KR101033891B1 - Auto welding tip exchange system - Google Patents

Abstract

The present invention relates to an automatic welding tip exchange device, and more particularly to an apparatus for automatically replacing the welding tip of the welding robot used in the body production plant.

To this end, the present invention weakens the coupling of the shank and the tip of the robot welding gun using frictional rotational force, and then reciprocates up, down, left, and right to separate the tip from the shank, and at the bottom of the tip exchange device. A tip receiving device for receiving the separated tip and a tip loading device for supplying a new tip at the top of the tip exchange device are mounted on the standing body and controlled by the control unit to automatically tip the tip. It provides an automatic welding tip exchange device, characterized in that for replacing.

Weld Gun, Weld Tip, Tip, Change, Shank, Friction, Linear Motor, LM Guide

Description

Automatic welding tip exchange system {Auto welding tip exchange system}

The present invention relates to an automatic welding tip exchange device, and more particularly to an apparatus for automatically replacing the welding tip of the welding robot used in the body production plant.

In general, in the production of large quantities of certain products such as automobile production lines, spot welding, which has high stability of welded parts, is mainly used because the heating time is shorter than other welding and the working speed is high, and the heating range is narrow, and there is little residual stress or deformation. .

Spot welding is welding which performs point joining of a plate, without making a hole like a rivet joint, by making contact part melt | fuse by using heat_generation | fever by electric resistance, and joining together using pressure together.

Spot welding is usually performed using a robot equipped with a welding gun. The welding gun is installed through a frame coupled to a robot arm, and includes a body equipped with a timer, a contactor, a transformer for welding, and a bottom and a body of the body. It includes a shank 1 facing the upper end of the arm rotatably installed by the hinge axis, and a welding tip (or tip) 2 attached to the end of the shank 1 to be welded.

1 is a view showing a tip exchange method of the conventional robot welding gun.

In order to replace the tip of the welding robot currently used in the vehicle body manufacturing plant of the automobile, as shown in Figure 1, the tip is changed using a tool.

To do this, the safety device is operated before the worker enters the body production line. Then, the robot is stopped and the tip 2 is separated from the shank 1 of the robot welding gun by using a pipe wrench or a tip-only tool. Then, check the new tip with the tool and operate the robot to check the status of the tip.

In the tip change operation as described above, the replacement time is relatively high because the worker enters the inside of the production line during the non-operation time and changes the tip directly. Even if the safety requirements are strictly observed, other workers operate the robot. Safety problems may occur, causing problems.

In addition, the tip exchange workability is different depending on the position of the welding gun of the robot, there is a hassle to move the welding gun to an easy place to work before changing the tip, there is a disadvantage that the work time is increased.

In addition, when the tip production is required when the body production line is operated, the operator must stop the operation while replacing the tip, thereby acting as a non-operational factor, thereby lowering productivity and increasing labor costs according to working hours.

The present invention has been invented to solve the above problems, it is configured to automatically replace the welding tip of the robot in the vehicle body production line to increase the workability of tip exchange and prevent the automatic accident tip exchange The purpose is to provide a device.

In order to achieve the above object, the present invention weakens the coupling of the shank and tip of the robot welding gun by using a rotational force using friction, and then reciprocates up, down, left, and right to separate the tip from the shank, and the tip A tip receiving device for accommodating the tip removed at the lower part of the exchange device and a tip loading device for supplying a new tip at the top of the tip exchange device are mounted on the standing body and controlled by the control unit. To provide an automatic welding tip exchange device, characterized in that the tip is automatically replaced.

Preferably, the tip exchange device is a clamp unit consisting of a shank holder for fixing the tip to prevent separation and a tip holder for rotating the holding the tip using friction, and the tip is moved up, down, left and right to separate from the shank It characterized in that it comprises a vibration driven unit and a roller driven unit for providing power for operating the clamp unit,

Also preferably, the tip receiving device comprises: a receiving tank for storing the tip and the cooling water taken out from the tip exchange device, a drain hose connected to the recharging tank to discharge the cooling water, and the receiving tank and the body. It is characterized in that it is configured to include an up-down unit mounted between the receiving tank to move up and down.

In addition, the tip loading device is formed with a loading hole for taking out a tip at a front end portion, a loading box having a piston for advancing a built-in tip to the loading hole at a rear end thereof, and connected to the loading box to rotate up and down A swing bracket, a swing motor connected to the swing bracket and a rotation shaft to supply vertical rotational force, a support bracket for connecting the swing bracket to the body, and a rotation mounted on the swing bracket to rotate the loading box left and right. Characterized in that it comprises a motor.

More preferably, the vibration unit is formed of an arc-shaped curved surface having a swing guide having one or more LM guides on the front surface, and a linear motor mounted on the front and one or more pairs of swing rails formed on the rear surface of the LM guide. The left and right moving plate to reciprocate along the right and left, the left and right linear motor which is installed in a plurality along the longitudinal direction of the LM guide to supply power to the left and right moving plate, and the electric rail is mounted on the back and the upper and lower linear motor It characterized in that it comprises a shandong copper bracket reciprocating up and down by

Also preferably, the tip holder may include a friction hub having a rotation hole into which a tip is inserted, two or more friction rollers inserted into the rotation hole and positioned around the tip, and provided at upper and lower ends of the friction roller. It characterized in that it comprises a friction roller guide for guiding the rotational movement in the rotating hole.

Preferably, the shank holders provided at the upper and lower ends of the tip holder may include a holder guide formed in an annular shape, an upper holder and a lower holder spaced apart from the inside of the holder guide, and contract / restore the upper holder. And an airbag connecting the lower holder.

Preferably, the roller driven unit includes an electric motor for supplying power, a driven roller connected to the shaft of the electric motor, a friction belt for transmitting power supplied to the driven roller to the tip holder, and the electric motor. And a reduction joint installed between the driven roller and the electric motor to reduce the rotational speed of the electric motor.

More preferably, a clamp housing is provided between the tip holder and the shank holder to avoid interference due to the operation of the tip holder.

Automatic welding tip exchange device according to the present invention is configured to automatically replace the tip provided in the welding gun of the robot to perform the tip exchange operation automatically, working time less than half than when manually changing the tip This has the advantage of reducing labor costs by shortening, it is possible to obtain the effect of improving the workability is simplified work.

In addition, it is possible to prevent safety accidents due to the operation of the robot during tip replacement work, and even if tip replacement is required when the body production line is operated, the replacement work is automatically performed in a short time to minimize the decrease in productivity.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the present disclosure, and the singular forms “a”, “an” and “the” include plural forms unless the context clearly indicates otherwise.

There may be a plurality of embodiments of the present invention, and overlapping descriptions of the same parts as in the prior art may be omitted.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

Automatic welding tip exchange device is preferably implemented according to the present invention after weakening the coupling state of the shank and the tip of the welding gun by using the rotational force using friction and then moved up and down and left and right to take out the existing tip Replacing with a new tip automates tip change and improves operator convenience.

2 is a schematic diagram showing an automatic welding tip exchange apparatus according to the present invention.

To this end, as shown in FIG. 2, the automatic welding tip exchanging apparatus includes a tip exchanging apparatus 100 for separating an existing tip from a shank using a rotational force using friction and power of a linear motor and an electric motor, and the tip. And a tip receiving device 200 for receiving the tip separated from the exchange device 100 at an appropriate position, and a tip loading device 300 for introducing a new tip into the tip exchange device.

The tip loading device 300, the tip exchange device 100, and the tip receiving device 200 are disposed and installed on a standing body 400 having a support plate at a lower end thereof.

Figure 3 is a block diagram showing a tip exchange device according to the present invention, Figure 4 is a cross-sectional view taken a-A of FIG.

The tip exchange device 100 mounted on the top of the body 400 and positioned below the tip loading device 300 includes a clamp unit that weakens the coupling force between the tip and the shank, as shown in FIG. Vibration unit for moving the tip and shank weakened by the coupling force to move up and down, left and right, and a roller driven unit for the operation of the clamp unit.

As shown in FIGS. 3 and 4, the vibration unit includes a swing guide 110 fixed to an upper end of the body 400, a left and right moving plate 120 moving along the swing guide 110, and the It comprises a shangdong copper bracket 130 which is installed on the left and right moving plate 120 via the electric rail 131 and the up and down linear motor 123, the clamp unit is the tip of the tip when the shank of the robot welding gun enters It comprises a shank holder 140 to hold to prevent and a tip holder 150 for holding and rotating the tip.

The swing guide 110 formed as an arc-shaped curved surface is provided with at least one LM guide 111 for guiding the movement of the horizontal plate 120, the horizontal plate 120 is the LM guide ( One or more pairs of swing rails 121 are mounted to move left and right along 111.

In addition, the left and right linear motor 113 for the left and right movement operation of the left and right movement plate 120 is built in a plurality along the longitudinal direction of the LM guide 111, the electrical installed on the back of the shandong movement bracket 130 When electricity is transmitted to the rail 131, repulsive force is generated by a magnetic field phenomenon, and the shankdong bracket 130 reciprocates vertically and vibrates by the operation of the vertical linear motor 123 installed on the front and rear plates 120. Done.

5 is an exploded perspective view illustrating a tip holder according to the present invention, wherein the tip holder 150 includes a cylindrical friction hub 151 having a rotating hole 151a and two leading into the rotating hole 151a. The friction roller 153 and the friction roller 153 are provided at the upper and lower ends of the friction roller 153 to guide the rotational movement of the friction roller 153, and the rotation hole 151a. The friction roller 153 is formed around the retracted tip so that the friction roller 153 can rotate along the friction roller guide 155.

In addition, the tip holder 150 may be configured at a position corresponding to a virtual cylindrical center formed by extending a side portion of the swing guide 110.

6 is a perspective view illustrating a roller driven unit and a tip holder according to the present invention, wherein the roller driven unit includes an electric motor 160 for supplying power for driving the tip holder 150 and the electric motor. A driven roller 161 connected to the shaft of 160 and a friction belt 163 for providing the friction hub 151 with the power transmitted to the driven roller 161 to transfer the kinetic energy to the friction roller 153. It is configured to include, the deceleration joint 165 is installed between the electric motor 160 and the driven roller 161 to reduce and transmit the rotational force of the electric motor 160 when the driven roller 161 is overloaded.

In addition, a clamp housing 157 is formed to surround and protect the tip holder 150 and the driven roller 161. The clamp housing 157 and the electric motor 160 are disposed on the shandong copper bracket 130. Is fitted. The clamp housing 157 is configured between the tip holder 150 and the shank holder 140 to avoid interference due to the operation of the tip holder 150.

7 is a plan view illustrating the shank holder according to the present invention, in which the shank holder 140 installed in the clamp housing 157 is disposed at an upper end and a lower end of the tip holder 150, and a holder guide formed in an annular shape. The upper holder 141 and the lower holder 143 which are spaced at regular intervals inside the 147 are connected by an air bag 145, and the upper holder 141 and the lower part are contracted through the contraction of the air bag 145. Clamping the tip entered into the clamping hole formed in contact with the holder 143, the clamping hole 140a is configured to be located in the center of the rotation hole (151a) of the friction hub 151.

When the electric motor 160 is driven to rotate the friction hub 151 and the tip of the robot welding gun enters and enters the rotating hole 151a, the friction roller 153 rotates to the center of the friction hub 151. The tip is also rotated by the friction of the surface of the friction roller 153.

FIG. 8 is a schematic view showing a tip receiving device according to the present invention, and FIG. 9 is a plan view taken on line B-B of FIG.

As shown in FIG. 8, the tip receiving device 200 includes a receiving tank 210 for receiving an existing tip and cooling water drawn out from the tip exchange device 100, and the receiving tank 210. Drain hose 220 is connected to the lower end of the) to discharge the coolant to the storage tank, and the receiving tank is connected between the receiving tank 210 and the body 400 to avoid the interference with the robot welding gun It is configured to include an up-down unit for moving the tank 210 up and down.

As shown in FIG. 9, the up-down unit is connected to the receiving tank 210 to support the up-down bracket 230, and an up-down guide mounted to both sides of the up-down bracket 230 to guide the shanghai ( 240, a driving roller 260 mounted on the up-down guide 240 and moving along a body rail (not shown) installed in the longitudinal direction of the body 400, and on the up-down guide 240. It is configured to include an up-down motor 250 is mounted to supply power to the drive roller 260.

10 is a plan view showing a tip loading device and a tip exchange device according to the present invention, wherein the tip loading device 300 is a device for loading a new tip into a shank of a welding gun from which an existing tip is taken out. Supply up to seven loading boxes 310, the swing bracket 320 to support the loading box 310 and rotates half a turn (180 °) to the vertical position, and supplies the rotational force to the swing bracket 320 The swing motor 330 and the swing bracket 320 is configured to include a support bracket 340 for fixing and supporting the body 400.

The loading box 310 has a piston 311 for advancing the mounted tip is mounted at the rear end, and in the front end, a loading hole 313 for loading the advanced tip into the tip holder 150 of the tip changer. When the piston 311 is advanced by the pneumatic pressure supplied, the tip located at the tip is positioned in the loading hole 313 and the shank of the robot welding gun pushes the tip to the tip holder.

In addition, Figure 11 is a view showing the operating state of the tip loading device according to the present invention, the top of the swing bracket 320 is equipped with a rotary motor 321 that can rotate the loading box 310 about 45 ° The lower end of the rear end of the loading box 310 is equipped with a gear 315 connected to the shaft of the rotary motor 321, the loading hole 313 and the tip in accordance with the operation of the rotary motor 321 It is configured to match the position of the rotating hole (151a) of the holder.

The rotary motor 321 controls the rotation of the loading box 310 by an electronic motor, the rotary shaft 323 connected to the swing bracket 320 is connected to the shaft of the swing motor 330 to the loading box ( Rotate 310 up and down to reverse the position.

Hereinafter, an operation state of an embodiment according to the present invention configured as described above is as follows.

12 to 14 are partial views showing the operating state of the automatic welding tip exchange apparatus according to the present invention.

Connecting the program of the robot to the control unit for the control of the automatic welding tip exchange device according to the present invention receives the size of the tip mounted on the robot welding gun, and then up-down motor 250 provided in the tip receiving device 200 By operating the height of the receiving tank 210 by operating the) to avoid interference with the robot welding gun is set to make the operation convenient.

When the robot welding gun enters and is positioned on the shank holder, a sensing sensor is operated so that the tip of the robot welding gun descends to the shank holder 140 to enter the tip holder 150.

Then, as shown in FIGS. 12 and 13, when the electric motor 160 operates and the friction roller 153 starts to press the tip while entering the center of the friction hub 151 with the transmitted kinetic energy, When the control unit that senses this operates the left and right linear motor 113 and the electric force is transmitted to the swing rail 121, the left and right moving plate 120 swings left and right to weaken the coupling force between the shank and the tip.

As shown in FIG. 7, the airbag 145 of the shank holder 140 contracts according to the signal of the control unit, and the upper holder 141 and the lower holder 143 fix the tip to prevent the tip from being detached. When the up and down linear motor 123 is operated and electricity is transmitted to the electric rail 131 to generate repulsive force, the entire shandong bracket 130 reciprocates up and down and vibrates to separate the tip and the shank.

After the robot welding gun separating the tip is raised, the airbag 145 of the shank holder 140 is restored, and the tip is unclamped and dropped by gravity to be discharged to the receiving tank 210. The coolant collected in the receiving tank 210 together with the tip is discharged through the drain hose 220, and the tip mounted at the bottom of the robot welding gun is also removed through the above process.

Meanwhile, in order to mount the new tip on the shank of the robot welding gun, pneumatic pressure is supplied to the rear end of the loading box 310 according to the signal of the control unit, and the piston 311 moves forward, and the tip mounted at the front end of the loading hole ( 313) to the position.

Then, as shown in Figure 11, the rotary motor 321 is operated so that the loading box 310 is moved to rotate the center of the shank holder 140 to rotate the hole of the loading hole 313 and the tip holder 150 ( 151a).

The robot welding gun with the tip removed enters and pushes the tip positioned in the loading hole 313 to drop into the shank holder 140. When the loading box 310 returns to its original position, the robot welding gun is lowered to the shank holder 140 to automatically tip the tip. Mount and ascend backward.

In order to attach the tip to the lower part of the robot welding gun, as shown in FIG. 14, the swing motor 330 is operated to rotate the loading box 310 up and down by 180 °, and then the robot welding gun enters the tip as described above. To be fitted.

While the invention has been shown and described with respect to certain preferred embodiments thereof, the invention is not limited to these embodiments, and has been claimed by those of ordinary skill in the art to which the invention pertains. It includes all the various forms of embodiments that can be implemented without departing from the spirit.

1 is a view showing a tip exchange method of the conventional robot welding gun,

Figure 2 is a schematic diagram showing an automatic welding tip exchange device according to the present invention,

3 is a block diagram showing a tip exchange device according to the present invention,

4 is a cross-sectional view taken along the line A-A of FIG.

5 is an exploded perspective view illustrating a tip holder according to the present invention;

6 is a perspective view showing a roller driven unit and a tip holder according to the present invention;

7 is a plan view of the shank holder according to the present invention;

8 is a schematic view showing a tip receiving device according to the present invention;

FIG. 9 is a plan view taken on line B-B of FIG. 8;

10 is a plan view showing a tip loading device and a tip exchange device according to the present invention;

11 is a view showing the operating state of the tip loading apparatus according to the present invention,

12 to 14 is a partial view showing the operating state of the automatic welding tip exchange apparatus according to the present invention.

<Description of the symbols for the main parts of the drawings>

100: tip exchange device 110: swing guide

111: LM guide 113: left and right linear motor

120: left and right moving plate 121: swing rail

123: up and down linear motor

130: shandong copper bracket 131: electric rail

140: shank holder 141: upper holder

143: lower holder 145: airbag

147: Holder Guide

150: tip holder 151: friction hub

151a: rotating hole 153: friction roller

155: friction roller guide 157: clamp housing

160: electric motor 161: driven roller

163: friction belt 165: reduction joint

200: tip receiving device 210: receiving tank

220: drain hose 230: up-down bracket

240: up-down guide 250: up-down motor

260: driving roller

300: tip loading device 310: loading box

311: piston 313: loading hole

315: Gear 320: Swing Bracket

321: rotating motor 323: rotating shaft

330: swing motor 340: support bracket

400: body

Claims (10)

delete A tip exchange device 100 for weakening the engagement of the shank and tip of the robot welding gun by using frictional rotation force, and then reciprocating up, down, left, and right to separate the tip from the shank, and a lower portion of the tip exchange device 100. Tip receiving device 200 for receiving the tip is separated from the tip and the tip loading device 300 for supplying a new tip from the top of the tip exchange device 100 is mounted on the standing body 400 In the automatic welding tip changing device which is configured and controlled by the control unit to automatically change the tip, The tip exchange device 100, A clamp unit comprising a shank holder 140 fixed to prevent the tip from detaching and a tip holder 150 that rotates while holding the tip using friction, and a vibration unit that moves the tip up, down, left, and right to separate it from the shank. And a roller driven unit providing power for operating the clamp unit, The tip receiving device 200, Receiving tank 210 for receiving the tip and the coolant taken out from the tip exchange device 100, a drain hose 220 connected to the refilling tank 210 to discharge the coolant, and the receiving tank 210 And an up-down unit mounted between the body 400 and the up-and-down movement of the receiving tank 210, The tip loading device 300, A loading hole 313 for extracting a tip is formed at a front end portion, and a loading box 310 having a piston 311 for advancing a built-in tip to the loading hole 313 is mounted at a rear end thereof, and the loading box The swing bracket 320 which is connected to the 310 and rotates up and down, the swing motor 320 to be connected to the swing bracket 320 and the rotating shaft 323 to supply the up and down rotational force, and the swing bracket 320 Automatic welding characterized in that it comprises a support bracket 340 for fixing to the body 400 and a rotating motor 321 mounted to the swing bracket 320 to rotate the loading box 310 left and right Tip change device. delete delete The method according to claim 2, The vibration unit may include a swing guide 110 having an arc-shaped curved surface and having at least one LM guide 111 mounted thereon, and a top and bottom linear motor 123 mounted at the front thereof, and at least one pair of swing rails disposed at the rear thereof. 121 is formed to move left and right along the LM guide 111, the left and right movement plate 120, and a plurality of internally installed along the longitudinal direction of the LM guide 111 to power the left and right movement plate 120 Left and right linear motor 113 for supplying, and the electric rail 131 is mounted on the back, characterized in that it comprises a shandong copper bracket 130 reciprocating up and down by the up and down linear motor 123 Automatic welding tip change device. The method according to claim 2, The tip holder 150 may include a friction hub 151 having a rotating hole 151a into which a tip is inserted, two or more friction rollers 153 introduced into the rotating hole 151a and positioned around the tip; And a friction roller guide (155) provided at the upper and lower ends of the friction roller (153) to guide rotational movement in the rotation hole (151a). The method according to claim 2, The shank holder 140 provided at the top and bottom of the tip holder 150 may include a holder guide 147 formed in an annular shape, an upper holder 141 spaced apart from the inside of the holder guide 147, and And a lower holder (143), and an air bag (145) for contracting / restoring and connecting the upper holder (141) and the lower holder (143). The method according to claim 2, The roller driven unit may include an electric motor 160 for supplying power, a driven roller 161 connected to a shaft of the electric motor 160, and a power supplied to the driven roller 161. It is configured to include a friction belt 163 for transmitting to 150, and a reduction joint 165 is installed between the electric motor 160 and the driven roller 161 to reduce the rotational speed of the electric motor 160. Automatic welding tip exchange device characterized in. The method according to claim 2, The up-down unit includes an up-down bracket 230 connected to and supported by the receiving tank 210, an up-down guide 240 mounted to the up-down bracket 230 to guide the shanghai dong, and the up-down guide 240. And a driving roller 260 mounted on the body and moving up and down in the longitudinal direction of the body 400, and an up-down motor 250 for supplying power to the driving roller 260. Welding tip changer. The method according to claim 2 or 6 or 7, Automatic welding tip exchange device characterized in that it comprises a clamp housing (157) in order to avoid the interference caused by the operation of the tip holder 150 between the tip holder 150 and the shank holder (140).

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