KR19980057874A - Welding Weaving Device - Google Patents

Abstract

The present disclosure relates to a welding weaving device mounted on the shortest end of a welding robot or other welding devices to implement the weaving operation. This device implements the weaving operation by only rocking the welding torch without implementing the weaving motion throughout the welding device. Therefore, the data processing of various sensors attached to the welding device is accurate, and the working space can be reduced. According to the removal of the operation, the welding robot can be smoothly driven and the weaving frequency can be easily changed.

Description

Welding Weaving Device

The present invention relates to a welding weaving apparatus for performing a weaving welding along the welding line, and more particularly, to a welding weaving apparatus that implements a weaving motion simply by weaving a welding torch.

In general, a welding apparatus implements a weaving operation in order to make a complete welding by effectively using an arc during welding. This weaving operation is a method of operating a welding rod, and is a method of operating the tip of the welding rod in a zigzag shape with respect to the welding line direction. 1 is a block diagram of a welding robot according to the prior art. In the conventional welding robot, as shown in FIG. 1, the shock sensor 30 attached to the arm end of the vertical articulated robot 1 is attached to the arm to operate the welding robot, thereby implementing the weaving motion. Accordingly, the arm 20 to which the welding torch 10 is attached performs the weaving motion at the same time as the following operation.

However, such a conventional welding weaving device has a problem that it takes a lot of time for the position calculation time of the robot for welding seam tracking by the impact sensor and the devices associated with it to implement the weaving motion. In particular, when an additional device such as a vision sensor is attached to the robot, the sensor is shaken from side to side due to the weaving motion, causing a lot of errors in the processing of the sensor data.

Accordingly, an object of the present invention is to provide a welding weaving device which eliminates the above-mentioned defects, the welding arm performs only the operation of following the welding line, and allows only the welding torch to perform the weaving motion.

1 is a schematic configuration diagram of a welding robot for explaining a conventional weaving method in welding,

2 is a schematic configuration diagram of a welding robot equipped with a welding weaving device according to the present invention;

Figure 3 (a) to (c) is a structural diagram showing the structure of the present welding weaving device in detail,

Figure 4 (a) and (b) is a principal part showing the core of the present welding weaving device,

5 (a) to 5 (c) are explanatory diagrams for explaining the weaving principle of the present apparatus.

Explanation of symbols for main parts of the drawings

10: welding torch 20: arm

40: bracket 50: motor bracket

51: axis 60: reducer

61: motor 62: swing shaft

63: eccentric shaft portion 70: torch bracket

71: axes 72: long

80 bushing

Features of the present invention for achieving the above object is in the welding weaving device for moving the welding device while moving along the welding line, coupled to the extension line from the rotation axis of the drive motor for transmitting power for the weaving movement, A motor bracket having a shaft through which a swing shaft having an eccentric shaft portion eccentric from a rotation shaft is penetrated and fixed at one end thereof to be substantially horizontal to the swing shaft; A torch bracket having a long hole formed at one end thereof so as to be rotatable about an axis and connected to the shaft, and having a hole formed in a longitudinal direction so that a portion of an end portion of the eccentric shaft portion is received and moved in two directions facing each other; And a welding torch mounted at an end portion of the torch bracket facing the shaft hole of the torch bracket to which the shaft is connected, and for welding a welding line of the welded object.

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

2 is a schematic configuration diagram of a welding robot equipped with a welding weaving device according to the present invention.

As shown, a bracket 40 is gripped at the end of the arm 20 of the welding robot 1, and the apparatus 2 is fixed by the bracket 40 so that the welding torch 10 in the body of the welding robot 10 is fixed. ) Only weave motion is realized. Now, the present apparatus will be described in more detail with reference to FIG. 3.

3 (a) to (c) is a structural diagram showing the structure of the present welding weaving device in detail. This apparatus is provided with the bracket 40 fixed to the end of a welding robot (1 in FIG. 2), and the bracket 40 is equipped with the motor bracket 50. As shown in FIG. One side of the motor bracket 50 is attached to the motor 61 and the reducer 60 integrally attached to reduce the output thereof, and the oscillating shaft 62 which decelerates and rotates by the reducer 60 is the other side. Penetrating through. The rocking shaft 62 is bent and the end portion thereof is eccentric, and thus the bent eccentric shaft portion 63 moves in a circle. The shaft 51 is protruded and inserted into the torch bracket 70 above the upper end portion of the motor bracket 50 spaced apart from the swing shaft 62 by a predetermined distance. The torch bracket 70 has a shaft hole 71 into which the shaft 51 is inserted, and is rotatably inserted into the shaft 51, and a bushing between the shaft 51 and the shaft hole 71 for smooth rotation. 80 is further interposed.

On the other hand, the end of the swing shaft 62 is inserted into the long hole 72 of the torch bracket 70. The long hole 72 is formed long in the vertical direction, the eccentric shaft portion 63 of the swing shaft 62 is a circular motion and push the side portion to draw a certain angle with the shaft 51 as a vertex, torch bracket ( 70). Of course, the torch bracket 70 is gripped by the welding torch 10. Detailed description thereof will be described later with reference to FIGS. 4 and 5.

Figure 4 (a) and (b) is a principal view showing the core of the present welding weaving device, Figure 5 (a) to (c) is an explanatory view for explaining the principle of the weaving of the device. Now, the driving principle of the apparatus will be described in detail with these two drawings in parallel.

When the drive motor 61 rotates, the reduction shaft 60 decelerates and the swing shaft 62 rotates. This rotation causes the bent eccentric shaft portion 63 to be circular, and the eccentric shaft portion 63 performs the circular motion while pushing the long hole 72 to show the torch bracket 70 as shown in FIG. Rotate the shaft 51 to the vertex so that the welding torch 10 takes a weaving motion at a predetermined angle.

That is, as shown in FIGS. 5A to 5C, the eccentric shaft portion 63 of the swing shaft 62 behaves counterclockwise by the drive of the motor 61. Accordingly, the welding torch 10 connected to the eccentric shaft portion 63 is repeatedly moved left and right by the amount of eccentricity r of the swing shaft 62 to implement the weaving motion.

As described above, the present invention implements the weaving by shaking only the welding torch without the weaving motion of the welding robot throughout the welding apparatus, so that data processing of various sensors attached to the welding apparatus is safe and accurate. In addition, it is possible to reduce the work space by removing the weaving implementation operation throughout the welding apparatus, and also to prevent contact with other objects due to the removal of the weaving operation of the welding apparatus. In particular, since the weaving frequency, which is limited by the time for calculating the existing robot position by eliminating the weaving motion of the entire robot, is excluded, the present device has an advantage of implementing a smooth weaving operation without being limited by the weaving frequency.

Claims (3)

In the welding weaving device which moves the welding device along the welding line, weaving motion, It is coupled to the extension line from the rotation axis of the drive motor for transmitting the power for the weaving movement, the oscillation shaft having an eccentric shaft portion eccentric from the rotation shaft at the end is penetrated and is substantially parallel to the oscillation shaft at one end surface A motor bracket having a fixed shaft; A torch bracket having a long hole formed at one end thereof so as to be rotatable about the axis and connected to the shaft, and having a hole formed in a longitudinal direction so that a portion of the end portion of the eccentric shaft part is received and moved in two directions facing each other; And And a welding torch mounted at an end portion of the torch bracket opposite to the shaft hole of the torch bracket through which the shaft is connected, to weld the welding line of the welded object. The welding weaving device according to claim 1, further comprising a speed reducer configured to reduce the output of the drive motor to transmit rotational force to the swing shaft. The welding weaving device according to claim 1, wherein the shaft and the shaft work are pivotally inserted and supported by the torch bracket through a bushing.