KR102225298B1 - 6-Axis Articulated Robot Twin Welding Device - Google Patents

Abstract

The present invention provides a 6-axis articulated robot twin welding device, which is mounted on a 6-axis articulated robot to perform TIG and MIG welding, comprising: a hanger arm bracket mounted on a hanger arm of the 6-axis articulated robot; a TIG welding transfer unit fixed at a TIG welding unit bracket installed on one side of the hanger arm bracket and moving a TIG welding torch to a welded portion; a TIG welding unit formed of a TIG welding torch clamping unit installed in the TIG welding transfer unit and clamping the TIG welding torch; and an MIG welding unit including an MIG welding transfer unit and an MIG welding torch clamping unit, wherein the MIG welding transfer unit is fixed at an MIG welding unit bracket installed at the other side of the hanger arm bracket and moving an MIG welding torch to a welded portion, and the MIG welding torch clamping unit installed in the MIG welding transfer unit and clamping the MIG welding torch.

Description

6-Axis Articulated Robot Twin Welding Device}

The present invention relates to a twin welding apparatus for a six-axis articulated robot, and more particularly, when welding a pipe, MIG and TIG welding can be simultaneously performed, or mig and Tig welding can be performed alone. As well as, it relates to a twin welding device for a 6-axis articulated robot that can be mounted on a 6-axis articulated robot so that the position can be freely moved, thereby improving welding productivity and obtaining a weld with uniform quality.

In general, TIG welding uses a non-consumable tungsten electrode, so it is called a gas tungsten arc welding (GTAW) or Tungsten Inert Gas (TIG) welding method, and the consumable type is welding using a filler metal. As a method, it usually consists of a torch, a wire feeding device and a welding power source.

delete

One (+) electrode of the welding power source is connected to the base material by a welding cable, and the other (-) electrode is connected to the welding tip provided at the tip of the torch to conduct electricity between the base material and the filler material. That is, the torch uses an inert gas as a protective gas and supplies electricity to the filler metal, thereby generating an arc between the base metal and the filler metal. At this time, the filler material made of a material similar to that of the base material is molten metalized while filling the molten part, thereby welding is performed.

delete

In order to weld a special welding part in a state where it is blocked from air, an inert gas is supplied to the welding part through a gas cup, which is an electrode support mechanism, in a special torch, and the electrode used as a heat source, i.e., a tungsten rod, is not melted by arc heat. TIG, Tungsten Inert Gas) welding is a method of precisely welding high-quality products. Depending on the welding method, TIG welding is divided into manual welding and semi-automatic welding in which the supply of filler material is mechanically automatic, and only the torch is manually operated, and automatic welding that automatically controls the supply of filler material and the welding process.

delete

On the other hand, in the welding of stainless steel pipes for cryogenic LNG storage tanks, the back bead welding of the root pass is performed by Tig welding, and the remaining layer is applied with a mig welding technique. Welding is carried out by putting each equipment into the corresponding process in a state prepared separately.This method is used while moving by mobilizing two types of welding machines, and the difficulty of storing each welding machine and many welding machines and related cables in the workplace As and equipment is arranged, the workplace becomes complicated and there may be a risk to the safety of the operator.

Korean Intellectual Property Office Publication No. 10-2017-0134107 (published on December 06, 2017) Korean Intellectual Property Office Registration Utility Model Gazette Registration No. 20-0403989 Korean Intellectual Property Office Registered Patent Publication No. 10-0770748

Accordingly, an object of the present invention for solving the above-described problems is a six-axis articulated robot twin welding device designed to perform both Tig and Mig welding at the same time or to perform Tig and Mig welding alone when welding a pipe. Provides.

Another technical problem to be achieved by the present invention is to install a twin welding device on a 6-axis articulated robot so that the position of the device can be moved more freely in the left, right, up and down directions, thereby improving welding productivity and obtaining a weld with uniform quality. It provides a 6-axis multi-joint robot twin welding device that can be used.

The present invention for achieving the above objects is a six-axis articulated robot twin welding apparatus that is mounted on a six-axis articulated robot to perform tig and mig welding, the hanger arm mounted on the hanger arm of the six-axis articulated robot Bracket, a tig welding transfer unit that is fixed to the bracket of the tig welding part installed on one side of the hanger arm bracket and moves the tig welding torch to the welding area, and a tig welding torch clamping unit that is installed on the tig welding transfer unit and clamps the tig welding torch A mig welding part composed of, a mig welding transfer unit that is fixed to the mig welding part bracket installed on the other side of the hanger arm bracket and moves the mig welding torch to the welding part, and a mig welding that is installed in the mig welding transfer unit and clamps the mig welding torch It is characterized in that it comprises a mig welding unit composed of a torch clamping unit.

The tig welding torch transfer unit includes a fixed plate fixed to the tig welding unit bracket, a motor supported on the fixed plate, a left-right transfer unit moving in left and right directions while riding the fixed plate with the power of the motor, and a reciprocation of the left-right transfer unit. A fixed plate fixedly installed on a stand, a motor supported on the fixed plate, and supported by the fixed plate so as to move up and down, and clamping the Tig welding torch with the power of the motor while supporting the Tig welding torch clamping unit It is preferable to configure it with an up-and-down transport unit configured as a carriage for moving the unit up and down.

The tig welding torch clamping unit is a plate fixedly installed on the carriage of the upper and lower conveying unit, a fixed plate coupled to one surface of the plate and having a recessed fastening groove on the outer side, and located on the outside of the fixed plate and on the inner side in the fastening groove of the fixing plate. It is preferable that it is composed of a pressurizing plate having a fastening groove of a corresponding shape, a bolt that is coupled to both sides of the pressurizing table and moves the pressurizing plate to pressurize and fix the Tig welding torch inserted into the fastening groove formed in the pressurization table and the fixing table. Do.

The mig welding torch transfer unit includes a fixed plate fixed to the mig welding unit bracket, a motor supported on the fixed plate, a left and right transfer unit moving in left and right directions on the fixed plate with the power of the motor, and the reciprocating of the left and right transfer unit. The mig welding torch clamping unit is supported by the mig welding torch clamping unit while supporting the mig welding torch clamping unit with a fixed plate fixedly installed on a stand, a motor supported by the fixed plate, and supported by the fixed plate so as to move up and down. It is preferable to configure it with an up-and-down transport unit configured as a shuttle that moves up and down.

A base plate fixedly installed on the carriage of the upper and lower transfer unit, a block fixedly installed on one surface of the base plate, a low body attached to the block and having a fastening groove for inserting the mig welding torch into the inner surface of the low body. It is selectively abutted to one side, and a fastening groove for inserting the mig welding torch is formed on the inner surface, and on one side of the upper body hinged to the block, the low body and the upper body pass through an opening formed on the outer surface of the upper body. It consists of a rocker pin that is pin-coupled to the low body in a state, and a knob that is screwed to the outer diameter of the rocker pin and moves along the rocker pin according to a forward and reverse rotation operation and presses the outer side of the upper body. desirable.

In the present invention, when welding a pipe, it is possible to perform TIG and MIG welding at the same time in one twin welding device, or perform TIG and MIG welding alone, so that welding can be performed with only one welding machine in the workplace, so that the welding machine and related cables and equipment It is possible to improve workability through simplification of.

In addition, the twin welding device is mounted on a 6-axis articulated robot so that the position of the device can be moved more freely in the left, right, up and down directions, thereby improving welding productivity and obtaining a weld with uniform quality.

1 is a view showing the overall configuration of the six-axis articulated robot twin welding apparatus of the present invention in three dimensions.
Figure 2 is a view showing the front of Figure 1;
Figure 3 is a view showing an excerpt of the twin welding device of the present invention.
Figure 4 is a plan view of Figure 3;
Figure 5 is a front view of Figure 3;
6 is a view showing an extract of a connecting unit for mounting a twin welding device to a 6-axis articulated robot.
Fig. 7 is a view showing an extract of the Tig welding transfer unit from the Tig welding part.
Figure 8 is a view showing an excerpt of the left and right transfer portion of Figure 7.
Figure 9 is a view showing the front of Figure 7;
10 is a view showing an excerpted Tig welding torch clamping unit.
11 is a view showing an excerpted mig welding transfer unit from the mig welding unit.
12 is a view showing an excerpt of the left and right transfer unit of FIG.
Fig. 13 is a front view of Fig. 11;
Fig. 14 is a three-dimensional view showing an extract of a mig welding torch clamping unit.
15 is a view showing a plane of FIG. 14;
16 is an operation state diagram of FIG. 15;

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the detailed description to be described later, representative embodiments of the present invention will be presented in order to achieve the above-described technical problem. And other embodiments that may be presented by the present invention are replaced with descriptions in the configuration of the present invention.

Materials to which the welding technique of the twin welding apparatus of the present invention is applied may include steel materials such as carbon steel, stainless steel, 9% Ni steel, and non-ferrous materials such as A l alloy steel, Cu alloy steel, Ni alloy steel and Ti alloy steel.

In addition, the present invention requires a welding torch device for each welding technique, but the welding torch for each of the tig and mig welding techniques is manufactured in an integrated twin torch device system, and is interlocked with a 6-axis articulated robot in the left, right, up and down directions. As a result, TIG and MiG welding can be performed at the same time or alone.

Throughout the specification, when a part "includes" a component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary. Singular expressions mean plural expressions unless there are clearly exceptions in the context.

1 is a three-dimensional view showing the overall configuration of the six-axis articulated robot twin welding apparatus of the present invention, Figure 2 is a view showing the front of FIG.

As shown in FIGS. 1 and 2, the twin welding apparatus 500 of the present invention is mounted on a 6-axis articulated robot 600, and according to the operation of the 6-axis articulated robot 600, Position movement in the left and right directions is performed automatically at a longer distance.

The connection structure between the six-axis articulated robot 600 and the twin welding device 500 is made through a connection unit 10 provided in the twin welding device.

3 is a view showing an excerpt of the twin welding apparatus of the present invention, FIG. 4 is a plan view of FIG. 3, and FIG. 5 is a front view of FIG.

As shown in FIGS. 3 to 5, the twin welding apparatus 500 of the present invention is largely divided into a connection unit 10, a tig welding part 200, and a mig welding part 300.

The connection unit 10 is a unit that connects the tig welding part 200 and the mig welding part 300 constituting the twin welding device 500 to the 6-axis articulated robot 600.

The connection unit 10 is a hanger arm bracket 12 coupled to the hanger arm 610 provided at the front end of the 6-axis articulated robot 600, as shown in FIG. 6, on both sides of the hanger arm bracket 12 Each is provided and consists of a tig welding part fixing bracket 14 and a mig welding part fixing bracket 16 for connecting and supporting the tig welding part 200 and the mig welding part 300, respectively.

The tig welding part 200 is mounted on the tig welding part fixing bracket 14 provided on the left side of the connection unit 10 to perform a tig welding.

After the twin welding device 500 moves near the welding area due to the operation of the 6-axis articulated robot, the Tig welding part 200 precisely moves the Tig welding torch 210 in the up, down, left, and right directions. It is a means for performing TIG welding in a state where the TIG welding torch 210 is positioned on top.

The tig welding part 200 includes a tig welding torch 210, a tig welding clamping unit 50 clamping the tig welding torch 210, and the tig welding clamping unit 50 in up, down, left, and right directions. It comprises a Tig welding transfer unit (20) to move.

7 is a view showing an excerpt of the Tig welding transfer unit from the Tig welding part, FIG. 8 is a view showing an excerpt of the left and right transfer part of FIG. 7, and FIG. 9 is a view showing the front side of FIG. 7.

7 to 9 is a view showing an extract of the structure of the Tig welding transfer unit 20.

As shown in Figs. 7 to 9, the tig welding transfer unit 20 is divided into a left and right transfer unit 22 and a vertical transfer unit 34.

The left and right transfer parts 22 are fixed plates 26 fixed to the tig welding part bracket 14 of the connection unit 10 described above. It consists of a motor 24 supported by the fixed plate 26, and a carriage 28 that reciprocates in the left and right directions while riding the fixed plate 26 with the power of the motor 24.

At this time, the power transmission structure of the motor 24 and the carriage 28 of the left and right transfer parts 22 is coupled to the shaft of the motor 24 as shown in FIG. 9, and rotates with the power of the motor 24. A drive gear (30), a driven gear (32) meshing with the drive gear (30), is coupled to the driven gear (32) and rotates, and a screw thread is formed on the carriage (28) while a thread is formed on the outer diameter thereof. It consists of a lead screw (33) that is coupled in a manner.

That is, when the leadscrew 33 rotates by the power of the motor 24, the carriage 28 moves horizontally and reciprocally in the left and right directions by riding a thread formed in the outer diameter of the leadscrew 33.

The vertical transfer unit 34 is a fixed plate 38 fixed to the carriage 28 of the left and right transfer units 20, a motor 36 supported by the fixed plate 38, and the power of the motor 36 It consists of a carriage 40 that reciprocates in the up and down directions riding on the fixed plate 38.

The power transmission structure of the motor 36 and the carriage 40 of the vertical transfer unit 34 is the same as the power transmission structure of the motor 24 and the carriage 28 of the left and right transfer units 22 described above, preferably Is configured to move up and down on a fixed plate according to the power of the motor through the drive and driven gears and leadscrews.

10 is a view showing an extract of the Tig welding torch clamping unit.

As shown in Fig. 10, the tig welding torch clamping unit 50 is a plate 52 fixedly installed on the carriage 40 of the upper and lower transfer unit 34, which is the above-described tig welding torch transfer unit 20, and the plate 52 A fastening groove of a shape corresponding to the fastening groove 56 of the fixing table 54 and located on the outside of the fixing table 54 which is coupled to one side of the fixing table 54 and has a concave fastening groove 56 on the outside. It is coupled to both sides of the pressing table 58 having the 60 formed, and the pressing table 58 is moved to the fastening groove 56 formed in the pressing table 58 and the fixing table 54. The inserted TIG welding torch 210 is pressurized and fixed.

The tig welding torch clamped in the tig welding torch clamping unit 50 moves precisely in the left, right, up and down directions by the operation of the above-described tig welding transfer unit 20, and is positioned at the welded part of the pipe to perform the tig welding. Perform.
The mig welding part 300 is mounted on the mig welding part fixing bracket 16 provided on the right side of the connection unit 10, and automatically moves to the welding part of the pipe after the tig welding is completed, or by mig welding. Perform.

delete

delete

When the twin welding device 300 moves near the welding area by the operation of the 6-axis articulated robot 600, the mig welding unit 300 precisely moves the mig welding torch 310 in the up, down, left, and right directions. It is a means for performing mig welding in a state in which the mig welding torch 310 is positioned on the welding part by moving.

The mig welding part 300 includes a mig welding torch 310, a mig welding torch clamping unit 100 that clamps the mig welding torch 310, and the mig welding torch clamping unit 100 up, down, left, and right. It comprises a mig welding transfer unit 70 to move in the direction.

FIG. 11 is a view showing an excerpt of the mig welding transfer unit from the mig welding part, FIG. 12 is a view showing an excerpt of the left and right transfer part of FIG. 11, and FIG. 13 is a view showing the front side of FIG. 11.

As shown in Figs. 11 to 13, the mig welding transfer unit 70 is divided into a left and right transfer unit 72 and a vertical transfer unit 84.

The left and right transfer parts 72 are a fixing plate 76 fixed to the mig welding part bracket 16 of the connection unit 10, a motor 74 supported by the fixing plate 76, and the motor 74 It consists of a carriage 78 that reciprocates in the up and down directions riding the fixed plate 76 by power.

At this time, the power transmission structure of the motor 74 and the carriage 78 of the left and right transfer parts 72 is coupled to the shaft of the motor 74 as shown in FIG. 13, and rotates with the power of the motor 74. The driving gear 80, the driven gear 82 meshed with the driving gear 80, and the driven gear 82 are coupled to rotate to operate, and a screw thread is formed on the carriage 78 while the outer diameter thereof is threaded. It consists of a lead screw (83) that is coupled in a manner.

That is, when the leadscrew 83 rotates with the power of the motor 74, the carriage 78 moves horizontally and reciprocally in the left and right directions by riding a thread formed in the outer diameter of the leadscrew 83.

The vertical transfer unit 84 is a fixed plate 88 fixed to the carriage 78 of the left and right transfer units 72, a motor 86 supported by the fixed plate 88, and the power of the motor 86 It consists of a carriage 90 that reciprocates in the up and down directions riding on the fixed plate 88.

The power transmission structure of the motor 86 and the carriage 90 of the up and down transfer part 84 is the same as the power transmission structure of the motor and the carriage of the left and right transfer parts described above, preferably through a drive and a driven gear and a lead screw. It is configured to move up and down on a fixed plate according to the power of the motor.

The accompanying FIG. 14 is a three-dimensional view of the mig welding torch clamping unit extracted, and FIG. 15 is a plan view of FIG. 14, and FIG. 16 is an operation state diagram of FIG. 15.

As shown in Figs. 14 to 16, the mig welding torch clamping unit 100 is a carriage 90 of the upper and lower transfer unit 84, which is the mig welding torch transfer unit 70, as shown in the attached Fig. 11 The base plate 102 fixedly installed on the base plate 102, the block 104 fixedly installed on one side of the base plate 102, the fastening groove for the mig welding torch 310 to be fitted to the block 104 and attached to the inner surface ( The low body 106 on which the 108) is formed, and selectively abutted to the inner surface of the low body 106, and a fastening groove 112 having a shape corresponding to the fastening groove 108 of the low body 106 is formed on the inner surface thereof. The upper body 110 is formed and has a hinge 114 coupled to the block 104 on one side thereof, and the lower body 106 and the upper body 110 pass through openings 118 and 120 formed on the outer surfaces of the upper body 110. In the state, the rocker pin 122 coupled with the pin 116 to the low body 106 and the outer diameter of the rocker pin 122 are screwed together, and ride the rocker pin 122 according to the forward and reverse rotational motion. It is composed of a knob 124 that moves and presses the outside of the upper body 110.

The mig welding torch clamping unit 100 rotates the upper body 110 around the hinge 114 as shown in FIGS. After passing the mig welding torch 310 through the fastening grooves 108 and 112 of the body 110 and the low body 106, the upper body 110 is returned to the initial state, and then the rocker pin 122 is pinned. By rotating around 116, the rocker pin 122 is inserted into the openings 108 and 112 of the upper body 110 and the low body 106, and then the upper body 110 is rotated by rotating the knob 124. When pushed, the mig welding torch 310 inserted into the fastening grooves 108 and 112 of the upper body 110 and the low body 106 is pressed and fixed to a clamped state.

The mig welding torch 310 clamped to the mig welding torch clamping unit 100 moves precisely in the left, right, up and down directions by the operation of the mig welding torch transfer unit 70 described above, and is positioned at the welded part of the pipe. To perform the mig welding work.

Hereinafter, an operation process of the twin welding apparatus for a six-axis articulated robot according to the present invention will be described.

First, by combining the hanger arm 610 provided at the tip of the six-axis articulated robot 600 to the hanger arm bracket 12, which is the connection unit 10 of the twin welding device 500, the twin welding device 500 is 6 Assemble to the multi-axis joint robot (600).

Next, insert the tig welding torch 210 into the fastening grooves 56 and 60 formed in the pressure base 58 and the fixing base 54, which are the tig welding torch clamping unit 50, and then the pressure base through the bolt 62 By pressing 58, the Tig welding torch 210 is pressurized and fixed.

In addition, after inserting the mig welding torch 310 into the fastening grooves 108 and 112 between the upper body 110 and the low body 106, which is the mig welding torch clamping unit 100, the upper body 110 and the low body After inserting the rocker pin 122 into the openings (118, 120) of 106, and turning the knob 124, the knob 124 pushes the upper body 110 and the upper body 110 and the low body The mig welding torch 310 inserted into the fastening grooves 108 and 112 of 106 is pressurized and fixed.

When performing the welding work in this state, for example, to perform welding of stainless steel pipes for low-temperature LNG storage tanks, back bead welding of the root path is performed through the tig welding part 200, and then the mig welding part ( 300) to weld the remaining layer.

That is, when power is applied to the motor 24 of the left and right transfer unit 22, which is the Tig welding transfer unit 20, which is the Tig welding unit 200, the carriage 28 moves left and right while riding the fixed plate 26, Along with this, the motor 36 of the up-and-down transfer part 34 is driven, and by moving the carriage 40 up and down, the Tig welding torch 210 is positioned at the welding part of the pipe, and then the Tig welding torch 210 is installed. Tig welding is performed through.

Next, after the TIG welding is completed, the mig welding unit 300 is continuously driven. When power is applied to the motor 74 of the left and right conveying unit 72, which is the mig welding transfer unit 70, the carriage 78 is a fixed plate The motor (86) of the up and down transfer unit (84) is driven along with the left and right movements (76), and the carriage (90) is moved up and down to mid-weld to the remaining layer after TIG welding is completed. After placing the torch in position, mid-welding is performed through the mig welding torch.

10: connection unit 20: Tig welding transfer unit
22: left and right transfer unit 28: carriage
34: upper and lower transfer unit 40: carriage
50: Tig welding torch clamping unit 54: fixture
56: pressure base 70: mid welding transfer unit
72: left and right transfer unit 78: carriage
84: upper and lower transfer unit 90: carriage
100: mig welding torch clamping unit 106: low body
110: upper body 122: rocker pin
124: Knob 200: Tig welding part
210: Tig welding torch 300: Mig welding part
310: mig welding torch 500: twin welding device
600: 6-axis articulated robot

Claims (5)

In the six-axis articulated robot twin welding apparatus that is mounted on the six-axis articulated robot 600 and performs tig and mig welding using the tig welding torch 210 and the mig welding torch 310,
A hanger arm bracket 12 mounted on the hanger arm 610 of the 6-axis articulated robot 600;
A tig welding transfer unit 20 fixed to the tig welding part bracket 14 installed on one side of the hanger arm bracket 12 and moving the tig welding torch 210 to the welding part;
A tig welding part 200 configured of a tig welding torch clamping unit 50 installed on the tig welding transfer unit 20 and clamping the tig welding torch 210;
A mig welding transfer unit 70 fixed to the mig welding part bracket 16 installed on the other side of the hanger arm bracket 12 and moving the mig welding torch 310 to the welding part;
It is installed in the mig welding transfer unit 70 and is composed of a mig welding unit 300 configured with a mig welding torch clamping unit 100 that clamps the mig welding torch 310;
The Tig welding transfer unit 20 is;
A fixing plate 26 fixed to the tig welding part bracket 14;
A motor 24 supported by the fixed plate 26;
A left and right transfer unit 22 composed of a carriage 28 moving in left and right directions on the fixed plate 26 with the power of the motor 24;
A fixed plate 38 fixedly installed on the carriage 28 of the left and right transfer parts 22;
A motor 36 supported by the fixed plate 38;
It is supported by the fixed plate 38 so as to move up and down, and the tig welding torch clamping unit 50 is moved up and down by the power of the motor 36 while supporting the tig welding torch clamping unit 50. Consisting of a shanghai transport unit 34 composed of a moving carriage 40;
The tig welding torch clamping unit 50 is;
A plate 52 fixedly installed on the carriage 40 of the vertical transfer unit 34;
A fixing table 54 coupled to one surface of the plate 52 and having a fastening groove 56 recessed on the outside thereof;
A pressing table 58 located outside the fixing table 54 and having a fastening groove 60 having a shape corresponding to the fastening groove 56 of the fixing table 54 on the inside thereof;
Tig welding torch 210 coupled to both sides of the pressing table 58 and inserted into the fastening grooves 56 and 60 formed in the pressing table 58 and the fixing table 54 by moving the pressing table 58 6-axis multi-joint robot twin welding device, characterized in that consisting of a bolt 62 to fix the pressure.
delete delete delete In the six-axis articulated robot twin welding apparatus that is mounted on the six-axis articulated robot 600 and performs tig and mig welding using the tig welding torch 210 and the mig welding torch 310,
A hanger arm bracket 12 mounted on the hanger arm 610 of the 6-axis articulated robot 600;
A tig welding transfer unit 20 fixed to the tig welding part bracket 14 installed on one side of the hanger arm bracket 12 and moving the tig welding torch 210 to the welding part;
A tig welding part 200 configured of a tig welding torch clamping unit 50 installed on the tig welding transfer unit 20 and clamping the tig welding torch 210;
A mig welding transfer unit 70 fixed to the mig welding part bracket 16 installed on the other side of the hanger arm bracket 12 and moving the mig welding torch 310 to the welding part;
It is installed in the mig welding transfer unit 70 and is composed of a mig welding unit 300 configured with a mig welding torch clamping unit 100 that clamps the mig welding torch 310;
The mig welding transfer unit 70 is;
A fixing plate 76 fixed to the mig welding part bracket 16;
A motor 74 supported by the fixed plate 76;
A left and right transfer unit 72 composed of a carriage 78 moving in left and right directions on the fixed plate 76 with the power of the motor 74;
A fixed plate 88 fixedly installed on the carriage 78 of the left and right transfer part 72;
A motor 86 supported by the fixed plate 88;
The mig welding torch clamping unit 100 is moved up and down by the power of the motor 86 while supporting the mig welding torch clamping unit 100 and supporting the fixing plate 88 up and down. Consisting of an Shanghai sending unit 84 composed of a moving carriage 90;
The mig welding torch clamping unit 100 is;
A base plate 102 fixedly installed on the carriage 90 of the upper and lower transfer parts 84;
A block 104 fixedly installed on one surface of the base plate 102;
A low body 106 attached to the block 104 and having a fastening groove 108 for inserting the mig welding torch 310 into the inner surface thereof;
It is selectively butted to the inner surface of the low body 106, and a fastening groove 112 for inserting the mig welding torch 310 is formed on the inner surface, and a hinge 114 is coupled to the block 104 on one side. Upper body 110;
A rocker pin 122 coupled with a pin 116 to the low body 106 while passing through the openings 118 and 120 formed on the outer surfaces of the low body 106 and the upper body 110;
It is fastened to the outer diameter of the rocker pin 122 by a screw type, and is configured with a knob 124 that moves on the rocker pin 122 according to a forward and reverse rotation operation and presses the outside of the upper body 110. 6-axis multi-joint robot twin welding device characterized by.

Images