KR102245878B1 - The remote control wleding system of 6-Axis Multi-joint Robot Twin Welding Device - Google Patents

Abstract

The present invention relates to a remote welding control system of a 6-axis articulated robot twin welding device that remotely controls MIG and TIG welding through a remote control when welding a pipe or performs MIG and TIG welding alone. The present invention includes a hanger arm bracket.

Description

The remote control wleding system of 6-Axis Multi-joint Robot Twin Welding Device}

The present invention relates to a remote welding control system of a six-axis articulated robot twin welding device, and more particularly, when welding a pipe, MIG and TIG welding are simultaneously performed through remote control, or mig and The present invention relates to a remote welding control system of a twin welding device for a 6-axis articulated robot that remotely controls the TIG welding to be performed alone.

In general, TIG welding is called shielded inert gas tungstenarc welding (GTAW) or TIG (Tungsten Inert Gas) welding method using a tungsten electrode, and the consumable type is welding using a filler metal. As a method, it is usually composed of a torch, a wire feeding device, and a welding power source.

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 apply electricity between the base material and the filler material. That is, by applying electricity to the filler material while using an inert gas as a protective gas, the torch can generate an arc between the base material and the wire. At this time, the filler material made of a material similar to that of the base material is molten metallized while filling the molten part, whereby welding is performed.

In order to weld a special welding part in a state where it is blocked from air, it is a method of welding while supplying an inert gas to the welding part through an electrode support mechanism from a special torch. 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 automatic welding for the supply of filler metal, and semi-automatic welding in which only the torch is operated manually, and automatic welding that automatically controls the supply of filler material and the welding process.

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 by the mig welding technique. Welding is carried out by putting each equipment into the corresponding process while each is prepared separately.

However, it takes time to set up the cable as the welding preparation time, and requires the movement of equipment and cables for welding to other sections, and during operation, the operator must directly move to the welding device and then perform the control operation directly on the welding device. In addition to the risk to the safety of the operator, there is a cumbersome problem in rapidly changing the welding work such as mig or teag, and moving the welding device back to the welding site according to the changed work.

Korean Intellectual Property Office Publication No. 10-2017-0134107, Publication date December 6, 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 to enable simultaneous MIG and TIG welding or MIG and TIG welding through a remote control during pipe welding. It provides a remote welding control system for a twin welding device of a 6-axis articulated robot that is remotely controlled.

The present invention for achieving the above objects is mounted on a 6-axis articulated robot and in a remote welding control system of a twin welding device of a 6-axis articulated robot that performs tig and mig welding using a tig welding torch and a mig welding torch. ,The hanger arm bracket mounted on the hanger arm of the 6-axis articulated robot, the tig welding transfer unit fixed to the tig welding part bracket installed on one side of the hanger arm bracket and moving the tig welding torch to the welding area, the tig welding transfer A tig welding unit consisting of a tig welding torch clamping unit installed in the unit and clamping the tig welding torch, a mig welding transfer unit that is fixed to the mig welding unit bracket installed on the other side of the hanger arm bracket and moves the mig welding torch to the welding area, the It is installed on the mig welding transfer unit and consists of a mig welding unit composed of a mig welding torch clamping unit that clamps the mig welding torch, and the tig welding transfer unit is a fixing plate fixed to the tig welding part bracket, a motor supported on the fixing plate, A left and right transfer unit consisting of a carriage moving in the left and right directions while riding the fixed plate with the power of the motor, a fixed plate fixedly installed on the carriage of the left and right transfer unit, a motor supported by the fixed plate, on the fixed plate, It is supported to be movable downward and is composed of an upward transport unit configured as a reciprocating unit that moves the Tig welding torch clamping unit up and down with the power of the motor while supporting the Tig welding torch clamping unit, and the Mig welding transfer unit comprises the A fixed plate fixed to the mig welding part bracket, a motor supported by the fixed plate, a left and right transfer unit consisting of a carriage moving in the left and right directions on the fixed plate with the power of the motor, and fixedly installed on the carriage of the left and right transfer unit A fixed plate, a motor supported by the fixed plate, and supported by the fixed plate so as to move up and down, and moving the mig welding torch clamping unit up and down with the power of the motor while supporting the mig welding torch clamping unit It is composed of a shanghai transport unit composed of a shuttle, and the six-axis multi-pipe Section The robot twin welding apparatus includes a remote control and a control unit that receives an operation signal of the remote control through a wireless communication module, and the control unit is a motor provided in the Tig and Mig welding transfer unit according to the operation signal of the remote control. By applying power to the furnace and automatically positioning the Tig and Mig welding torch to the welding part according to the corresponding signal, the welding operation can be performed remotely, and the slide 1 that simultaneously operates the Tig and Mig welding transfer unit on the front of the remote control /2 operation unit, slide 1 operation unit for operating the Tig welding transfer unit and slide 2 operation unit for operating the mig welding transfer unit are installed, and left and right buttons and up and down buttons are provided on the slide 1/2 operation unit, and the left and right buttons are By outputting a signal to the control unit, motors involved in the left and right transfer units of the Tig and Mig welding transfer unit are driven to automatically move the mig and Tig welding torches left and right, and the up and down buttons output a signal to the control unit to And a motor involved in the upper and lower transfer parts of the mig welding transfer unit to move the mig and tig welding torch up and down, and the left and right buttons and up and down buttons are provided on the slide 1 operation part, and the left and right buttons signal to the control unit. Is output to drive the motors involved in the left and right transfer parts of the tig welding transfer unit to move the tig welding torch left and right, and the up and down buttons output a signal to the control unit to output a signal to the upper and lower transfer parts of the tig welding transfer unit. The Tig welding torch is moved up and down by driving a motor involved in the slide 2 operation unit, and left and right buttons and up and down buttons are provided, and the left and right buttons output a signal to the control unit to transfer the left and right sides of the mig welding unit. The mig welding torch is moved to the left and right by driving the motor involved in the mig welding torch, and the up and down buttons output a signal to the control unit to drive the motors involved in the upper and lower transfer parts of the mig welding unit to move the mig welding torch up and down. It is characterized by being able to.

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

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.
Figure 12 is a view showing an excerpt of the left and right transfer part of Figure 11;
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;
17 is a view showing the configuration of a remote welding control system of the six-axis articulated robot twin welding apparatus.
18 is a diagram showing a remote control in FIG. 17;
19 is a view showing the operation flow of the remote welding control system of the six-axis articulated robot twin welding apparatus.

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 AI 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 that clamps 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 with 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 left and right directions while riding 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 the 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 25 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 to 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 operation. 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 alone, and mig welding is performed. Carry out.

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 while moving and placing the mig welding torch 310 in a fixed position on the welding part.

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.

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 fixed plates 76 that are fixed to the mig welding part bracket 16 of the connection unit 10 described above. It consists of a motor 74 supported by the fixed plate 76, and a carriage 78 that reciprocates in the left and right directions while riding the fixed plate 76 with the power of the motor 74.

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 left and right directions while riding 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.

14 to 16, the mig welding torch clamping unit 100 is a base plate 102 fixedly installed on the carriage 90 of the upper and lower transfer unit 84, which is the aforementioned mig welding torch transfer unit 70, 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, A fastening groove 112 having a shape corresponding to the fastening groove 108 of the low body 106 is selectively abutted to the inner surface of the low body 106, and the block 104 is formed on one side thereof. The upper body 110 coupled to the hinge 114, the lower body 106, and the lower body 106 pinned to the lower body 106 while passing through the openings 118 and 120 formed on the outer surfaces of the upper body 110. (116) The rocker pin 122 to be coupled, the outer diameter of the rocker pin 122 is fastened with a screw, and moves along the rocker pin 122 according to a forward and reverse rotation operation, and the outer side of the upper body 110 It consists of a knob 124 to pressurize.

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.

On the other hand, the six-axis multi-joint robot twin welding apparatus performing the above-described configuration and operation performs MIG and TIG welding at the same time through the remote control 700 during pipe welding, or mig and Tig welding. Allows remote control so that it can be performed alone.

Attached Figure 17 is a view showing the configuration of the remote welding control system of the six-axis articulated robot twin welding device, Figure 18 is a view showing the remote control in Figure 17, Figure 19 is a six-axis articulated robot twin welding It is a diagram showing the operation flow of the remote welding control system of the device.

As shown, the remote welding control system of the multi-axis joint robot twin welding device comprises a remote control 700, the remote control 700 and a control unit 800 receiving operation signals through a wireless communication module, and the The control unit 800 applies power to the motors 24, 36, 74, 86 provided in the tig and mig welding transfer units 20 and 70 according to the operation signal of the remote control 700, The mig welding torch (210, 310) is automatically positioned in the welding area so that the welding operation can be performed.

Attached Figure 18 shows a remote control 700.

As shown in the figure, three operation units are divided on the front of the remote control 700, and the slide 1/2 operation unit 710 is for simultaneous operation of the TIG and MiG welding transfer units 20 and 70, and the slide The 1 operation part 720 is for operating only the Tig welding transfer unit 20 alone, and the slide 2 operation part 730 is for operating only the Mig welding transfer unit 70 alone.

The slide 1/2 operation unit 710 is provided with left and right buttons 712 and up and down buttons 714. When the operation signal of the left and right buttons 712 is input to the control unit 800, the control unit 800 is a motor 24, which is involved in the left and right transfer units 22 and 72 of the Tig and Mig welding units 20 and 70. 74) to automatically move the mig and tig welding torches (210, 310) left and right according to the welding position of the pipe. And when the operation signal of the up and down buttons 714 is input to the control unit 800, the control unit 800 is a motor 36 involved in the upper and lower transfer parts 34 and 84 of the Tig and Mig welding units 20 and 70. , 86) to automatically move the mig and tig welding torches (210, 310) up and down according to the welding position of the pipe.

Left and right buttons 722 and up and down buttons 724 are provided on the slide 1 operation unit 720. When the operation signal of the left and right buttons 722 is input to the control unit 800, the control unit 800 drives the motor 24 involved in the left and right transfer units 22 of the tig welding transfer unit 20 to perform the tig welding. The torch 210 is automatically moved left and right according to the welding position of the pipe. And, when the operation signal of the up and down buttons 724 is input to the control unit 800, the control unit 800 drives the motor 36 involved in the upper and lower transfer units 34 of the tig welding unit 20 to perform the tig welding. The torch 210 is automatically moved up and down according to the welding position of the pipe.

Left and right buttons 732 and up and down buttons 734 are provided on the slide 2 operation unit 730. When the operation signal of the left and right buttons 732 is input to the control unit 800, the control unit 800 drives the motor 74 involved in the left and right transfer parts 72 of the mig welding unit 70 to drive the mig welding torch. (310) is automatically moved left and right according to the welding position of the pipe. And when the operation signal of the upper and lower buttons 734 is input to the control unit 800, the control unit 800 drives the motor 86 involved in the upper and lower transfer units 84 of the mig welding transfer unit 70 to drive the mig The welding torch 310 is automatically moved up and down according to the welding position of the pipe.

The operation of the remote welding control system of the six-axis articulated robot twin welding apparatus configured as described above will be described with reference to FIG. 19.

First, after determining whether the position adjustment of the mig and tig welding torches (210, 310) is necessary (S10), if it is determined that the position adjustment is necessary, whether to operate the mig and tig welding torches (210, 310) at the same time or the mig and tig welding It is determined whether to individually operate the torches 210 and 310 (S20).

If it is determined that the mig and tig welding torches (210, 310) should be operated at the same time (S30), the operator presses the button of the slide 1/2 operation unit 710 of the remote control 700 to operate it. After determining whether manipulation is necessary (S40), press the up and down buttons 712 to adjust the positions of the mig and tig welding torches 210 and 310 up and down (S50), and then determine whether left-right manipulation is necessary (S60), and left and right. Press the button 714 to adjust the position of the mig and tig welding torches (210, 310) up and down (S60), and position the mig and tig welding torches (210, 310) to the welding site to remotely control the mig and tig welding. It is done with.

On the other hand, after determining whether to individually operate the mig and tig welding torches 210 and 310 in step S20 (S80), for example, if it is determined that mig welding is necessary (S90), the slide 2 operation unit 730 of the remote control 700 ) To operate by pressing the button, first determine whether up or down operation is necessary (S100), then press the up and down buttons 732 to adjust the position of the mig welding torch 310 up and down (S110), and then After determining whether left and right operation is necessary (S120), by pressing the left and right buttons 730 to adjust the position of the mig welding torch 310 up and down (S130), the mig welding torch 310 is positioned at the welding site to remotely control the mig welding. It is done with.

On the other hand, if it is determined that the individual operation of the TIG welding torch 210 is required instead of the mig welding in the previous step S80 (S140), the operator presses the button of the slide 1 operation unit 720 of the remote control to operate it (S150). ), first determine whether an up/down operation is necessary (S160), then press the up and down button 722 to adjust the position of the Tig welding torch 210 up and down (S170), and then determine whether left/right operation is necessary (S180) , By pressing the left and right buttons 724 to adjust the position of the Tig welding torch 210 up and down (S190), the Tig welding torch is positioned at the welding site to remotely perform the Tig welding.

On the other hand, it will be obvious that the position adjustment using the remote control of the present invention can be adjusted with the remote control even in a situation in which welding is in progress.

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 (1)

In the remote welding control system of the twin welding apparatus of the 6-axis articulated robot, which is mounted on the 6-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 the tig welding torch clamping unit 50 is supported. Consisting of a shanghai transport unit 34 composed of a moving carriage 40;
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 fixed plate 88 up and down. Consisting of an Shanghai sending unit 84 composed of a moving carriage 90;
The six-axis articulated robot twin welding apparatus is provided with a remote control 700 and a control unit 800 for receiving an operation signal of the remote control 700 through a wireless communication module;
The control unit 800 applies power to the motors 24, 36, 74, 86 provided in the tig and mig welding transfer units 20 and 70 according to the operation signal of the remote control 700 to match the corresponding signal. Tig and mig welding torches (210, 310) are automatically positioned at the welding site so that welding can be performed remotely;
On the front of the remote control 700, a slide 1/2 operation unit 710 for simultaneous operation of the tig and mig welding transfer units 20 and 70, and a slide 1 operation unit 720 for operating the tig welding transfer unit 20 And a slide 2 operation unit 730 for operating the mig welding transfer unit 70 is installed;
The slide 1/2 operation unit 710 is provided with left and right buttons 712 and up and down buttons 714;
The left and right buttons 712 output a signal to the control unit 800 to drive the motors 24 and 74 involved in the left and right transfer units 22 and 72 of the tig and mig welding transfer units 20 and 70. Mig and Tig welding torch (210, 310) to automatically move left and right;
The up and down buttons 714 output a signal to the control unit 800 to drive the motor 36 involved in the upper and lower transfer units 34 of the tig and mig welding transfer units 20 and 70 to perform mig and tig welding. To move the torches 210 and 310 up and down;
The slide 1 operation unit 720 is provided with left and right buttons 722 and up and down buttons 724;
The left and right buttons 722 output a signal to the control unit 800 to drive the motor 24 involved in the left and right transfer units 22 of the tig welding transfer unit 20 to move the teg welding torch 210 to the left and right. To move;
The up and down buttons 724 output a signal to the control unit 800 to drive the motor 36 involved in the upper and lower transport units 34 of the tig welding transfer unit 20 to move the tig welding torch 210 up and down. To move;
The slide 2 operation unit 730 is provided with left and right buttons 732 and up and down buttons 734;
The left and right buttons 732 output a signal to the control unit 800 to drive the motor 74 involved in the left and right transfer units 72 of the mig welding transfer unit 70 to move the mig welding torch 310 to the left and right. To move;
The up and down buttons 734 output a signal to the control unit 800 to drive the motor 86 involved in the upper and lower transfer units 84 of the mig welding transfer unit 70 to move the mig welding torch 310 up and down. A remote welding control system for a twin welding device of a 6-axis articulated robot, characterized in that it moves.

Images