rod 32a of the slide cylinder 32 is at the retracted end and the rod 42a of the lift cylinder 42 is at the lowered end, the supply head 11 is at the feeding position, and at the feeding position, the chuck portions 12a and 12b are It is formed so as to vertically face the bolt feeding pipe 51 of the bolt feeding mechanism 50 in the raised position (see FIG. 3). When the rod 32a is at the forward end and the rod 42a is at the rising end, the supply head 11 is located at the welded portion 5 as shown in FIG. 4, and the axes of the chuck portions 12a and 12b are upwards.
It is formed so as to coincide with the axes of the lower electrodes 3 and 4.

The bolt feeding mechanism 50 includes a bolt feeding pipe 51 and a feeding pipe cylinder 53 that moves the bolt feeding pipe 51 up and down.

The bolt feed pipe 51 is a bolt head 60 of the welding bolt 60.
It is a hollow tube having an inner diameter slightly larger than the outer diameter of b, and is connected to a feeding hose 9 from the parts feeder 8 via a hose joint 52. The tip of the rod 53a of the feed pipe cylinder 53 is fixed to the bolt feed pipe 51 via a mounting plate 54.

The feed pipe cylinder 53 is composed of a fluid cylinder, and is attached to the substrate 43 via a support plate 56 with its axis line in the vertical direction. A guide 55 is fixed to the mounting plate 54 in parallel with the rod 53a, and the guide 55 is vertically movably guided by a bearing 57 provided on the support plate 56.

When the rod 53a of the feeding pipe cylinder 53 is at the rising end, the bolt feeding pipe 51 is capable of delivering the welding bolt 60 fed from the parts feeder 8 to the chuck portions 12a, 12b of the feeding head 11. It is formed so as to be located at the feeding position. On the other hand, when the rod 53a is at the lower end, it is formed so as to be located at the retracted position where the forward and backward movement of the supply head 11 cannot be prevented.

The check cylinder 17, the stop cylinder 21, the slide cylinder 32, the lift cylinder 42, and the feed pipe cylinder 53 of the bolt supply device 10 are connected to a fluid pressure source via electromagnetic switching valves (not shown).

The electromagnetic switching valve, the bolt feeding detection sensors 58a and 58b, the welding machine 1, the robot 6, and the parts feeder 8 are connected to a control device (not shown) so that they operate in a predetermined order. Is configured. FIG. 13 is a time chart for controlling each part in the embodiment.

Next, the operation of the welding bolt welding device configured as described above will be described.

First, the pinching operation of the welding bolt 60 by the supply head 11 will be described.

When the check cylinder 17 is turned on, its rods 17a and 17b are symmetrically advanced to the left and right sides, and when it is turned off, the rods 17a and 17b are symmetrically retracted to the incoming side. With this operation, the chuck parts 12, 12b
Are rod plates 18a, 18b, receiving plates 16a,
The cylinder fixing plate 25 and the opening / closing restriction plate 26 are also opened and closed in parallel to the left and right via 16b, and are similarly moved to the left and right.

Now, when the check cylinder 17 is turned on and the stopper cylinder 21 is turned on, the rod 21a of the stopper cylinder 21 also advances to the exit side, and the check portion 12a,
12b is greatly separated to the left and right, reaches the maximum stroke S ₃ , and is in a fully opened state (see FIG. 6A).

At this time, the relational position between the opening / closing restriction plate 26 and the stopper 22 is set so that the restriction plate interval T ₀ is smaller than the stopper interval T _{2 as} shown in FIG. Therefore, the outer side surface 26b of the opening / closing restriction plate 26 is free at the shaft portion 22a without contacting the stopper end surface 22b.

When the stopper cylinder 21 is switched off from the fully opened state of the chuck portions 12a and 12b, the rod 21a moves to the entry side and retracts. For this reason, although the stopper interval T ₂ is reduced, the restriction plate interval T ₀ does not change, and the stopper end surface 22b abuts the outer surface 26b. As it is, if the rod 21a is on the input side, the operating force (in this case, pulling force) of the stopper cylinder 21 is larger than the operating force (in this case, pushing force) of the check cylinder 17, so that the rods 17a, 17b are Is pulled back, and as a result, the space between the chuck portions 12a and 12b becomes narrower.

When the pullback by the stopper cylinder 21 is completed, the stopper interval becomes T ₁ shown in FIG. The distance between the chuck portions 12a and 12b is set to the shaft portion 60 of the welding bolt 60.
a The semi-open state with the dimension S ₂ larger than the outer diameter and smaller than the diameter of the bolt head 60b is brought to a stop (see FIG. 6B). Note that this interval S ₂ is equal to the stopper 22 and the rod 2
It can be changed by changing the mounting position relative to 1a, and can be changed according to the type of welding bolt 60.

Next, when the chuck cylinder 17 is turned off, the rods 17a and 17b are released from the pulling back force of the stopper cylinder 21 and retracted, and the chuck portions 12a and 12b abut each other at their central portions to be in a fully closed state. . At this time, since the stopper interval T ₁ does not change, the chuck portions 12a and 12b are not changed.
The opening / closing restriction plate 26 moves the shaft portion 2 of the stopper 22 by the amount of movement of
Although it moves on 2a, it does not contact the ring portion 22c.

The clamping of the welding bolt 60 by the chuck portions 12a and 12b is performed in this fully closed state. In this case, when the welding bolt 60 is sandwiched, the sandwiching surfaces 13a and 13b sandwich and hold the shaft portion 60a, the chuck portions 12a and 12b are opened by a dimension corresponding to the outer diameter of the shaft portion 60a, and the spacing is S ₁ (See FIG. 6C).

Further, since the sandwiching surfaces 13a and 13b are V-shaped grooves facing each other in parallel, the shaft portion 60a of the welding bolt 60 can be uniformly and stably sandwiched. The diameter of the shaft portion 60a of the welding bolt 60 that can be held between the chuck portions 12a and 12b is equal to the holding surface 13
It can be applied in a range corresponding to the diameter from the minimum to the maximum of the circle inscribed in a and 13b, and the change can be easily made by changing the mounting position of the stopper 22.

Then, the supply of the welding bolt 60 of the supply head 11 is performed with the chuck portions 12a and 12b in a half-open state. In this half-open state, the welding bolt 60 is fed and the chuck portions 12a, 12 are
This is for ensuring the delivery of b, and each part operates as follows.

1) Opposing clamping surfaces 13a, 1 when feeding the welding bolt 60
3b serves as a guide for the tip of the shaft portion 60a, and the welding bolt 60
Prevents popping out and falling.

2) When the bolts are fed, the bolt receiving portions 14a, 14b on the lower surfaces of the chuck portions 12a, 12b receive the seating surface of the bolt head 60b to prevent the welding bolt 60 from falling.

3) In the constituent members of the supply head 11, there are no indeterminate elements that fluctuate, such as springs, and the spacing S between the chuck portions 12a and 12b is S.
_{2 is} also locked and stably held by the check cylinder 17 and the stop cylinder 21. Since this space S ₂ can be adjusted by adjusting the mounting position of the stopper 22, the optimum condition for the welding bolt 60 to be fed can be obtained. Therefore,
The supply and delivery of the welding bolts 60 can be surely performed regardless of fluctuations in the bolt supply pressure and the supply speed from the parts feeder 8.

As described above, the supply head 11 opens and closes the chuck parts 12a and 12b by combining the on / off states of the check cylinder 17 and the stop cylinder 21 to open and close the welding parts 60. It is possible to smoothly and reliably perform clamping, guidance at the time of bolt reception, and release supply, and also to exhibit a versatile chuck function that can handle various types of welding bolts.

Next, the operation of the entire apparatus will be described.

In the standby state of the welding bolt welding device, the upper electrode 3 of the welding machine 1 is in the raised position U ₀ and the lower electrode 4 of the welder 1 is in the lowered position D _0.
The robot 6 holds the welding work 65 by the robot hand 7 and stands by outside the welded portion 5.

Further, the bolt supply device 10 holds the welding bolts 60 fed from the parts feeder 8 with the chuck portions 12a and 12b of the supply head 11 fully closed (see FIG. 7). The supply head 11 is connected to the slide cylinder 3
2 by the retreat of 2 and the lowering of the lift cylinder 42 to the feed position, and the bolt feed pipe 51 of the bolt feed mechanism 50.
Has descended to the retracted position shown by the chain double-dashed line in FIG.

When the welding start signal is input, first, the lift cylinder 42 is turned on, the supply head 11 rises, and the lift cylinder 42
Holds its raised position. In addition, the slide cylinder 32 is turned on with a slight delay from the above, and the supply head 11 starts to move forward.

At this time, the postures of the chuck parts 12a and 12b are guided by the head guide 28, and the tilting or moving direction does not change. The rod 32a is connected to the guide connecting plate 29.
When the abuts on the spacer 36, the forward movement is stopped. At the time of this stop, the welding bolt 60 sandwiched between the chucks 12a and 12b is located in the welded portion 5 of the welding machine 1, and its axis coincides with the axes of the upper and lower electrodes 3 and 4 (Fig. 4). reference).

Then, the lower electrode 4 of the welding machine 1 rises, and the chuck portion 1
Below 2a and 12b, bolt head 60 of welding bolt 60
It temporarily stops at a position D ₁ slightly apart from b (see FIG. 8).

Then, the robot 6 carries the welding work 65 into the welding portion 5, and the lower hole 65a, which is the welding position thereof, is fitted onto the shaft portion 60a of the welding bolt 60 protruding upward. When the upper electrode 3 is lowered after the welding work 65 has been carried in and externally fitted, the tip portion of the shaft portion 60a of the welding bolt 60 is fitted into the guide hole 3a of the upper electrode 3. Then, the upper electrode 3 is brought into contact with the upper surface of the welding work 65 or is stopped at a position immediately before that.

Next, when the check cylinder 17 is turned on, the rod 17
a, although 17b moves forward to the left and right, for the position of a stop 22 is the same, stops at intervals _{T 3} shown in FIG. 8 has decreased to 0, the chuck unit 12a, 12b will be half open. As a result, the welding bolt 60 is attached to the chuck portions 12a and 12b.
Since the clamping force is released, it falls by its own weight and comes into contact with the concave portion 4a of the lower electrode 4 which stops slightly downward (see FIG. 9). At this time, the bolt head 60b is not
Positioning is carried out by fitting in a, and displacement and inclination when lowered are prevented. At the same time, the axes of the guide hole 3a of the upper electrode 3 and the pilot hole 65a of the welding work 65 are also aligned, so that the welding bolt 60 can be supported vertically and reliable positioning can be performed.

With this, the welding work piece 65 and the welding bolt 60 for welding
Since the position has been determined, the supply head 11 is moved backward. In this backward movement, first, the stop cylinder 2
1 is turned on, and the chuck portions 12a and 12b are fully opened (see FIG. 10). This is because the upper and lower electrodes 3,
4) Besides, it is for preventing the chuck portions 12a and 12b from interfering with each other.

Then, the slide cylinder 32 is turned off to retract the supply head 11, the lift cylinder 42 is turned off, the supply head 11 is lowered, and the supply head 11 is returned to the feeding position. The purpose of lowering the supply head 11 is to secure a space so as to avoid interference with the supply head 11 in the case of a welding work 65 or the like having a large shape change.

From here, the welder 1 and the bolt supply device 10 operate in parallel, and the operation on the welder 1 side will be described.

When the retreat of the supply head 11 is confirmed (by a sensor not shown), the lower electrode 4 of the welding machine 1 is temporarily stopped at the position D ₁
To rise again. Then, the bolt head 60b and the welding work 65 are sandwiched between and pressed with the upper electrode 3, and a welding current is passed to complete welding (see FIG. 11). At this time, since the pressing force of the upper electrode 3 is set to be larger than the pressing force of the lower electrode 4, the pressing force of the lower electrode 4 does not push up the upper electrode 3.

When the welding current is finished, the upper electrode 3 and the lower electrode 4 are returned to the raised position U ₀ and the lowered position D ₀ , respectively.

The welding work 65 having completed welding is carried out by the robot 6. However, when multiple welding is performed on the same welding work 65, until the welding bolt 60 for the next welding is supplied,
Retreat to a predetermined position.

In parallel with the above welding, the bolt supply device 10 operates as follows.

Simultaneously with the return to the feeding position by the lowering of the lift cylinder 42, the stopper cylinder 21 is turned off and the chuck parts 12a and 12b are opened halfway.

Next, when the feed pipe cylinder 53 is turned on, the bolt feed pipe 51 rises and the chuck portion 12a at the feed position,
It stops below 12b (see FIG. 3). Subsequently, the welding bolt 60 is pneumatically fed through the feeding hose 9 in a posture in which the bolt head 60b is left. The pressure-fed welding bolt 60 is extruded from the bolt feed pipe 51, and the shaft portion 60a passes through the gap between the chuck portions 12a and 12b, the tip portions of which are half-opened, and appears on the upper surface (see FIG. 12). At this time, the space S ₂ is smaller than the outer diameter of the bolt head portion 60b, so that the welding bolt 60 does not fly out to the upper surfaces of the chuck portions 12a and 12b. Further, the lower surfaces of the chuck portions 12a and 12b are conical bolt receiving portions 14a and 14b, and the bolt head portion 6 is provided.
Since 0b is received, the welding bolt 60 stops in a substantially upright state.

At this time, since the air pressure for the bolt pressure feeding is continuously generated, the welding bolt 60 is pushed up and maintains its position.
When the tip of the shaft portion 60a jumps to the upper surface of the chuck portions 12a and 12b, the bolt feed detection sensors 58a and 58b detect the welding bolt 60 and turn off the chuck cylinder 17. As a result, the chucks 12a and 12b are fully closed and the welding bolt 60 is held therebetween.

When the chucks 12a and 12b clamp the welding bolt 60, the feed pipe cylinder 53 is turned off, and the bolt feed pipe 5
At the same time as 1 descends, the pneumatic pressure of the bolt pressure feed stops (see FIG. 7).

This completes all the operations in one cycle, and waits again for a start signal for starting welding.

The above has described the case where the lower electrode 4 of the welding machine 1 is lifted in two steps. However, when welding the welding bolt 60 to the welding work 65 such as a flat plate whose shape is not so complicated,
Since the distance between the upper and lower electrodes 3 and 4 may be small, the above electrode operation is not necessary. Such a welding method will be described with reference to FIG.

In this case, the lower electrode 4 of the welding machine 1 is fixed and does not move up and down. The height position of the lower electrode 4 is set below the chuck parts 12a and 12b and very close to the bolt head 60a, for example, the above-mentioned position D ₁ . Further, the supply of the welding bolt 60 is performed by the operation shown in FIGS. 7, 8, and 12.

Then, the welding work 65 is carried in by the robot 6, and the lower hole 65 a thereof is fitted onto the welding bolt 60.

Subsequently, the upper electrode 3 is stopped at the position E ₁ which is lowered by one step, and the welding bolt 60 is fitted into the guide hole 3a. Then, the welding bolt 60 is unpinched, and the supply head 11 is retracted.

Next, the upper electrode 3 is lowered again, and the welding work 65 and the bolt head 60b are pressed between the lower electrode 4 and the lower electrode 4 to perform welding.
In this case, the welding work 65 is on the upper surfaces of the chuck parts 12a and 12b (at a position of almost E ₁ ) when being carried in by the robot 6, and must be lowered to the position of E ₂ at the time of welding. A cushion such as a spring P is provided so that the movement of the upper electrode 3 can be followed. Others are the same as the above-mentioned operation.

Further, in this case, if the lower electrode 4 is moved up and down, the electrodes of the above welding machine are converted up and down, but by switching the control circuit, etc., bolt supply, work loading / unloading, welding can be performed in the same operation as above. It can be performed.

Also, a welding method in which the upper and lower electrodes 3 and 4 each have a one-step operation is possible. In this case, the lower side position of the lower electrode 4 is set to D ₁ in FIG. 8, and pressure is applied from the lower electrode 4 according to the operation of FIGS. 8 to 11.

FIG. 15 is a side view of a bolt supply device according to another embodiment of the present invention, which is characterized in that it can support downward supply of welding bolts. In the following description, the same parts as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

In the second embodiment, as compared with the first embodiment, the supply head 11 of the bolt supply device 10 is attached to the head holder 27 in the upside down direction, and the bolt feeding mechanism 50 is placed in the upside down direction to support. It is fixed to the substrate 43 via the plate 56A.

The welding machine 1 in this case may be a normal fixed type of the lower electrode 4, and the lower electrode 4 is provided with a guide hole 4b into which the shaft portion 60a of the welding bolt 60 can be loosely inserted.

In this embodiment, from FIG. 15, first, the bolt feed pipe 51 is raised and retracted, and the feed head 11 is moved forward. The supply head 11 advances to the welding position, and the welding bolt 60 is processed so as to be inserted into the guide hole 4b. Then, it unclamps at the falling end and moves up and down.

In addition, the supply accuracy, supply speed, versatility, etc. of the welding bolt 60, including the operations of the chuck portions 12a and 12b and the loading / unloading of the welding work 65, are the same as those in the first embodiment.

16 to 18 show the bolt supply and welding operation of the second embodiment. FIG. 16 shows the welding bolt 60 in a sandwiched state, FIG. 17 shows the supply state of the welding bolt 60, and FIG.
FIG. 8 shows a welded state.

FIG. 19 is a side view of the bolt supply device according to the third embodiment of the present invention, and is characterized in that it can be applied to welding to a welding work in which the pilot hole 65a as described above cannot be formed.

The welding bolt 60 is generally provided with a welding protrusion on the shaft 60a side of the bolt head 60b, and the shaft 60a is fitted into the prepared hole 65a provided at the welding position of the welding work 65 for welding. . However, due to the airtightness and waterproof of the product,
Preliminarily, it may not be possible to form the prepared hole 65a in the welding work 65. Therefore, a welding bolt 60A having a welding projection on the outer surface of the bolt head 60b is used.

In the third embodiment, as compared with the first embodiment, the supply head 11 of the bolt supply device 10 is mounted upside down in the head holder 27. Also, the bolt feeding mechanism 50
Is attached to the substrate 43 by a support plate 56B so that the bolt feeding pipe 51 faces the bolt receiving portions 15a and 15b of the chuck portions 12a and 12b at the feeding position.

FIG. 19 shows a state in which the supply head 11 and the bolt supply pipe 51 are both in the supply position. The supply head 11 moves upward to move to the welded erection portion 5, and the bolt supply pipe 51 descends and retreats.

In this case, the welding bolt 60A is supplied upward, and the welding bolt 60A is fed from the lower side of the downward chuck portions 12a and 12b to be sandwiched (see FIG. 20).

Then, the welding work 65 is positioned on the fixed lower electrode 4 of the welding machine 1, and the welding bolt 60 is placed on the welding position.
Transfer A and place it upright.

Next, the upper electrode 3 is lowered, and the welding bolt 60A is fitted into the guide hole 3a, and is temporarily stopped at the U ₁ position above the chuck portions 12a and 12b (see FIG. 21). Here, after the chuck parts 12a, 12b are fully opened and retracted, the temporary stop of the upper electrode 3 is released, and the bolt heads 60b,
Welding work 65 is pressurized and energized to complete welding (second
(See Figure 2).

The present invention is not limited to the above description and the illustrated examples, and its embodiment can be modified without departing from the technical idea of the present invention.

<Effect of the Invention> The welding bolt welding device according to the present invention has the above-described structure, and the structure has the following effects.

Since the bolt supply device including the supply head can be separated from the electrode of the welder, it is possible to freely form the electrode.

Since the supply head and the electrode are not in contact with each other, the electrode can be prevented from being damaged and the durability of the electrode can be improved.

The arrangement of the bolt supply device on the welding machine has no direction, and it is possible to easily deal with variations in the welding work and the like, and to obtain the best workability.

Supply of welding bolts to the welding position is performed linearly,
Since there is no need to change the direction, there is no problem such as falling of the welding bolt. Therefore, the bolt can be stably supplied at a high supply speed.

The opening part of the supply head supplying the welding bolt is controlled by an opening control mechanism to guide the welding bolt when it is clamped, supplied, and received, and there are uncertain elements such as springs in its constituent members. Since it is not present, it is possible to avoid the protrusion and inclination of the welding bolt due to fluctuations in the bolt feeding pressure and to supply the bolt with high accuracy.

Since the clamping of the welding bolts by the chuck portion is performed by the opposing V-shaped groove-shaped clamping surfaces, if the diameter of the bolt shaft portion is within a certain range, the welding bolts can be accurately clamped. Has versatility. In addition, the opening and closing interval of the check part can be changed according to the type of welding bolt,
It can be shared as a check part for many types of welding bolts.

Since the supply head is separated from the electrodes, it is easy to provide various sensors, and it is possible to detect the supply status of the welding bolts and perform accurate bolt supply at high speed.

Since a space can be secured in the vicinity of the electrodes of the welding machine, it is possible to easily carry in and out a welding work having a complicated shape, and to cope with various welding work shapes. In addition, the workability can be improved by facilitating the repair and replacement of the electrodes.

By changing the installation direction of the supply head or the supply direction of the welding bolt up and down, the supply direction (upward or downward) of the welding bolt can be easily changed.
It can be applied to a wide range of uses of welding methods.

As described above, according to this welding bolt welding device, it is possible to handle various types of welding bolts, the welding bolts can be supplied with high supply accuracy and at a high supply speed, and various welding can be performed. Welding can be performed according to the shape of the work, and high versatility can be demonstrated.

[Brief description of drawings]

FIG. 1 is a perspective view showing the overall construction of a welding bolt welding device according to an embodiment of the present invention, FIG. 2 is a perspective view of the same bolt supply device, and FIG. 3 is a bolt showing a state in which the supply head is in the feeding position. Partial cross-sectional side view of the supply device, FIG. 4 is a side view of the bolt supply device showing the state where the supply head is in the welded portion, FIG. 5 is a partial cross-sectional front view of the supply head, and FIGS. 7 to 10 and 12 are explanatory views showing the operating state of the supply head, FIG. 11 is an explanatory view showing the same welding state, and FIG. 13 is an example of the embodiment. FIG. 14 is a time chart showing the control of the device, FIG. 14 is an explanatory view showing an application example of welding in this device, FIG. 15 is a side view of the bolt supply device in the second embodiment, and FIGS. A theory showing the operating state of the supply head of the second embodiment 18 and 19 are side views of the bolt supply device according to the third embodiment, and FIGS. 20 and 21 show the operating condition of the supply head according to the third embodiment. Explanatory drawing, FIG. 22 is explanatory drawing which similarly shows a welding state. 1 ... Welder, 3 ... Upper electrode, 4 ... Lower electrode, 5 ... Welding part, 6 ... Robot, 8 ... Parts feeder, 10 ... Bolt supply device, 11 ... Supply head, 12a, 12b ... Check part, 17 ... check cylinder (driving mechanism), 20 ... opening control mechanism, 21 ... stopper cylinder, 22 ... stopper, 26 ... opening / closing regulation plate, 30 ... moving mechanism, 50 ... Bolt feeding mechanism, 51 ... Bolt feeding tube, 60 ... Welding bolt, 65 ... Welding work.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tetsunori Tanaka 1 Toyota Town, Toyota City, Aichi Prefecture, Toyota Motor Co., Ltd. (72) Inventor Shizuo Sagara 1 Toyota Town, Toyota City, Aichi Toyota Motor Co., Ltd. (72) Creator Takahiro Yamada 5-22 22 Kanayama, Naka-ku, Nagoya, Aichi Prefecture Yajima Giken Co., Ltd.

Claims (1)

[Scope of utility model registration request] 1. A welding machine having an upper electrode and a lower electrode facing each other, a robot provided so that a welding work can be carried in and out of a welded portion between the upper electrode and the lower electrode, and welding bolts are aligned. A parts feeder for feeding, and a bolt feeder for feeding the fed welding bolts to the welded portion, wherein the bolt feeder has a chuck portion capable of sandwiching the welding bolt, and the chuck portion thereof is provided. A part is driven by a drive mechanism to open and close, and a supply head having an opening control mechanism capable of controlling the degree of opening and closing, and between the welding position and a feeding position where the supply head is separated from the welding part. A reciprocating movement mechanism, and a bolt feed pipe connected to the parts feeder,
A bolt feeding mechanism, the bolt feeding pipe being movably provided between the feeding position and the retracted position, and being capable of feeding the welding bolt to the supply head at the feeding position. Welding bolt welding equipment characterized by