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Robot system

A robot system and robot technology, applied in the field of robot systems, can solve problems such as poor welding quality and achieve the effect of improving welding quality

Inactive Publication Date: 2012-01-11
YASKAWA DENKI KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Since the welding position is taught in this bent state, there is a problem that the welding quality deteriorates

Method used

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Examples

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Embodiment Construction

[0039] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0040] figure 1 It is a figure which schematically shows the structure of the robot system of this Example.

[0041] figure 1 Among them, 1 is a vertical articulated robot having a plurality of joint axes, and a spot welding torch 2 is attached to the front end.

[0042] The spot welding torch 2 includes a movable electrode 21 and a fixed electrode 22 arranged to face each other. In the example shown in the figure, the two electrodes are arranged vertically, with the movable electrode 21 on the upper side and the fixed electrode 22 on the lower side. When spot welding is performed, the movable electrode is extended toward the fixed electrode with the part to be welded (workpiece) W disposed between the movable electrode and the fixed electrode, and the workpiece W is sandwiched between the movable electrode and the fixed electrode. A current is passed between the ele...

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Abstract

The present invention provides a robot system. For teaching a welding-point position for a robot (1), processing of a robot system includes first processing for moving a spot welding gun (2) to a position at which movable and fixed electrodes (21,22) pinch the welding point; second processing for extending the movable electrode toward a member to be welded by driving of a motor, detecting contact between the movable electrode (21) and the welded member (W)based on a torque command to the motor, and stopping the movable electrode (21)after the contact is detected; and third processing for operating the robot toward the movable electrode(21) to move the fixed electrode (22) toward the welded member (W) while maintaining the contact between the movable electrode (21) and the welded member (W) by the driving of the motor, detecting contact between the fixed electrode (22) and the welded member (W)based on a disturbance torque acting on a joint of the robot (1), and stopping the operation of the robot (1) after the contact is detected.

Description

technical field [0001] The present invention relates to a robot system for performing prescribed operations with a robot, in particular to a robot system for spot welding. Background technique [0002] Regarding the spot welding in which a plurality of overlapping workpieces are sandwiched from both sides in the overlapping direction of the overlapping workpieces by a pair of electrodes, and joined by applying pressure and flowing an electric current between the electrodes, there is known as the prior art that there is a robot. A spot welding robot with a spot welding torch installed on the front end. By operating the robot, the spot welding torch can be moved one by one along a plurality of welding spots on the workpiece to perform spot welding. [0003] The spot welding torch is provided with the aforementioned pair of electrodes facing each other, and a spot welding torch configured such that one electrode can expand and contract in the direction of the other electrode i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B23K11/11
CPCB23K11/115
Inventor 中西光章和田慎
Owner YASKAWA DENKI KK
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