JP2006281226A - Wire feeder - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a wire feeder with which a torch body with a wire feeding roller installed can be made light-weight and small-sized without degrading feeding capability of a welding wire and in which a movable range of the torch body can be enlarged. <P>SOLUTION: The wire feeder is designed to feed a welding wire to a welding torch comprising a torch body 3 and a wire conduit, is equipped with a wire feeding motor, a reduction gear linked with the wire feeding motor, and a wire feeding roller connected to the reduction gear, and is integrated into one body with these constituents. In such wire feeder, the wire feeding roller, the wire feeding motor 29 and the reduction gear are separated, with the wire feeding roller installed on the torch body 3, and with the wire feeding motor and the reduction gear situated in a position making the torch body movable in a desired range. The wire feeder is provided with a flexible shaft 31 that transmits the rotational force of the wire feeding motor to the wire feeding roller through the reduction gear. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an improved wire feeding device used for a welding robot or the like.

  Today, in order to improve the work efficiency of welding, it is widely performed to automate welding using a welding robot. FIG. 6 is a diagram showing a general configuration of a welding robot using an articulated robot. In the figure, a torch body 3 is attached to the tip of the wrist 2 of the manipulator 1, and a welding wire 5 wound around a wire reel 4 is attached to the torch body 3 by a wire feeding device 6 attached to the manipulator 1. Be sent. Further, electric power is supplied from the welding power supply device 7 to the torch body 3, and gas is supplied from the gas cylinder 8 to the torch body 3. A command signal is input from the teach pendant 9 to the robot controller 10, and a signal from the robot controller 10 is input to the manipulator 1 to rotate the six axes including the first to sixth axes, and torch main body 3 tip position is controlled.

  Conventionally, a wire feeding device is attached to the upper arm of a manipulator of a welding robot, and a welding wire fed by the wire feeding device is guided by a one-wire power cable and fed to a welding torch. Robots have been proposed. In this case, the welding wire advances by being inserted into the coil liner of the one-wire power cable by the wire feeding motor in the wire feeding device attached to the upper arm of the manipulator. As a result, there is a distance between the wire feeding motor and the welding torch, and the feeding resistance of the welding wire 5 increases when an external force such as bending, twisting or pulling acts on the one-wire power cable. The welding wire 5 could not be fed stably.

  Therefore, in order to stably feed the welding wire, a welding robot in which a wire feeding device is attached to the tip of the wrist of the manipulator of the welding robot has been proposed. (For example, refer to Patent Document 1). FIG. 7 is a view showing a structure of a welding robot in which a wire feeding device of the prior art is used. In the figure, a turning base 12 is mounted on a base 11 and turns around a first axis J1. A lower arm 13 is mounted on the turning base 12 and swings around the second axis J2. An upper arm 14 is attached to the upper end of the lower arm 13 and swings about the third axis J3. A body 15 is attached to the tip of the upper arm 14, and the body 15 rotates around the fourth axis J <b> 4 in the longitudinal direction of the upper arm 14. An oscillating body 17 is attached to the tip of the body 15 and oscillates around a fifth axis J5 orthogonal to the fourth axis J4. A rotating body 18 is attached to the tip of the oscillating body 17 and rotates around a sixth axis J6 orthogonal to the fifth axis J5. The tip position and posture of the torch body 3 can be changed by turning, swinging, or rotating the first axis J1 to the sixth axis J6 as indicated by arrows.

  A shock sensor 20 is attached to the rotating body 18 by an attachment member 19, and the torch body 3 and the wire feeding device 6 are attached via the shock sensor 20. The shock sensor 20 detects a collision impact in order to protect the torch body 3 and the like when the torch body 3 and the like collide with a workpiece or the like. The wire feeding device 6 includes a wire feeding motor 21, a speed reducer 22 interlocked with the wire feeding motor 21, and a wire feeding roller (not shown) connected to the speed reducer 22. . The first axis J1 to the sixth axis J6 are provided with a motor via a speed reducer, and are driven by inputting a command from the robot controller 10 shown in FIG.

  Further, the one-wire power cable 23 is provided with a coil liner for guiding a welding wire at the center, and a hose for flowing gas on the outer periphery thereof. And the outer periphery of this hose is covered with a conductive wire for supplying electric power, and the outermost periphery is covered with insulation. A tip portion 23 a of the one-wire power cable is attached to the wire feeding device 6. Further, the base end portion 23 b of the one-wire power cable is attached to the upper portion of the upper arm 14 of the manipulator 1 by a support member 24.

  The operation will be described below. Each of the first axis J1 to the sixth axis J6 rotates, swings or rotates as indicated by an arrow, thereby changing the tip position and posture of the torch body 3 so that the torch body 3 becomes a welding line. Move along. At this time, the wire feeding motor 21 provided in the wire feeding device 6 is driven, and this rotational force is transmitted to the wire feeding roller via the speed reducer 22 so that the wire shown in FIG. The welding wire 5 from the reel 4 is supplied to the tip of the torch body 3, and a voltage is applied between the torch body 3 and the workpiece to perform arc welding.

As a result, the wire feeding motor 21 of the wire feeding device 6 is provided in the vicinity of the torch body 3 and the distance between the wire feeding motor 21 and the torch body is short, so that the welding wire 5 is Fluctuations can be reduced, and the feedability of the welding wire 5 can be improved. However, it has the following problems.
Japanese Patent Laid-Open No. 11-10338

  In the above-described conventional wire feeding device 6, the wire feeding motor 21, the speed reducer 22, and the wire feeding roller are integrated, so that the weight of the wire feeding device 6 is, for example, 6 kg or more. Become. For this reason, in order to attach the wire feeding device 6 to the tip of the wrist 2 of the manipulator 1, for example, when the load capacity of a standard welding robot is 6 kg, this standard welding robot is used. I can't. Instead, it was necessary to select, for example, a 16 kg portable welding robot. Therefore, there is a problem that the cost of the welding robot is increased and the installation area is increased due to the increase in size.

  Further, since the wire feeding device 6 of the prior art is composed of the wire feeding motor 21, the speed reducer 22, and the wire feeding roller, the wrist portion 2 to which the wire feeding device 6 is attached is integrated. The tip was enlarged. For this reason, a region where the tip of the wrist portion 2 interferes with a workpiece or a jig becomes large, and there is a problem that the operation range of the welding robot is limited. Further, in order to prevent the tip of the wrist portion 2 from interfering with the work piece or the jig, when the manipulator 1 takes an attitude in which an extreme external force acts on the one-wire power cable 23, the welding wire 5 The feedability deteriorated and the welding quality was lowered. Further, when a welding abnormality is detected, there has been a problem that the operation of the line is stopped.

  The above-mentioned problem also occurs in semi-automatic arc welding in which the torch main body is moved manually. If a wire feeding device is provided in the torch main body, the torch main body becomes heavier and larger, and the operability is poor. Become. Also, it is a problem that occurs in an automatic machine that runs on the main body of a torch with a carriage. If a wire feeding device is provided on the main body of a torch provided on the carriage, the carriage will become heavier and larger, and the workpiece and jig will be enlarged. And the interference area becomes large.

  The present invention can reduce the weight and size of the torch body provided with the wire feeding roller without deteriorating the feedability of the welding wire, and can expand the operating range of the torch body. An object of the present invention is to provide a wire feeding device that can be used.

In order to achieve the above object, the first invention provides:
A wire feeding device for feeding the welding wire to a welding torch comprising a torch body and a wire conduit for guiding the welding wire to the torch body,
In a wire feeding device comprising a wire feeding motor, a speed reducer linked to the wire feeding motor, and a wire feeding roller connected to the speed reducer, these are integrated.
Separating the wire feeding roller from the wire feeding motor and the speed reducer;
The wire feeding roller is provided in the torch body, and the wire feeding motor and the speed reducer are provided at a position that allows the torch body to move within a desired range.
A wire feeding device comprising a flexible shaft that transmits the rotational force of the wire feeding motor to the wire feeding roller via the speed reducer.

The second invention is
A wire feeding device, wherein the speed reducer according to the first invention is attached to the wire feeding roller.

The third invention is
A wire feeding device, wherein the speed reducer according to the first invention is attached to both the wire feeding motor and the wire feeding roller.

The fourth invention is:
The wire feeding device according to any one of the first to third inventions is a wire feeding device used for a welding robot,
The torch body is attached to the wrist end of the welding robot manipulator,
In the wire feeding device, the wire feeding motor is provided on an upper arm of a manipulator of the welding robot.

The fifth invention is:
A wire feeding device, wherein the flexible shaft according to any one of the first to fourth inventions is disposed so as to be in close contact with the wire conduit.

  A first invention is a wire feeding device for feeding a welding wire to a welding torch comprising a torch body and a wire conduit for guiding the welding wire to the torch body. A wire feeding roller and a wire feeding device The motor and reducer are separated from each other, the wire feeding roller is provided in the torch body, and the wire feeding motor and the speed reducer are provided at a position that allows the torch body to move within the desired range. A flexible shaft is provided for transmitting the rotational force of the motor to the wire feeding roller via the speed reducer.

  As a result, the torch body provided with the wire feeding roller can be reduced in weight and size without deteriorating the feeding performance of the welding wire as compared with the wire feeding device of the prior art. . In addition, the operating range of the torch body can be expanded.

  A second invention is a wire feeding device in which the speed reducer according to the first invention is attached to a wire feeding roller. As a result, the small torque torque of the wire feed motor is transmitted as it is to the speed reducer connected to the wire feed roller by the flexible shaft without going through the speed reducer. Can be made more flexible.

  A third invention is a wire feeding device in which the speed reducer according to the first invention is attached to both the wire feeding motor and the wire feeding roller. As a result, the torch body provided with the wire feeding roller can be reduced in weight and size. In addition, the operating range of the torch body can be expanded. Furthermore, a flexible shaft can be made thin and it can have more flexibility.

  A fourth invention is a wire feeding device used in a welding robot by the wire feeding device according to any one of the first to third inventions, wherein the torch body is a manipulator of the welding robot. And a wire feeding motor provided with a wire feeding motor on the upper arm of a welding robot manipulator.

  As a result, the wire feeding roller is provided at the tip of the wrist of the manipulator, the wire feeding motor is provided on the upper arm of the manipulator, and the rotational force of the wire feeding motor is reduced to the flexible shaft via the speed reducer. Is transmitted to the wire feeding roller. Therefore, compared with the wire feeding device of the prior art, the weight of the tip of the wrist portion provided with the wire feeding roller can be reduced without reducing the feeding performance of the welding wire. Therefore, for example, not only a standard welding robot having a portable weight of 6 kg can be used but also a 3 kg portable type small robot can be used, so that the cost can be reduced and the size can be reduced. be able to.

  In addition, since the wire feeding motor is not provided at the tip of the wrist of the manipulator, the tip of the wrist is smaller than the wire feeding device of the prior art. For this reason, when the manipulator is operated, a region where the tip of the wrist part interferes with the workpiece or the jig is reduced. Accordingly, the operating range of the torch body can be expanded and the operating angle of the manipulator can be increased, so that it can be applied to a workpiece having a more complicated shape. In addition, it is not necessary for the manipulator to take an extreme external force acting on the one-wire power cable in order to prevent the tip of the wrist from interfering with the work piece or jig, thereby stabilizing the welding wire. Can be sent.

  A fifth invention is a wire feeding device in which the flexible shaft according to any one of the first to fourth inventions is disposed so as to be in close contact with the wire conduit. Since the flexible shaft has a spring property, it bends in a shape that draws a large arc by its bending stress.

  As a result, it is possible to prevent the single-wire power cable from being shaken greatly during the operation of the manipulator, and bend with a small arc to increase or fluctuate the welding wire feeding resistance, so that It is possible to prevent the wire feeding from becoming unstable. Furthermore, when the core of the flexible shaft rotates, the vibration is transmitted to the single-wire power cable, so that the feeding resistance when the welding wire is inserted through the single-wire power cable can be reduced, and welding is performed. The wire feedability can be improved.

[Embodiment 1]
DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the invention will be described based on examples with reference to the drawings. FIG. 1 is a view showing the structure of a welding robot in which the wire feeding device of the present invention is used. In FIG. 7, the conventional wire feeding device 6 shown in FIG. 7 is separated into a feeding roller unit 25 and a feeding motor unit 26. The feeding roller unit 25 includes a wire shown in FIG. A feed roller 27 and a speed reducer 28 are provided, and a wire feed motor 29 and a speed reducer 30 are provided in the feed motor unit 26. The feed roller unit 25 is provided in the torch body 3, and the feed motor unit 26 is provided in the upper arm 14 of the manipulator 1 of the welding robot. The flexible shaft 31 has a distal end portion 31 a connected to the feed roller unit 25 and a proximal end portion 31 b connected to the feed motor unit 26. The rotational force of the wire feeding motor 29 is transmitted to the wire feeding roller 27 via the speed reducer 30 and the speed reducer 28. The flexible shaft 31 is disposed so as to be in close contact with the one-wire power cable 23. For other functions, the same reference numerals are given to the same functions of the welding robot in which the wire feeding device of the prior art shown in FIG.

  2A and 2B are sectional views of the feeding roller unit of the wire feeding device of the present invention, where FIG. 2A is a front sectional view and FIG. 2B is a side sectional view. In the figure, the one-wire power cable 23 shown in FIG. 1 is attached to the cable attaching portion 34 of the feeding roller unit 25, and the tip 31a of the flexible shaft is connected to the shaft attaching portion 32 of the feeding roller unit 25. A speed reducer 28 interlocked with the flexible shaft 31 is provided, and a wire feeding roller 27 is connected to the speed reducer 28. By rotating the wire feeding roller 27, the welding wire 5 guided to the feeding roller unit 25 by the one-wire power cable 23 is fed to the torch body 3.

  Further, the shock sensor 20 is attached to the front end portion of the feed roller unit 25, and the torch body 3 shown in FIG. 1 is attached to the front end portion 20a of the shock sensor. The shield gas is supplied from the shield gas injection port 33 to the torch main body 3, and the electric power is supplied to the torch main body 3 by the one-wire power cable 23. Further, instead of supplying the electric power with the one-wire power cable 23, the electric power may be directly supplied to the torch body 3. In this case, a wire conduit may be provided instead of the one-wire power cable 23, and the wire conduit may guide the welding wire 5 to the torch body 3. The welding torch is composed of the torch body 3 and the one-wire power cable 23 or the wire conduit.

  FIG. 3 is a cross-sectional view of the flexible shaft of the wire feeding device of the present invention, where FIG. 3 (A) is a cross-sectional view and FIG. 3 (B) is a vertical cross-sectional view. In the drawing, a core wire 35 made of a plurality of hard steel wires is provided in the shaft core portion, and a core 36 formed of spring steel is spirally wound around the core wire 35. The core 36 is integrated. A gap 37 is provided around the core 36, and a protective tube 38 made of rubber or the like surrounds the core 36. Since the gap 37 is formed between the core 36 and the protective tube 38, the core 36 can rotate within the protective tube 38. Since this flexible shaft 31 has springiness and flexibility, it is bent so as to draw a large arc by bending stress. As shown in FIG. 1, the flexible shaft 31 is disposed so as to be in close contact with the one-wire power cable 23.

  The operation will be described below. In FIG. 1 to FIG. 3, each of the first axis J1 to the sixth axis J6 rotates, swings, or rotates as indicated by an arrow, thereby changing the tip position and posture of the torch body 3. The torch body 3 is moved along the weld line. At this time, when the wire feeding motor 29 provided in the feeding motor unit 26 is driven, the rotational force is transmitted to the flexible shaft 31 via the speed reducer 30, and the core 36 in the flexible shaft 31 rotates. As a result, the rotational force is transmitted to the wire feeding roller 27 via the speed reducer 28 provided in the feeding roller unit 25. Then, the welding wire 5 of the wire reel 4 shown in FIG. 6 is fed to the torch main body 3 by the wire feeding roller 27, and a voltage is applied between the torch main body 3 and the workpiece so as to arc. Weld.

  As described above, only the wire feeding roller 27 and the speed reducer 28 are provided in the feeding roller unit 25 attached to the tip of the wrist 2 of the manipulator 1. Further, a wire feeding motor 29 and a speed reducer 30 are provided in the feeding motor unit 26 attached to the upper arm 14 of the manipulator 1. Thus, although the wire feeding motor 29 and the wire feeding roller 27 are separated from each other, the rotational force of the wire feeding motor 29 is transferred to the wire feeding roller 27 by the flexible shaft 31 via the speed reducer 30. Communicating. Therefore, it is possible to reduce the weight of the tip of the wrist portion 2 provided with the feeding roller unit 25 without deteriorating the feeding performance of the welding wire 5 as compared with the wire feeding device of the prior art. it can. Therefore, not only can a standard welding robot with a load capacity of 6 kg be used, for example, it can be used with a small robot with a load capacity of 3 kg, for example, which can reduce the cost and reduce the size. Can be planned.

  Further, the feeding roller unit 25 attached to the tip of the wrist portion 2 of the manipulator 1 is provided only with the wire feeding roller 27 and the speed reducer 28, so that it is compared with the wire feeding device of the prior art. Thus, since the tip of the wrist portion 2 becomes small, a region that interferes with a workpiece or a jig when the manipulator 1 is operated is reduced. Accordingly, the operating range of the torch body 3 can be expanded, and the operating angle of the manipulator 1 can be increased, so that it can be applied to a workpiece having a more complicated shape. In addition, it is not necessary to take an unreasonable posture while avoiding interference with the workpiece and jig, and the welding wire 5 can be fed stably.

  Further, the wire feeder of the prior art has a problem that the one-wire power cable 23 is greatly shaken when the manipulator 1 is operated. Therefore, an external force such as bending, twisting and pulling acts on the one-wire power cable 23, and the feeding resistance of the welding wire 5 increases or fluctuates, so that the welding wire 5 can be fed stably. could not. On the other hand, in the wire feeding device of the present invention, since the flexible shaft 31 has a spring property, the flexible shaft 31 bends in a shape that draws a large arc by the bending stress. The flexible shaft 31 is disposed so as to be in close contact with the one-wire power cable 23 to hold the one-wire power cable 23. Therefore, when the manipulator 1 is operated, the one-wire power cable 23 can be prevented from being greatly shaken, and the feeding resistance of the welding wire 5 is increased or fluctuated by bending with a small arc. The feeding of the welding wire 5 can be prevented from becoming unstable. Furthermore, when the core 36 in the flexible shaft 31 rotates, the vibration is transmitted to the one-wire power cable 23, thereby reducing the feeding resistance when the welding wire 5 is inserted through the one-wire power cable 23. It is possible to improve the feedability of the welding wire 5.

  In the wire feeding device of the present invention, the speed reducer is provided in both the feeding motor unit 26 and the feeding roller unit 25. However, only one of the feeding motor unit 26 and the feeding roller unit 25 is provided. A reduction gear may be provided. When the speed reducer is provided only in the feed motor unit 26, the wrist portion 2 of the manipulator 1 can be further reduced in weight and can be reduced in size. Conversely, when the speed reducer is provided only in the feed roller unit 25, the torque of the small torque of the wire feed motor 29 is directly applied to the feed roller unit 25 by the flexible shaft 31 without passing through the speed reducer. Since it is transmitted, the flexible shaft 31 can be made thinner and more flexible.

  In the wire feeding device of the present invention, the feeding motor unit 26 is provided on the upper arm 14 of the manipulator 1 as shown in FIG. The torch main body 3 may be provided at a position that allows it to move within a desired range.

  Further, the wire feeding device of the present invention may be provided as a push-pull type by separately providing a push-side wire feeding device and combining it. In this case, as shown in FIG. 4, a torque limiter 40 is provided between the speed reducer 28 of the feed roller unit 39 used on the pull side and the wire feed roller 27 to control the torque on the pull side, and push The side may be speed controlled. FIG. 4 is a sectional view of the feeding roller unit when a torque limiter is provided in the feeding roller unit of the wire feeding device of the present invention, and FIG. 4 (A) is a front sectional view thereof. (B) is a sectional side view. For other functions, the same reference numerals are given to the same functions in the sectional view of the feeding roller unit shown in FIG.

  Further, the wire feeding device of the present invention transmits the rotational force of the wire feeding motor 29 only to the wire feeding roller 27 provided in the torch side feeding section. In addition, a wire feeding roller may be provided at the proximal end portion of the one-wire power cable 23 to transmit the rotational force of the wire feeding motor to the proximal end portion of the one-wire power cable 23. . In this case, since the welding wire can be fed by the wire feeding roller provided at both the distal end portion and the proximal end portion of the one-wire power cable 23, the push-pull type can be used. As a result, the pressure applied to the welding wire 5 by the wire feeding roller can be divided, the burden on the welding wire 5 can be reduced, and the welding wire 5 can be fed stably. Can do.

  Further, the welding wire 5 may be inserted into the core 36 except for the core wire 35 of the flexible shaft 31 of the wire feeding device of the present invention shown in FIG.

  Further, although the welding robot has been described above as a robot using the wire feeding device of the present invention, the wire feeding device of the present invention is not limited to a welding robot, but also to a thermal spraying robot and a handling robot. Can be used. The wire feeding device of the present invention can also be used for an automatic machine that travels on the main body of a torch or an XYZ direct type automatic machine by a carriage. An example of an automatic machine that travels on the main body of a torch with a carriage will be described with reference to FIG.

  FIG. 5 is a diagram showing a structure when the wire feeding device of the present invention is applied to an automatic machine. In the figure, a carriage 41 is placed on a rail 42, and a carriage speed setting device 43 is attached to a support member 44 attached on the carriage 41, and the traveling speed of the carriage 41 is set. The shock sensor 20 is attached to the support member 44, and the torch body 3 and the feed roller unit 25 of the wire feeding device are attached via the shock sensor 20. The feed roller unit 25 is provided with a wire feed roller and a speed reducer, and a flexible shaft tip 31a is connected to the speed reducer. Further, the leading end portion 23 a of the one-wire power cable is attached to the feeding roller unit 25. A feeding motor unit 26 of the wire feeding device is arranged at a position different from the position on the carriage 41, and the feeding motor unit 26 is provided with a wire feeding motor and a speed reducer. In addition, a base end portion 31 b of a flexible shaft and a base end portion 23 b of a one-wire power cable are attached to the feed motor unit 26, and the wire reel 4 is attached via a support member 46. The length of the flexible shaft 31 is, for example, 3 m to 5 m. Further, the shield gas from the gas cylinder 8 and the electric power from the welding power supply device 7 are supplied to the torch body 3 by the one-wire power cable 23.

  The operation will be described below. In FIG. 5, the torch body 3 is moved along the weld line by moving the carriage 41 along the rail 42 at the speed set by the carriage speed setting unit 43. At this time, when the wire feeding motor provided in the feeding motor unit 26 arranged at a position different from the position on the carriage 41 is driven, the rotational force is transmitted to the flexible shaft 31 via the speed reducer, As the core in the flexible shaft 31 rotates, the rotational force is transmitted to the wire feed roller via the speed reducer of the feed roller unit 25 attached to the carriage 41 by the support member 44. Then, the welding wire 5 of the wire reel 4 is fed to the torch body 3 by the wire feeding roller in the feeding roller unit 25, and a voltage is applied between the torch body 3 and the workpiece, Perform arc welding.

  As a result, the feeding roller unit 25 attached to the carriage 41 by the support member 44 can be reduced in weight and can be reduced in size. Therefore, the carriage 41 can be reduced in size, and the interference area with the workpiece and the jig by the feed roller unit 25 can be reduced.

It is a figure which shows the structure of the robot for welding in which the wire feeding apparatus of this invention is used. It is sectional drawing of the feed roller unit of the wire feeding apparatus of this invention. It is sectional drawing of the flexible shaft of the wire feeding apparatus of this invention. It is sectional drawing of a feed roller unit when the torque limiter is provided in the feed roller unit of the wire feeder of this invention. It is a figure which shows a structure when applying the wire feeding apparatus of this invention to an automatic machine. It is a figure which shows the general structure of the robot for welding which uses an articulated robot. It is a figure which shows the structure of the robot for welding in which the wire feeding apparatus of a prior art is used.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Manipulator 2 Wrist part 3 Torch main body 4 Wire reel 5 Welding wire 6 Wire feeding device 7 Welding power supply device 8 Gas cylinder 9 Teach pendant 10 Robot control device 11 Base 12 Turning base 13 Lower arm 14 Upper arm 15 Body 17 Shaking Moving body 18 Rotating body 19 Mounting member 20 Shock sensor 20a Shock sensor tip 21 Wire feed motor 22 Reducer 23 One-wire power cable 23a One-wire power cable tip 23b One-wire power cable base end 24 Support member 25 Feed roller unit 26 Feed motor unit 27 Wire feed roller 28 Reduction gear 29 Wire feed motor 30 Reduction gear 31 Flexible shaft 31a Flexible shaft distal end portion 31b Flexible shaft base end portion 32 Shaft mounting portion 33 Shield gas injection port 34 Cable attachment portion 35 Core wire 36 Core 37 Clearance 38 Protective tube 39 Feed roller unit 40 Torque limiter 41 Car 42 Rail 43 Car speed setting device 44 Support member 46 Support member J1 First axis J2 Second axis J3 First 3 axis J4 4th axis J5 5th axis J6 6th axis

Claims (5)

A wire feeding device for feeding the welding wire to a welding torch comprising a torch body and a wire conduit for guiding the welding wire to the torch body,
In a wire feeding device comprising a wire feeding motor, a speed reducer linked to the wire feeding motor, and a wire feeding roller connected to the speed reducer, these are integrated.
Separating the wire feeding roller from the wire feeding motor and the speed reducer;
The wire feeding roller is provided in the torch body, and the wire feeding motor and the speed reducer are provided at a position that allows the torch body to move within a desired range.
A wire feeding device comprising a flexible shaft that transmits a rotational force of the wire feeding motor to the wire feeding roller via the speed reducer.   A wire feeding device comprising the speed reducer according to claim 1 attached to the wire feeding roller.   2. A wire feeding apparatus comprising the speed reducer according to claim 1 attached to both the wire feeding motor and the wire feeding roller. The wire feeding device according to any one of claims 1 to 3, wherein the wire feeding device is used for a welding robot,
The torch body is attached to the wrist end of the welding robot manipulator,
A wire feeding device, wherein the wire feeding motor is provided on an upper arm of a manipulator of the welding robot. A wire feeding device, wherein the flexible shaft according to any one of claims 1 to 4 is disposed in close contact with the wire conduit.

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