KR101230991B1 - Pitch variable type twin spot welding apparatus - Google Patents

Pitch variable type twin spot welding apparatus Download PDF

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Publication number
KR101230991B1
KR101230991B1 KR1020100113046A KR20100113046A KR101230991B1 KR 101230991 B1 KR101230991 B1 KR 101230991B1 KR 1020100113046 A KR1020100113046 A KR 1020100113046A KR 20100113046 A KR20100113046 A KR 20100113046A KR 101230991 B1 KR101230991 B1 KR 101230991B1
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KR
South Korea
Prior art keywords
welding
fixed
frame
guide
spot welding
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KR1020100113046A
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Korean (ko)
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KR20120051557A (en
Inventor
유성필
Original Assignee
기아자동차주식회사
현대자동차주식회사
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Priority to KR1020100113046A priority Critical patent/KR101230991B1/en
Publication of KR20120051557A publication Critical patent/KR20120051557A/en
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Publication of KR101230991B1 publication Critical patent/KR101230991B1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00Resistance welding; Severing by resistance heating
    • B23K11/10Spot welding; Stitch welding
    • B23K11/11Spot welding
    • B23K11/115Spot welding by means of two electrodes placed opposite one another on both sides of the welded parts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00Resistance welding; Severing by resistance heating
    • B23K11/24Electric supply or control circuits therefor
    • B23K11/241Electric supplies
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00Resistance welding; Severing by resistance heating
    • B23K11/30Features relating to electrodes
    • B23K11/31Electrode holders and actuating devices therefor
    • B23K11/311Electrode holders and actuating devices therefor the actuating device comprising an electric motor
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00Resistance welding; Severing by resistance heating
    • B23K11/30Features relating to electrodes
    • B23K11/31Electrode holders and actuating devices therefor
    • B23K11/314Spot welding guns, e.g. mounted on robots
    • B23K11/315Spot welding guns, e.g. mounted on robots with one electrode moving on a linear path
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0282Carriages forming part of a welding unit
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/02Gripping heads and other end effectors servo-actuated
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/006Vehicles
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S29/00Metal working
    • Y10S29/013Method or apparatus with electric heating

Abstract

The present invention relates to a variable pitch twin welding device, which can perform more welding in a limited space and time than the conventional spot welding device, improve the productivity, flexibility and efficiency of the vehicle body process, reduce the number of robots, cost And the main purpose is to provide a spot welding apparatus having the advantages of energy saving and the like. In order to achieve the above object, a spot welding apparatus mounted on a robot arm, the spot welding apparatus comprising: a fixed welding machine configured in a fixed frame fastened to and fixed to the robot arm; A movable welder configured in a moving frame coupled to the fixed frame to enable lateral movement; It is fixed to the fixed frame to move the lateral welder including a moving frame to adjust the interval between the fixed welder and the mobile welder by varying the pitch of the servo actuator for varying the pitch between the welding point of the two welders; Disclosed is a pitch variable twin spot welding apparatus.

Description

Pitch variable type twin spot welding apparatus}

The present invention relates to a spot welding apparatus, and more particularly, to a variable pitch twin spot welding apparatus that can perform more welding in a limited space and time, and can vary the welding pitch.

In general, during the manufacturing process of automobiles, various structural parts such as body panels formed by presses are joined by welding or the like to complete an integrated vehicle body, and the finished vehicle body is painted and coated on the surface of each part in a painting process. After the operation is carried out, the design process of assembling the components of the power train system and the components of the suspension, steering and braking systems, and then assembling the door, the trunk lid, the hood, and the like is performed.

In addition, spot welding, which is resistance welding, is mainly performed in joining body parts such as roofs, pillars, side panels, and opening flanges of body doors in automobile body assembly processes. .

Resistance welding is a method in which melting is performed by using heat generated by a contact by electrical resistance, and the pressure is connected in parallel thereto. The most important factors for determining welding conditions in resistance welding are electrode pressure, welding current, current duration, and electrode. The tip shape can be selected in consideration of the film coating condition and working condition of the welded object.

The role of the electrode in spot welding has an important function of inducing welding quality, and the electrode also plays a role in supplying current and cooling while pressurizing the weld.

On the other hand, in the spot welding process for the assembly of the body, it takes a lot of time because the continuous welding must be performed along the position of several tens to hundreds of welding spots, and the work process is very complicated, thus reducing the welding time and improving productivity and efficiency. Various measures have been taken to improve the welding quality.

For example, as one method of process automation, a spot welding system for attaching a welding device 3 to the robot 1 as shown in FIG. 1 and then moving the spot position by the operation of the robot to perform welding is widely used. have.

However, in the conventional welding system, it is possible to attach one welding device 3 per robot 1 to the robot arm 2, whereby only one RBI welding is performed every time the robot arm 2 moves. This is possible.

As a result, it takes a lot of time to perform the specified number of welding spot operations, which is a factor in reducing productivity and efficiency.

In order to reduce the time, it is possible to install a plurality of robots so that they can be welded while moving along the welding point position at the same time. There is a problem of increased cost, excessive use of energy, and increased space occupancy of the robot in mass production lines.

Therefore, the present invention has been invented to solve the above problems, it is possible to perform more welding in a limited space and time than the conventional spot welding apparatus, improve the productivity, flexibility, efficiency of the vehicle body process, It is an object of the present invention to provide a spot welding device having advantages such as reduction in the number of robots, cost, and energy.

In order to achieve the above object, the present invention provides a spot welding apparatus mounted on a robot arm, comprising: a fixed welding machine configured in a fixed frame fastened to and fixed to the robot arm; A movable welder configured in a moving frame coupled to the fixed frame to enable lateral movement; It is fixed to the fixed frame to move the lateral welder including a moving frame to adjust the interval between the fixed welder and the mobile welder by varying the pitch of the servo actuator for varying the pitch between the welding point of the two welders; A pitch variable twin spot welding apparatus is provided.

In a preferred embodiment, a bed-type main LM guide is fixedly installed on the fixed frame, the moving frame is coupled above the main LM guide, so that the moving frame is movable sideways with respect to the fixed frame along the main LM guide. It features.

In addition, the axial auxiliary LM guide for lateral movement guiding the moving frame in the fixed frame is installed separately from the main LM guide, the axial auxiliary LM guide is moved to the other side in the state that one side is slidably coupled to the fixed frame. It is characterized in that the coupling between the fixed frame and the moving frame integrally coupled to the frame.

In addition, the pitch-variable servo actuator is a roller screw actuator for converting a rotational torque of the electric motor into a linear motion, the actuator body including the electric motor is rotated when the electric motor is driven in a fixed state fixed to the fixed frame It is characterized in that the moving block is moved back and forth linearly on the screw shaft is fixed to the moving frame.

In addition, the fixed welding machine and the mobile welding machine is characterized in that coupled to the movable frame to the fixed frame and the movable frame elastically via the gun alignment unit.

Here, the gun alignment unit is to raise the lower welding gun by the reaction when the upper welding gun of the welder is lowered to press the panel which is the workpiece for each of the stationary welding machine and the mobile welding machine that are vertically arranged side by side A pressurized servo actuator for linearly moving the upper welding gun of the welder vertically, and a lifting frame to which the gun arm of the lower welding gun is fixed integrally; An air cylinder having a piston rod elastically moved up and down by a pneumatic action in the cylinder body, the cylinder body being mounted to the lifting frame, and the piston rod integrally coupled to a fixed frame or a moving frame corresponding to the frame; And guide means for guiding the lifting frame to move up and down stably in the fixed frame and the moving frame.

In addition, the guide means is characterized in that the plurality of guide rods are integrally fixed to the horizontal support horizontally installed on the elevating frame and arranged vertically long and slidably coupled to the fixed frame or the moving frame.

In addition, the lower surface of the lifting frame is provided with a moment preventing LM guide for preventing the moment generated during the pressurization of the pressure servo actuator for protecting the pressure servo actuator, the shank of the upper welding gun inside the moment prevention LM guide Is characterized in that the structure is inserted so as to be movable up and down.

In addition, a support bracket protruding forward is installed at one side of the shank, and an anti-rotation guide rod vertically extending upward is fixed to the support bracket, and an upper portion of the anti-rotation guide rod is slidably coupled to the lifting frame. It is characterized by.

In addition, the pressurized servo actuator is a roller screw actuator for converting the rotational torque of the electric motor into a linear motion, the drive of the electric motor in a state in which the actuator body including the electric motor is fixed to a fixed frame or a moving frame of the frame It is characterized in that the moving block is moved back and forth linearly on the screw shaft is integrally coupled to the upper welding gun.

In addition, the fixed frame and the moving frame are fixedly installed transformers for converting the high voltage / low current of the primary side to the low voltage / high current of the secondary side, respectively, the fixed side welding machine or a movable welder that is the secondary side current to the lower side of each transformer A bus bar and a shunt for energizing a welder are provided, and the bus bar is composed of a fixed bus bar connected to a transformer and a moving bus bar integrally coupled to the corresponding welder. It is characterized by the structure which is connected.

Accordingly, in the pitch-variable twin welding device according to the present invention, two sub-welders (fixed welders and mobile welders) capable of performing spot welding independently are mounted to adjust the mutual spacing, and thus, the conventional welding machine is limited in space and time. More welding can be performed than a spot welding apparatus, and the welding pitch can be variously changed.

That is, when the spot welding apparatus according to the present invention is mounted on the robot arm, simultaneous welding of two RBIs is possible by using two sub-welders in one robot, and the welding pitch is real-time during the welding operation by the two sub-welders. To be variable.

As a result, it is possible to weld up to twice as much as before in the same number of robots and process time, improve productivity, flexibility and efficiency of the bodywork process, respond to variable welding pitch of workpieces, reduce the number of robots, cost and energy Savings are effective.

In addition, in the spot welding apparatus according to the present invention, it is possible to simultaneously weld two sub-welders to different fold numbers of panels, thereby having an advantage capable of responding to various fold numbers of panel conditions.

1 is a view illustrating a state in which a spot welding apparatus according to the prior art is mounted on a robot.
2 is a view illustrating a state in which a spot welding apparatus according to the present invention is mounted on a robot.
Figure 3a is a front perspective view showing a spot welding apparatus according to the present invention.
Figure 3b is a perspective view of the back of the spot welding apparatus according to the present invention.
Figure 4 is an enlarged view of the main portion including the main LM guide and the auxiliary LM guide in the spot welding apparatus according to the present invention.
5 is a front view of the spot welding apparatus according to the present invention.
6 is a rear view of the spot welding apparatus according to the present invention.
7 is a side view of the spot welding apparatus according to the present invention.
8 is a plan view of a spot welding apparatus according to the present invention.
Figure 9 is a front view showing the moment preventing action of the moment prevention LM guide in the spot welding apparatus according to the present invention.
10 is a perspective view showing the rotation preventing action of the anti-rotation guide rod in the spot welding apparatus according to the present invention.
Figure 11 is a perspective view showing a coupling state of the fixed frame and the moving frame, LM guide in the spot welding apparatus according to the present invention.
12 is a perspective view showing a transformer in the spot welding apparatus according to the present invention.
Figure 13 is a perspective view showing a bus bar in the spot welding apparatus according to the present invention.
14 is a perspective view showing the gun alignment unit in the spot welding apparatus according to the present invention.
15 is a perspective view showing the gun arm of the lower welding gun in the spot welding apparatus according to the present invention.
16 is an operating state diagram showing a state in which the pitch adjustment is made in the spot welding apparatus according to the present invention.
17a and 17b is a view showing that the alignment state of the upper welding gun and the lower welding gun is made by the gun alignment unit in the spot welding apparatus according to the present invention.
18 is an operating state diagram showing a state corresponding to various layers of panel conditions in the spot welding apparatus according to the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains.

The present invention relates to a spot welding apparatus that can be mounted and used in a robot, and is mounted on a tip of a robot arm to perform spot welding while moving along a welding part of a workpiece during robot operation.

In particular, the present invention is equipped with two sub-welders (fixed welders and mobile welders) capable of independently performing spot welding, as described below, so as to control the mutual spacing, and thus, compared to the conventional spot welding apparatus in a limited space and time. The present invention relates to a variable pitch twin spot welding apparatus capable of performing more welding and varying the welding pitch.

Therefore, when the spot welding apparatus according to the present invention is used by mounting the robot arm, two robots can be welded at the same time using two sub-welders in one robot, and the welding pitch is real-time during the welding operation by the two sub-welders. It can be changed.

In addition, it is possible to weld up to twice as much as before in the same number of robots and process time, improve the productivity, flexibility and efficiency of the bodywork process, respond to variable welding pitch of workpieces, reduce the number of robots, reduce cost and energy It will be effective.

2 is a view illustrating a state in which the variable pitch twin spot welding apparatus 3a according to the present invention is mounted on the robot 1, and FIG. 3A is a front perspective view showing the spot welding apparatus 3a according to the present invention. 3b is a rear perspective view showing the spot welding apparatus 3a according to the present invention.

4 is an enlarged view illustrating main parts including a main LM guide 16a and an auxiliary LM guide 16b in the spot welding apparatus according to the present invention.

5 is a front view of the spot welding apparatus 3a according to the present invention, FIG. 6 is a rear view, FIG. 7 is a side view, and FIG. 8 is a plan view.

9 is a front view showing a moment preventing action of the moment prevention LM guide 125 in the spot welding apparatus according to the present invention, Figure 10 is a rotation preventing action of the anti-rotation guide rod 127 in the spot welding apparatus according to the present invention 11 is a perspective view showing a coupling state of the fixed frame 10 and the movable frame 20, the LM guides 16a and 16b in the spot welding apparatus according to the present invention.

12 is a perspective view showing the transformer (12, 17) in the spot welding apparatus according to the present invention, Figure 13 is a perspective view showing a bus bar 12a in the spot welding apparatus according to the present invention, Figure 14 In the spot welding apparatus according to the invention is a perspective view showing the gun alignment unit 30.

15 is a perspective view showing the gun arm 131 of the lower welding gun in the spot welding apparatus according to the present invention.

First, as shown in FIG. 2, the spot welding device 3a according to the present invention is used by being mounted to the arm 2 of the robot 1, and is fixed to the robot arm 2 by a fixed frame 10. The fixed frame 10 includes a fastening part 11 fixed to the upper end and fastened to the robot arm 2.

Hereinafter, in the present specification, the sub-welder 100a configured in the fixed frame 10 among the two sub-welders 100a and 100b constituting the spot welding device 3a is referred to as a fixed welder, and a fixed welder ( Another sub-welder 100b configured to be capable of lateral movement in 100a) will be referred to as a movable welding machine.

Referring to FIG. 2, the sub-welders 100a and 100b are disposed on both the left and right sides, respectively, so that a total of two sub-welders are mounted. The sub-welder 100b vertically arranged vertically from the left side in the drawing is a movable welding machine. The sub welder 100a vertically arranged vertically from the right side is the stationary welding machine 100a.

As shown, the two sub-welders 100a and 100b are arranged vertically side by side so as to be disposed laterally from each other at the left side and the right side.

The configuration of the two sub-welders (100a, 100b) is no difference in the basic configuration and operating state, except that the fixed welding machine (100a) is configured in the fixed frame 10 to be the main frame is fixed in position The movable welder 100b is configured in the movable frame 20 coupled to the fixed frame 10 so as to be movable left and right, and is provided to be movable leftward and rightward with respect to the fixed welder 100a. The pitch between the welding points of the two welders can be varied by the left and right movement and position control.

On the side of the fixed frame 10, a first transformer 12 for converting the high voltage / low current of the primary side into the low voltage / high current of the secondary side is fixedly installed, and the secondary side is located below the first transformer 12. A bus bar 12a and a shunt for energizing a current through the stationary welding machine 100a are provided.

The bus bar 12a has the other side fixedly welded with one side always connected to the first transformer 12 so that the secondary current applied from the first transformer 12 can be supplied to the fixed welder 100a. It is connected to the (100a), between the output end of the first transformer 12 and the upper welding gun 120 of the stationary welding machine (100a), and the output end of the first transformer 12 and the lower welding gun of the stationary welding machine (100a) 130) are electrically connected to each other.

In addition, the main LM guide (16a) is fixed to the lower portion of the fixed frame 10, the pitch variable servo actuator 13 is fixed to the horizontally long.

The pitch variable servo actuator 13 may be a roller screw actuator for converting the rotational torque of the electric motor into a linear motion, it is preferable that the actuator is directly fastened to the fixed frame 10 to reduce the weight.

The roller screw actuator is based on a configuration in which the screw shaft 14 directly connected to the drive shaft of the electric motor is rotated by the motor driving force, so that the nut-type moving block 15 held by the screw portion of the screw shaft 14 moves back and forth. The configuration of the roller screw actuator that can be applied to the variable pitch servo actuator 13 will be omitted since it is a well-known configuration widely used in the industry.

In the present invention, the main body of the variable-pitch servo actuator 13 including the electric motor is fastened and fixed to the fixed frame 10, the movable block 15 is moved back and forth linearly on the screw shaft 14 arranged horizontally long Is fastened and fixed to the moving frame 20.

The movable frame 20 is a frame in which the movable welding machine 100b is mounted and supported. The movable frame 20 is coupled to and supported by an upper side of the main LM guide 16a, and has a variable pitch screw actuator (roller screw actuator). As the moving frame 20 moves left and right along with the moving block 15 horizontally moving when the 13 is driven, the movable welding machine 100b is moved left and right.

Thus, the pitch between the two welders (welding points of the two welders) can be varied while the movable welder 100b is moved left and right with respect to the stationary welder 100a which is fixed in position, and with the drive control of the servo actuator 13 for pitch change The pitch can be variously adjusted according to the moved position of the mobile welding machine 100b in which the lateral position is controlled.

Preferably, the axial auxiliary LM guide 16b may be additionally installed separately from the bed main LM guide 16a. The bed main LM guide 16a and the axial auxiliary LM guide 16b may be conveyed during pitch adjustment. Serves as a guide.

The main LM guide 16a serves to guide the linear movement of the moving frame 20 precisely, and the auxiliary LM guide 16b assists the sagging of the moving frame 20 and the movable welding machine 100b. Will play a role.

The axial auxiliary LM guide 16b is installed to horizontally connect the fixed frame 10 and the movable frame 20. The other side of the axial guide LM guide 16b is slidably coupled to the fixed frame 10 in a state where the other side thereof is movable frame ( 20) is integrally coupled and fixed.

Accordingly, the moving frame 20 is horizontally guided horizontally from the upper side of the main LM guide 16a and at the same time, the auxiliary LM guide 16b integrally coupled with the moving frame 20 is horizontally moved left and right. As the auxiliary LM guide 16b slides while being coupled to the fixed frame 10, the movable frame 20 can be stably moved and guided by the auxiliary LM guide 16b above the main LM guide 16a. do.

In addition, a second transformer 17 is fixedly installed on the side of the moving frame 20, and a bus bar 12a and a shunt are provided between the second transformer 17 and the movable welding machine 100b to conduct secondary current. The bar is connected to the second transformer 17 and the bus bar (12a) connected thereto for supplying the transformed power to the mobile welding machine (100b), the structure and role is not different from the first transformer and bus bar.

In addition, the coupling relationship between the second transformer 17 and the bus bar 12a, the moving frame 20, and the movable welding machine 100b is also referred to as the first transformer 12 and the bus bar, the fixed frame 10, and the fixed welding machine 100a. There is no difference compared with the relationship between them.

On the other hand, the front alignment of the fixed frame 10 and the moving frame 20, the gun alignment unit 30 is mounted, respectively, the fixed welding machine (100a) and the mobile welding machine (100b) through the gun alignment unit 30 The fixed frame 10 and the movable frame 20 are respectively elastically coupled to be movable up and down.

The gun alignment unit 30 is provided in the same configuration for each of the fixed welding machine (100a) and the mobile welding machine (100b), the position of the upper and lower welding guns (120,130) of the corresponding welding machine (100a, 100b) to correct the position As a component, when the upper welding gun 120 is lowered to press the panel of the workpiece (reference numeral 4 in Figures 16 to 18) serves to cause the lower welding gun 130 to rise by reaction. do.

The gun alignment unit 30 has an air cylinder 32 having a lifting frame 31 to which the welders 100a and 100b are coupled, and a piston rod 33 that moves up and down elastically by pneumatic action in the cylinder body. And guide means for guiding the lifting frame 31 to move up and down stably in the fixed frame 10 or the moving frame 20.

Here, the pressure servo actuator 110 provided in the welders 100a and 100b is integrally fixed to the lifting frame 31, and the gun arm 131 of the lower welding gun 130 is integrally fixed.

In addition, the air cylinder 32, the cylinder body is mounted to the lifting frame 31, the piston rod 33 which is elastically moved by the pneumatic action in the cylinder body is the frame, that is, fixed frame 10 or moving It is installed in a structure that is integrally coupled to the frame 20.

The guide means are integrally fixed to the horizontal support 31a horizontally installed on the elevating frame 31 and arranged vertically long and slidably coupled to the fixed frame 10 or the movable frame 20 corresponding to the frame. The guide rod 34 may be a bar, while the guide frame 34 slides in the fixed frame 10 and the movable frame 20 when the lifting frame 31 moves up and down, and the lifting frame 31 is fixed frame 10. And it will serve to hold the moving frame 20 to move up and down stably.

On the other hand, the fixed welding machine (100a) and the mobile welding machine (100b) has the same configuration, the upper welding gun 120 and the lower welding gun 130 as the main spot welding machine as a main configuration.

The upper welding gun 120 is a shank (121) driven up and down linearly by the pressure servo actuator 110, the holder 122 is coupled to the shank 121, and is fixed to the holder 122 The upper electrode 123 is taken as the main structure.

In addition, the lower welding gun 130 is the gun arm (131) is vertically vertically arranged so that the upper end is fixedly coupled to the lower surface of the lifting frame 31, the lower end is located below the upper welding gun (120). The main electrode includes a holder 132 coupled to the lower end of the gun arm 131, and a lower electrode 133 fixed to the holder 132 and disposed to face the lower side of the upper electrode 123.

Here, the pressurizing servo actuator 110 is a component for generating a welding pressing force (for example, 300 kgf), and similarly to the pitch variable servo actuator 13, a roller screw actuator for converting the rotational torque of the electric motor into linear motion is applied. In this case, it is preferable that the actuator is directly coupled to the lifting frame 31 to reduce the weight.

The pressurizing servo actuator (roller screw actuator) 110 is vertically disposed vertically to the lifting frame 31, the main body of the pressurizing servo actuator 110 is vertically arranged and fixed to the lifting frame 31 in a fixed state The moving block coupled to the screw shaft is connected to the shank 121 of the upper welding gun 120.

Accordingly, when the screw shaft is rotated by the electric motor during the driving of the pressurized servo actuator 110, the shank 121, the holder 122, and the upper welding rod 123 are lowered together with the moving block, and the upper welding gun 120 is rotated. The whole loads downward.

Busbars 12a connected to the transformers 12 and 17 are connected to the upper end of the gun arm 131 of the lower welding gun 130, and the gun arm 131 itself is a secondary current similar to the busbars 12a. Should be a member for energizing the bar, like the bus bar (12a) can be made of a copper alloy material.

In addition, the shank 121 of the upper welding gun 120 is connected to the busbars 12a connected to the transformers 12 and 17 through the side protruding connecting portion 124, and the holder ( 122) and the holder 132 of the shank 121, the lower welding gun 130 may also be made of a copper alloy since the secondary current must be applied.

In the spot welding apparatus 3a of the present invention, the busbar 12a is connected to a fixed busbar connected to a transformer, and an upper end of the shank 121 of the upper welding gun 120 and the gun arm 131 of the lower welding gun 130. It may be configured as a mobile busbar integrally coupled, the mobile busbar is provided in a form slidably connected to the fixed busbar.

Accordingly, in the corresponding welding machine (fixed welding machine or mobile welding machine), when the upper and lower welding guns 120 and the lower welding gun 130 are moved, the movable busbars can be slid in the state of being constantly connected to the fixed busbars, thereby the busbars 12a. The overall configuration may be a structure capable of coping with the vertical linear motion of the welding gun (welding gun pressurization and alignment) (a structure in which the transformer and the welding gun are electrically connected at all times).

In a preferred embodiment, the lower surface of the lifting frame 31 is fixed to the moment preventing LM guide 125 for preventing the moment generated during the pressurization of the pressure servo actuator 110 and for protecting the pressure servo actuator 110. The shank 121 of the upper welding gun 120 is inserted into the moment preventing LM guide 125 so as to be movable upward and downward.

In addition, one side of the shank 121 is provided with a support bracket 126 protruding forward, and the support bracket 126 is fixed to the anti-rotation guide rod 127 extending vertically upward, bar guide rod for preventing rotation An upper portion of the 127 is slidably coupled to the front side of the lower surface of the elevating frame 31.

The anti-rotation guide rod 127 serves to prevent the upper welding gun 120 from being axially rotated by a magnetic field generated during welding.

Hereinafter, referring to FIGS. 16 to 18, the operation of the spot welding apparatus according to the present invention and the process of welding are described as follows.

16 is an operation state diagram showing a state in which the pitch adjustment is made in the spot welding apparatus according to the present invention, Figures 17a and 17b is the upper welding gun 120 by the gun alignment unit 30 in the spot welding apparatus according to the present invention ) And the lower welding gun 130 is a view showing that the alignment is made, Figure 18 is an operating state diagram showing a state corresponding to the conditions of the various number of layers 4 in the spot welding apparatus according to the present invention.

First, as shown in FIG. 16, after the robot is operated to move the spot welding device mounted on the robot arm to the working position, the upper welding rod 123 and the upper and lower panels 4, which are objects of the welding work, are moved upward and downward. The lower electrode 133 is positioned, and the upper electrode 123 and the lower electrode 133 are in opposite positions with the panel 4 interposed therebetween.

Subsequently, when the pressure servo actuator 110 is driven, the upper welding rod 123 presses the upper side of the panel 4, and the lower welding gun 130 including the lower welding rod 133 moves upward to the lower side of the panel 4. Will be pressed.

Accordingly, welding is performed by pressing the two layers of panel 4 in a state where the pressing force of the upper electrode 123 and the lower electrode 133 between the two layers of panel 4 is applied. Since the stationary welder 100a and the movable welder 100b press-contact the panel 4 simultaneously, two-point simultaneous welding becomes possible.

Subsequently, when welding is completed, the pressurizing servo actuator 110 is driven in reverse, and the upper electrode 123 is raised, the lower electrode 133 is lowered, and then the fixed welding machine 100a and the movable type are moved by the movement of the robot arm. The whole spot welding apparatus including the welding machine 100b is moved to the next welding point position.

As such, while the entire robot arm and the spot welding device are moved to the next welding point position, the movable welding machine 100b is moved laterally by the drive of the variable pitch actuator to adjust the spacing between the two welding machines, and to move to the next welding point position. Two-point simultaneous welding is performed in the same manner in the state.

As described above, when the spot welding apparatus according to the present invention is used, more welding is possible during the same time by two-point simultaneous welding, and the time for welding completion for the prescribed number of welding points of the workpiece is greatly shortened. It becomes possible.

In addition, the distance between two welding machines can be adjusted according to the pitch of the next welding spot while moving the welding spot location, so that the welding pitch can be varied while moving along the welding part of the workpiece. This becomes possible.

Next, FIGS. 17A and 17B illustrate a state in which an upper welding rod 123 and a lower welding rod 133 press-fit the panel 4 at the same time by the gun alignment unit 30, and FIG. 17B shows the post-alignment state in which the two electrodes form a crimping state of the panel 4 at the same time.

As shown, when the servo actuator 110 for pressure is driven, the upper electrode 123 presses the panel 4 from the upper side through the shank 121 and the holder 122, and in this state, reaction of the pressing force is performed. As a result, the lower welding gun 130, the lifting frame 31, and the pressurizing servo actuator 110 integrally fastened to the lifting frame 31, the moment preventing LM guide 125, and the like are integrally raised.

Accordingly, the lower electrode 133 also presses the panel 4 from the lower side, and the upper electrode 123 and the lower electrode 133 are pressed simultaneously with the panel 4 interposed therebetween. Will be done.

The reaction of the pressing force generated during the driving of the pressurizing servo actuator 110 is generated while the upper electrode 123 presses the panel 4 while the shank 121 moves forward from the actuator 110, and the upper electrode ( The force of the pressurizing servo actuator 110 for pushing the shank 121 while the 123 is pressed against the panel 4 acts as a force for moving the pressurizing servo actuator 110 itself upward by reaction. As a result, as shown in FIG. 17B, as the entire lower welding gun 130 including the lifting frame 31 is moved upward, the lower welding rod 133 presses the panel 4.

Next, referring to FIG. 18, since the fixed welding machine 100a and the mobile welding machine 100b can be independently vertically aligned by the respective gun alignment units 30, the 2-ply panel 4 and the 3-ply panel 4 may be used. In the case of welding at the same time, it is possible to align the two welding machines to form the same panel 4 welding state.

In this way, the spot welding apparatus 3a according to the present invention can be welded simultaneously to the different number of panels 4, and thus has the advantage of being able to cope with various conditions of the number of panels 4.

The embodiments of the present invention have been described in detail above, but the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are made. Forms are also included in the scope of the present invention.

1: robot 2: robot arm
3a: welding device 4: panel
10: fixed frame 11: fastening portion
12: first transformer 12a: busbar
13: Servo actuator for variable pitch 14: Screw shaft
15: moving block 16a: main LM guide
16b: auxiliary LM guide 17: second transformer
20: moving frame 30: gun alignment unit
31: lifting frame 31a: lateral support
32: air cylinder 33: piston rod
34: guide rod 100a: fixed welding machine
100b: mobile welding machine 110: pressurized servo actuator
120: upper welding gun 121: shank
122: holder 123: upper welding rod
124: connection 125: LM guide
126: support bracket 127: guide rod for preventing rotation
130: lower welding gun 131: gun arm
132: holder 133: welding rod

Claims (11)

  1. In the spot welding apparatus mounted on the robot arm,
    A fixed welding machine configured to be fixed to the robot arm by being fixed thereto;
    A movable welder configured in a moving frame coupled to the fixed frame to enable lateral movement;
    A variable pitch servo actuator fixed to the fixed frame to move the welding machine including the moving frame to the side to adjust the distance between the welding machine and the welding machine to change the pitch between the welding points of the two welding machines;
    Including,
    The fixed welding machine and the mobile welding machine are elastically coupled to the fixed frame and the moving frame by a key alignment unit so as to be movable up and down,
    The gun alignment unit,
    The lower welding gun is raised by reaction when the upper welding gun of the corresponding welding machine is lowered to press the panel which is the workpiece for each of the stationary welding machine and the mobile welding machine which are vertically arranged side by side.
    A pressurized servo actuator for linearly moving the upper welding gun of the welder up and down, and a lifting frame to which the gun arms of the lower welding gun are fixed integrally;
    An air cylinder having a piston rod elastically moved up and down by a pneumatic action in the cylinder body, the cylinder body being mounted to the lifting frame, and the piston rod integrally coupled to a fixed frame or a moving frame corresponding to the frame;
    Guide means for guiding the lifting frame to move up and down stably in the fixed frame and the moving frame;
    Pitch variable twin spot welding apparatus characterized in that comprises a.
  2. The method according to claim 1,
    A bed-type main LM guide is fixedly installed on the fixed frame, and a moving frame is coupled to the upper side of the main LM guide, so that the moving frame is laterally movable with respect to the fixed frame along the main LM guide. Twin spot welding device.
  3. The method according to claim 2,
    A shaft auxiliary LM guide for laterally guiding the moving frame in the fixed frame is installed separately from the main LM guide, the shaft auxiliary LM guide is the other side of the movable frame in a state that one side is slidably coupled to the fixed frame. It is integrally coupled to the variable pitch twin spot welding apparatus, characterized in that for connecting between the fixed frame and the moving frame.
  4. The method according to claim 1,
    The pitch variable servo actuator is,
    Roller screw actuator that converts rotational torque of electric motor into linear motion,
    Pitch variable type, characterized in that the actuator body including the electric motor is fastened to the fixed frame fixed to the moving frame is moved back and forth linearly on the screw shaft that is rotated when the electric motor is driven in a fixed state fixed to the fixed frame Twin spot welding device.
  5. delete
  6. delete
  7. The method according to claim 1,
    The guide means is a variable pitch twin spot welding apparatus, characterized in that the plurality of guide rods are fixed integrally to the horizontal support horizontally installed on the lifting frame and arranged vertically long and slidably penetrates the fixed frame or the moving frame.
  8. The method according to claim 1,
    The lower surface of the elevating frame is fixed to the moment prevention LM guide for preventing the moment generated during the pressurization of the pressure servo actuator for protecting the pressure servo actuator,
    The pitch variable twin spot welding device, characterized in that the shank of the upper welding gun is inserted into the upper side of the moment preventing LM guide to be moved up and down.
  9. The method according to claim 8,
    A support bracket protruding forward is installed at one side of the shank, and an anti-rotation guide rod vertically extending upward is fixed to the support bracket, and an upper portion of the anti-rotation guide rod is slidably coupled to the lifting frame. Pitch variable twin spot welding device.
  10. The method according to claim 1 or 8,
    The pressurized servo actuator is,
    Roller screw actuator that converts rotational torque of electric motor into linear motion,
    In the state in which the actuator body including the electric motor is fixed to a fixed frame or a moving frame, the movable block moving forward and backward linearly on a screw shaft rotated when the electric motor is driven is integrally coupled to the upper welding gun. Pitch variable twin spot welding machine.
  11. The method according to claim 1,
    Transformers for converting the high voltage / low current of the primary side to the low voltage / high current of the secondary side is fixedly installed in the fixed frame and the moving frame,
    The lower side of each transformer is provided with a busbar and a shunt for energizing the secondary side current to a fixed welding machine or a mobile welding machine, which is a corresponding welding machine.
    The busbar is composed of a fixed busbar connected to a transformer and a moving busbar integrally coupled to the welding machine, the movable busbar is configured to be connected at all times while the movable busbar slides to the fixed busbar during the vertical movement of the welding machine. Spot welding device.
KR1020100113046A 2010-11-12 2010-11-12 Pitch variable type twin spot welding apparatus KR101230991B1 (en)

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KR20150123020A (en) * 2014-04-24 2015-11-03 현대자동차주식회사 Apparatus for sandwich panel welding

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KR101382319B1 (en) * 2012-12-17 2014-04-08 현대자동차 주식회사 Twin spot welding apparatus
KR101448762B1 (en) * 2012-12-28 2014-10-08 현대자동차 주식회사 Spot welding apparatus
KR101283481B1 (en) * 2013-01-22 2013-07-12 (주)산호수출포장 Welding device for middle plate of pallet
KR101448772B1 (en) * 2013-04-03 2014-10-08 현대자동차 주식회사 Spot welding apparatus
CN103273181A (en) * 2013-05-22 2013-09-04 窦川忠 Two-axis multipoint automatic spot welding device and using method
KR101518914B1 (en) * 2013-09-30 2015-05-11 현대자동차 주식회사 Spot welding apparatus
KR101518919B1 (en) * 2013-10-14 2015-05-11 현대자동차 주식회사 Spot welding apparatus
KR101592389B1 (en) * 2013-10-14 2016-02-05 현대자동차주식회사 Spot welding apparatus

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