KR102421995B1 - Welding robot jig capable of rotating with multi­axis - Google Patents

Abstract

The present invention relates to a robot welding jig capable of multi-axis rotation, and more particularly, to a pair of rotating motors disposed to be spaced apart from each other at a specific distance in a plane direction; a rotating frame connected to each rotating shaft of the rotating motor; a vertical adjustment unit coupled to each of the rotating frames; a body frame having both ends coupled to the upper end of the upper and lower adjustment unit; a welding unit provided on one side of the body frame; and a ball bearing provided between the body frame and the upper end of the upper and lower adjustment unit, respectively.

Description

Robot welding jig capable of multi-axis rotation {WELDING ROBOT JIG CAPABLE OF ROTATING WITH MULTIAXIS}

The present invention relates to a robot welding jig capable of multi-axis rotation.

In the case of the robot welding jig currently used, there are a fixed type and a front and rear rotation type.

1 is a perspective view of a conventional rotary welding jig. And Figure 2a is a perspective view of the body frame of the rotary welding jig in a state rotated to the front side, Figure 2b is a perspective view of the body frame of the rotary welding jig in the rotated state in FIG.

1, 2A and 2B, the conventional rotary welding jig 1 has a pair of rotary motors 10 spaced apart from each other, and a rotary frame 20 installed on each of the rotary motors 10. ) and a body frame 50 connected between a pair of rotating frames 20, and a welding unit 60 installed on one side of the body frame 50 and provided with a welding torch 61 at the end. Able to know.

In this conventional rotary welding jig (1), the longitudinal direction of the body frame (50) is always fixed in a state parallel to the plane direction, left and right rotation/tilting is not possible, and height adjustment is also not possible, only the body frame (50) ) has a structure that rotates about its longitudinal axis. That is, it has a one-axis rotation drive that rotates the body frame 50 based on the fixed rotation axis of the rotation motor 10 .

In the case of such a rotary type, there is a degree of freedom compared to the fixed type, but in the case of a product with a complex shape, it is very limited.

That is, since only forward and backward rotation is possible, there is a problem in that it is difficult to set the welding torch posture and conditions. Therefore, there is a disadvantage that welding is possible only for simple shapes and welding cannot be applied to complex structures, and there are problems in that it is necessary to change the welding line of the complicated structure and to manufacture a separate additional jig.

Republic of Korea Patent Registration No. 10-1609160 (Registration Date 20160330) Republic of Korea Patent Registration No. 10-0687026 (Registration Date 20070220) Republic of Korea Patent Registration No. 10-1298147 (Registration Date 20130813)

Therefore, the present invention has been devised to solve the conventional problems as described above, and according to an embodiment of the present invention, it is possible to stabilize welding quality through various welding postures and condition setting, and to provide a robot welding jig capable of multi-axis rotation. There is a purpose.

According to an embodiment of the present invention, it is possible to implement multi-axis rotation by adding a vertical adjustment unit and a ball bearing, having a product reverse correction function, entering a complicated shape torch, changing a welding line of a complicated structure and a separate additional jig An object of the present invention is to provide a robot welding jig capable of multi-axis rotation without unnecessary investment costs such as manufacturing.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned are clearly to those of ordinary skill in the art to which the present invention belongs from the description below. can be understood

An object of the present invention, in the robot welding jig, a pair of rotary motors arranged to be spaced apart from each other at a specific distance in a plane direction; a rotating frame connected to each rotating shaft of the rotating motor; a vertical adjustment unit coupled to each of the rotating frames; a body frame having both ends coupled to the upper end of the upper and lower adjustment unit; a welding unit provided on one side of the body frame; and a ball bearing provided between the body frame and the upper end of the upper and lower adjustment unit, respectively.

And the rotation frame may include a vertical plate coupled to the rotation shaft, and a horizontal plate bent and connected to the vertical plate, wherein the vertical adjustment unit is coupled to the horizontal plate.

In addition, each of the upper and lower adjustment units may include a cylinder coupled to the horizontal plate, a piston moving within the cylinder, and a vertical adjustment driving unit for driving the piston by applying hydraulic or pneumatic pressure.

And it may control the vertical adjustment driving unit to adjust the height and left and right tilting angle of the body frame, it may include a control unit for controlling the front and rear angles of the body frame by controlling the rotation motor.

It also includes a welding position determining unit for determining a position to be welded by the welding unit, and a welding state determining unit for determining a state of a weld bead during welding, wherein the control unit is welded to the welding position determined by the welding position determining unit. Controls the rotary motor and the vertical adjustment drive unit so that the welding torch can approach this possible position, and allows the welding torch to approach a possible position that is a reverse correction based on the welding state determined by the welding state determining unit. It may be characterized in that it controls the rotation motor and the vertical adjustment driving unit.

According to the robot welding jig capable of multi-axis rotation according to an embodiment of the present invention, it is possible to stabilize the welding quality through various welding postures and condition settings.

According to the robot welding jig capable of multi-axis rotation according to an embodiment of the present invention, it is possible to implement multi-axis rotation by adding a vertical adjustment unit and a ball bearing, has a product reverse compensation function, can enter a complex shape torch, and has a complex structure It has the advantage that there is no unnecessary investment cost, such as the need to change the welding line and manufacture a separate additional jig.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. will be able

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention, so the present invention is limited only to the matters described in those drawings and should not be interpreted.
1 is a perspective view of a conventional rotary welding jig;
Figure 2a is a perspective view of the body frame of the rotary welding jig in a state rotated to the front side;
Figure 2b is a perspective view of the body frame of the rotary welding jig in a state rotated to the rear side;
3 is a perspective view of a robot welding jig capable of multi-axis rotation according to an embodiment of the present invention;
4 is a partial perspective view of a robot welding jig capable of multi-axis rotation according to an embodiment of the present invention;
5 is a block diagram illustrating a signal flow of a control unit according to an embodiment of the present invention.

The above objects, other objects, features and advantages of the present invention will be easily understood through the following preferred embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed subject matter may be thorough and complete, and that the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In this specification, when a component is referred to as being on another component, it means that it may be directly formed on the other component or a third component may be interposed therebetween. In addition, in the drawings, the thickness of the components is exaggerated for effective description of the technical content.

In various embodiments of the present specification, terms such as first, second, etc. are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another. The embodiments described and illustrated herein also include complementary embodiments thereof.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural, unless specifically stated otherwise in the phrase. As used herein, 'comprises' and/or 'comprising' does not exclude the presence or addition of one or more other elements.

In describing the specific embodiments below, various specific contents have been prepared to more specifically explain and help the understanding of the invention. However, a reader having enough knowledge in this field to understand the present invention may recognize that the present invention may be used without these various specific details. In some cases, it is mentioned in advance that parts that are commonly known and not largely related to the invention in describing the invention are not described in order to avoid confusion for no reason in describing the present invention.

Hereinafter, a configuration, function, and operation method of a robot welding jig capable of multi-axis rotation according to an embodiment of the present invention will be described.

First, Figure 3 shows a perspective view of a robot welding jig capable of multi-axis rotation according to an embodiment of the present invention. And Figure 4 shows a partial perspective view of a robot welding jig capable of multi-axis rotation according to an embodiment of the present invention. 5 is a block diagram illustrating a signal flow of the control unit 70 according to an embodiment of the present invention.

Robot welding jig 100 capable of multi-axis rotation according to an embodiment of the present invention, as shown in FIG. 3 as a whole, a pair of rotation motors 10, a pair of rotation frames 20, a pair of upper and lower It can be seen that the control unit 30, a pair of ball bearings 40, the body frame 50, and the welding unit 60 in which the welding torch 61 is installed may be configured to include.

A pair of rotary motors 10 are arranged to be spaced apart from each other at a specific distance in the plane direction.

The rotating frame 20 is connected to each rotating shaft of the rotating motor 10 in the form of a bracket. Therefore, it is configured to rotate the rotation frame 20 based on the rotation axis by the driving of the rotation motor 10 .

Accordingly, the control unit 70 controls the rotation motor 10 to adjust the front and rear angles of the welding torch 61 installed on one side of the body frame 50 .

The rotating frame 20 is configured to include a vertical plate 21 coupled to the rotating shaft, and a horizontal plate 22 that is bent and connected to the vertical plate 21 .

And the vertical adjustment unit 30 is coupled to each of the horizontal plates 22 of the rotating frame 20 .

Each of the upper and lower adjustment units 30 includes a cylinder 31 coupled to the horizontal plate 22, a piston 32 moving within this cylinder 31, and applying hydraulic or pneumatic pressure to drive the piston 32 It may be configured to include a vertical adjustment driving unit (33).

The control unit 70 may control the pair of up and down adjustment driving units 33 to adjust the height of the body frame 50 . In addition, it can be seen that the left and right tilting angles of the body frame 50 can be adjusted as shown in FIG. 3 by making the positions of the pistons 32 by the pair of up and down adjustment driving units 33 different from each other.

And each of both ends of the body frame 50 is coupled to the upper end of the upper and lower adjustment unit (30). The glio welding unit 60 is provided on one side of the body frame 50 , and a welding torch 61 is coupled to an end of the welding unit 60 .

In addition, in the robot welding jig 100 capable of multi-axis rotation according to an embodiment of the present invention, a ball bearing is provided between the body frame 50 and the upper end of the piston 32 of the vertical adjustment unit 30, respectively.

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The front and rear tilting angles of the body frame 50 can be adjusted through the pair of ball bearings 40 . Therefore, it is possible to implement various welding postures by controlling the twist angle of the body frame 50 by being driven at different angles.

That is, the control unit 70 may control the vertical adjustment driving unit 33 to adjust the height and the left and right tilting angle of the body frame 50 . In addition, the front and rear angles of the body frame 50 can be adjusted by controlling the rotation motor 10 , so that various welding postures can be implemented.

And the robot welding jig 100 capable of multi-axis rotation may be configured to include a welding position determining unit 71 and a welding state determining unit 72 . That is, the vicinity of the welding position is captured through a camera on one side of the body frame 50, and the welding position determining unit 71 determines and determines the welding position data based on the captured data and shares it with the control unit 70. can be configured to In addition, the welding state determination unit 72 is configured to determine whether the welding bead is defective or reverse-corrected by analyzing the captured data obtained in the welding process.

Therefore, the control unit 70 controls the rotation motor 10 and the vertical adjustment driving unit 33 so that the welding torch 61 can approach the welding position based on the welding position data determined by the welding position determining unit 71 . configured to control.

In addition, when reverse correction is required based on the welding state data determined by the welding state determination unit 72, the control unit 70 includes a rotary motor 10, up and down so that the welding torch 61 can approach a position that is a reverse correction. It is configured to control the adjustment drive (33).

In addition, in the apparatus and method described above, the configuration and method of the above-described embodiments are not limitedly applicable, but all or part of each embodiment is selectively combined so that various modifications can be made to the embodiments. may be configured.

1: Conventional rotary welding jig
10: rotary motor
20: rotating frame
21: vertical plate
22: horizontal plate
30: up and down adjustment unit
31: cylinder
32: piston
33: up and down adjustment drive part
40: ball bearing
41: bearing drive part
50: body frame
60: welding unit
61: welding torch
70: control unit
71: welding position judgment part
72: welding state judgment unit
100: Robot welding jig capable of multi-axis rotation

Claims (5)

In the robot welding jig,
a pair of rotary motors arranged to be spaced apart from each other at a specific distance in a plane direction;
a rotating frame connected to each rotating shaft of the rotating motor;
a vertical adjustment unit coupled to each of the rotating frames;
a body frame having both ends coupled to the upper end of the upper and lower adjustment unit;
a welding unit provided on one side of the body frame; and
A robot welding jig capable of multi-axis rotation comprising a; ball bearing provided between the body frame and the upper end of the upper and lower adjustment unit, respectively, so that the front and rear tilting angles of the body frame can be adjusted .
The method of claim 1,
The rotation frame includes a vertical plate coupled to the rotation shaft, and a horizontal plate bent and connected to the vertical plate,
The vertical adjustment unit is a robot welding jig capable of multi-axis rotation, characterized in that coupled to the horizontal plate.
The method of claim 1,
Each of the upper and lower adjustment units includes a cylinder coupled to the horizontal plate, a piston moving within the cylinder, and a vertical adjustment driving unit for driving the piston by applying hydraulic or pneumatic pressure. welding jig.
4. The method of claim 3,
A multi-axis rotatable robot comprising a control unit for controlling the vertical adjustment driving unit to adjust the height and left and right tilting angles of the main body frame, and for controlling the front and rear angles of the main frame by controlling the rotation motor welding jig.
5. The method of claim 4,
A welding position determining unit for determining a position to be welded by the welding unit, and a welding state determining unit for determining a state of a weld bead during welding,
The control unit controls the rotary motor and the vertical adjustment driving unit to allow the welding torch to approach the welding position determined by the welding position determination unit to a position where welding is possible, and based on the welding state determined by the welding condition determination unit A robot welding jig capable of multi-axis rotation, characterized in that it controls the rotation motor and the up-and-down control drive unit so that the welding torch can approach the position where the reverse compensation is possible.

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