KR20040001653A - Welding Point auto adjusting device in welding robert - Google Patents

Abstract

PURPOSE: A welding point adjusting apparatus for a welding robot is provided to prevent a fault of welding wires by automatically adjusting a welding point of the welding robot. CONSTITUTION: A welding point adjusting apparatus includes a position adjusting device(2), which is installed in a radius region of a welding robot(1) in such a manner that a return position of the welding robot(1) is controlled by means of a limit switch. A position adjusting device(10) is provided in the position checking device(10) so as to optimally cut welding wires. The position adjusting device(10) includes a cutter(20) installed in the position checking device(2) and a guider(30) for guiding welding wires towards the cutter(20) while gripping a torch at an initial welding point of a vehicle. The cutter(20) has a case formed with a chamber and a cutting member for cutting the welding wires.

Description

Welding point auto adjusting device in welding robert

The present invention relates to a welding point position automatic adjustment device of the welding robot, and more particularly, welding wire automatic adjustment that can automatically match the optimum welding wire length required while simply adjusting the position of the changed welding point during welding Relates to a device.

In general, the vehicle body is divided into an underbody that maintains the lower body skeleton of the vehicle, a left and right side body forming the side frame of the underbody, and a roof panel coupled to the upper portion of the side body to form the upper frame of the vehicle body. The divided parts are welded to each other to form a single body. Among them, mainly the thin plates such as white body and fuel tank, and the relatively thick plates such as wheels, brake shoes, rear axle housing and propeller shaft. It is largely classified into one welding structure.

The welding method for welding the panels includes arc welding, such as coated arc welding, CO2 (carbon dioxide) arc welding, MIG arc welding, TIG arc welding, submerged arc welding, plasma arc welding, and also, spot welding and projection welding. Resistance welding such as core welding, deep welding, and the like; There are gas welding such as oxygen acetylene welding, lead welding and soldering parts. Others include T-stade welding, friction welding, electron beam welding, and resistance welding mainly on spot welding.

CO2 arc welding, one of double arc welding, is a special arc welding method in which the inert gas is replaced with CO2 gas while welding while blocking the harmful elements in the air while blowing CO2 gas into the welding part. In order to prevent high temperature oxidation of CO2 by welding CO2 gas, it is possible to obtain a good welding state by suppressing oxidation, and thus, a welding wire containing a large amount of deoxidizer such as Si, T, and Al is used.

Such a CO2 welding apparatus is welded using a welding robot 1 having a torch 1a having a welding wire at an end to weld the vehicle body S carried on a trolley as shown in FIG. 1.

In addition, the positioning device (2) equipped with a limit switch rotates the welding robot (1) so that the return to the correct position when the welding robot (1) on the transfer line for the transfer of the truck on which the vehicle (S) is mounted. It will be installed within a radius.

However, such a welding robot 1 is sequentially welded to a plurality of welding points along the shape of the transferred vehicle body S. At this time, if the length of the welding wire becomes irregular, the welding operation for the first welding point is performed. The wire fragment remaining without the welding wire is completely melted adheres to the welding portion of the vehicle body S, and thus, the completion of the welding operation causes the inconvenience of removing the fragment of the welding wire stuck to the vehicle body S through the grinding operation.

In addition, the welding robot 1 should be welded in a state in which it is accurately positioned at the welding point of the vehicle body S during operation, but when welding is performed, welding defects occur due to the working conditions of the assembly line. For example, due to instability of the current supplied to the welding robot 1, the teaching point of the welding point is changed due to fusion during welding, or according to multiple models during the welding operation of the welding robot 1 There is a problem that the torch 1a causes a change in position of the torch 1a due to a collision with the vehicle body S due to a bad seating of the vehicle body S, thereby generating a welding defect.

If the welding point of the welding robot 1 changes according to such an unstable current supply or contact with the vehicle body S, the origin is adjusted directly at the welding point of the welding robot 1 while the operator stops the assembly line. In addition, in the case of a vehicle model in which the welding points of the vehicle body S are different from each other, there is a disadvantage that the entire welding section must be reset for each vehicle model.

Accordingly, the assembly line is stopped for a long time until the operator completes the adjustment of the welding robot 1, there is a disadvantage that the productivity is reduced.

Therefore, the present invention has been invented in view of the above-mentioned point, and when the welding point position of the welding robot changes, the initial home position of the welding point of the vehicle body is automatically reset by the return operation of the welding robot, as well as the need for welding wire. Its purpose is to automatically supply the length to prevent welding failure by the welding wire.

The present invention for achieving the above object is a welding robot for sequentially welding along the welding point of the vehicle body carried on the trolley, and a positioning device installed within the rotation radius of the welding robot to restrain the coordination position; A position setting means for optimally cutting the origin position and the length of the welding wire with respect to the welding point of the welding robot, the position setting means being mounted on the positioning device and cutting the welding wire to an optimum length; It is characterized by consisting of a guider for guiding the welding wire toward the cutter to hold the torch of the welding robot to the initial welding point position of the vehicle body.

1 is a configuration diagram of a carbon dioxide (CO2) welding system according to the prior art

2 is a configuration of the carbon dioxide (CO2) welding system according to the present invention

3 is a configuration of the welding point position automatic adjustment device according to the invention

4 and 5 is an operating state diagram of the cutter according to the present invention

<Description of the symbols for the main parts of the drawings>

1: Welding Robot 1a: Torch

2: positioning device

10: position adjusting means 20: cutter

21: case 21a: support end

21b: fixed end 21c, 22 ': chamber

22,32 housing 23 positioner

23a: wire hole 23b: moving slot

24: cutting plate 24a: protruding flange

24b: cutting blade 25: restraint pin

25a: extended end 26: spring

27,31: Cylinder 27a, 31a, 34: Rod

30: guider 33: jig

33 ': inflow hole 33a: inflow surface

33b: contact surface 33c: restraint surface

35: hinge pin

S: Body W: Welding Wire

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

Figure 2 shows the configuration of the carbon dioxide gas (CO2) welding system according to the present invention, the present invention welding wire (W) at the end to sequentially weld along the welding point of the vehicle body (S) transported on the bogie Welding robot (1) to the positioning device (2) installed within the rotation radius of the welding robot (1) to control the return position of the welding robot (1) with the torch (1a) having a Positioning means 10 for optimally cutting the origin position and the length of the welding wire (W) for the welding point of the) is provided, this position adjusting means 10 is mounted to the positioning device (2) to weld The cutter 20 for cutting the wire W to an optimum length, and the torch 1a of the welding robot 1 while guiding the welding wire W toward the cutter 20, the initial welding point position of the vehicle body S. It consists of a guider 30 to hold.

Here, the cutter 20 has a chamber 21c which is a rectangular empty space therein by the support end 21a formed at one side and the fixed end 21b formed at the opposite side while being fixed to the positioning device 2. The case 21 is formed, and is provided as one side of the case 21 is made of an operation member for cutting the welding wire (W).

In this case, the operation member is coupled to the fixed end 21b of the case 21 to occupy a part of the chamber 21c, and a chamber 22 'which is an inner space of the housing 22. Positioner 23 for holding the position of the welding wire (W) flowing into the chamber (21c) space of the case 21 while being received as, the cutting to move the welding wire (W) while lowering the positioner (23) Plate 24, restraining means for limiting the movement interval of the positioner 23 and the cutting plate 24 and the cylinder 27 for moving the cutting plate 24 before and after the operation signal.

Here, as shown in FIG. 4, the positioner 23 has a maximum position at which a wire hole 23a is formed to be inserted to fix a position by inserting a welding wire W on one side thereof, and the restraining means moves to the opposite side. On the other hand, the movable slot 23b opened to the upper surface portion is formed to be restricted, while the cutting plate 24 is inclined to cut the welding wire W at one side thereof, and a cutting edge 24b having a sharply formed end is formed. On the opposite side, a protruding flange 24b protruding from the restraining means and the rod 27a of the cylinder 27 is formed.

In addition, the support end 21a of the case 21 bends the upper end portion so that the guider 30 holding the torch 1a position of the welding robot 1 can be placed, and the fixed end 21b is provided. Of course, the restraining means is formed to be relatively lower than the support end 21a so that the height coincides with the height of the support end 21a.

The restraining means includes a restraining pin 25 having one end fixed and coupled to the protruding flange 24b of the cutting plate 24, the other end of which is positioned as a movement slot 23b of the positioner 23, and the positioner ( 23 is provided between the protruding flange (24b) of the cutting plate 24 is made of a spring 26 having an elastic force that is compressed and restored by the positioner 23 and the cutting plate 24, the restraining pin (25) ) Is formed with an extended end 25a so as to form a T-shape so as not to be separated in the moving slot 23b of the positioner 23.

In addition, the cylinder 27 may be operated by the operator's operation, but it is more preferable to operate through the control signal of the controller for controlling the welding robot (1).

Meanwhile, the guider 30 includes a cylinder 31 mounted on the case 21 of the cutter 20 and a rod 34 coupled to the rod 31a of the cylinder 31 via a hinge pin 35. It is made of a housing 32 formed in the) and the jig 33 coupled to the housing 32 to hold the position of the torch 1a.

Here, the jig 33 is formed with an inlet hole 33 ′ for holding the position of the welding spot where the torch 1 a of the welding robot 1 is introduced, and the inlet hole 33 ′ is the torch ( On the inflow surface 33a which is wide open for easy insertion of 1a) and the in contact surface 33b formed in a straight section so that the torch 1a is in close contact with the inflow surface 33a so as not to be shaken, and this contact surface 33b. Subsequently, a restraining surface 33c narrowed inward to limit downward movement of the inserted torch 1a is formed.

In addition, although the cylinder 31 may be operated by an operator's operation, it is more preferable that the cylinder 31 is operated through a control signal of a controller that controls the welding robot 1.

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

According to the present invention, a teaching point of a welding point is changed due to welding failure due to a welding defect along an irregular length of the welding wire W and an instability of a current supplied to the welding robot 1, or If the torch 1a causes a change in the position of the torch 1a due to a collision with the vehicle body S due to the failure of the vehicle body S according to the multiple models during the welding operation of the welding robot 1, and generates a welding failure When the welding robot 1 returns to the positioning device 2, the welding robot 1 adjusts the length of the welding wire W through the positioning means 10 of the positioning device 2. The position of the welding point is always readjusted to the initial setting value so that the initial set point value is accurately obtained.

This process is performed when the welding robot 1 returns to the positioning device 2 to move to the home position setting position, as shown in FIG. 3, the position adjusting means 10 mounted on the positioning device 2. The guider 30 of) is operated, that is, the cylinder 31 of the guider 30 is positioned toward the case 21 of the cutter 20 via the hinge pin 35 by the control of the controller. The torch 1a of the welding robot 1 is inserted into the jig 33 of the guider 30 to precisely adjust the welding position of the torch 1a.

That is, when the torch 1a is positioned as the contact surface 33b which forms a straight section through the inflow surface 33a formed at the tip of the inflow hole 33 'of the jig 33, the contact surface of the jig 33 is By 33b, the change value with respect to the origin of the torch 1a is forcibly reset to the initial origin value, which is a position where the position of the jig 33 holds the initial welding point of the welding robot 1. Of course, the position is determined to determine.

In addition, the welding wire W is introduced into the chamber 21c in the case 21 of the cutter 20 through the jig 33 while the torch 1a is inserted into the jig 33. When the welding wire W is inserted through the wire hole 23a formed in the positioner 23 of the operation member protruding toward the chamber 21c provided on one side of the case 21, the cylinder 27 receives the control signal from the controller. ), The rod 27a is operated to move the cutting plate 24 positioned on the lower surface of the positioner 23 toward the welding wire (W).

Subsequently, when the cutting plate 24 is moved toward the welding wire W, the restraining pin 25 of the restraining means compresses the spring 26 and the moving slot 23b of the positioner 23 together with the cutting plate 24. Moved toward the end and accordingly, the cutting blade 24b of the cutting plate 24 cuts the welding wire W as shown in FIG. 5.

At this time, the length of the welding wire (W) exposed from the end of the torch (1a) is the optimum length of the welding wire that does not leave a wire chip at the welding portion during welding, which is manipulated at the end of the contact surface 33b of the jig 33 Of course, the positioner 23 of the member is pre-set at intervals up to the thickness.

Subsequently, when the cutting plate 24 of the operation member cuts the welding wire W, the pressing force of the cylinder 27 is released to compress the spring 26 between the cutting plate 24 and the positioner 23. The cutting plate 24 is retracted by the restoring elastic force of the cutting plate 24. At this time, the extension end 25a of the restraint pin 25 is stopped by the wall of the movable slot 23b of the positioner 23 and returned to the initial position. .

On the other hand, when the torch 1a of the welding robot 1 moves away from the jig 33 of the guider 30 and moves toward the vehicle body S, the cylinder 31 of the guider 30 is returned by the controller. That is, as shown in FIG. 3, the case 32 coupled to the rod 31a of the cylinder 31 is vertically erected.

As described above, according to the present invention, the position setting means for optimally cutting the origin position and the length of the welding wire to the welding point of the welding robot in the positioning device installed within the rotation radius of the welding robot to restrain the coordination position. The welding wire is always adjusted to the optimum length, and the welding point change of the welding point is automatically corrected due to the change of the welding point due to the instability of the current supplied to the welding robot and the collision with the vehicle body. There is an effect that the defect is prevented.

Claims (7)

The return position of the welding robot 1 equipped with the torch 1a having the welding wire W at the end to be welded sequentially along the welding point of the vehicle body S carried on the bogie is controlled by the limit switch. Position adjusting means for optimally cutting the origin position and the length of the welding wire (W) to the welding point of the welding robot 1 in the positioning device (2) installed within the rotation radius of the welding robot (1) so that 10) is provided, the positioning means 10 is mounted to the positioning device (2) cutter 20 for cutting the welding wire (W) to the optimum length, and the welding wire (W) toward the cutter (20) The welding point position automatic adjustment device of the welding robot which consists of the guider 30 which guides the torch 1a of the welding robot 1 to the initial welding point position of the vehicle body S while guiding). The chamber of claim 1, wherein the cutter (20) is a rectangular empty space therein by the support end (21a) formed on one side and the fixed end (21b) formed on the opposite side while being fixed to the positioning device (2). A welding point position automatic control device for a welding robot, comprising a case 21 having a 21c formed thereon and an operation member provided on one side of the case 21 to cut the welding wire W. The chamber according to claim 2, wherein the operation member is coupled to the fixed end (21b) of the case (21) and occupies a part of the space of the chamber (21c), and the chamber is an internal space of the housing (22). Positioner (23) for receiving the position of the welding wire (W) introduced into the chamber (21c) space of the case 21 while being received by the 22 (22 '), the welding wire (W) is moved from the lower portion of the positioner (23) A cutting plate 24 for cutting the cutting plate 24, restraining means for limiting the movement interval of the positioner 23 and the cutting plate 24, and a cylinder 27 for moving the cutting plate 24 before and after the operation signal. Welding point position automatic adjustment device of the welding robot, characterized in that made. The upper surface of the positioner 23 is formed so as to limit the maximum position at which the wire hole 23a is opened so that the welding wire W is inserted into one side to fix the position, and the restraining means is moved to the opposite side. While the movable slot 23b opened to the site is formed, the cutting plate 24 is inclined to cut the welding wire W on one side to form a cutting edge 24b having a sharply formed end and restrained to the opposite side. Protruding flange (24b) protruding so that the rod and the rod (27a) of the cylinder (27) is formed, the welding point position automatic adjustment device of the welding robot. According to claim 3, wherein the restraining means and the restraining pin (25) which is positioned at the one end is fixed to the protruding flange (24b) of the cutting plate 24, the other end to the movement slot (23b) of the positioner (23); The spring 26 is provided between the positioner 23 and the protruding flange 24b of the cutting plate 24 and has a spring force 26 that is compressed and restored by the positioner 23 and the cutting plate 24. Constraints pin 25 is the welding point position automatic adjustment device of the welding robot, characterized in that the expansion end (25a) is formed so as not to be separated in the moving slot (23b) of the positioner 23 to form a tea (T) shape. The method of claim 1, wherein the guider 30 is coupled to the cylinder 31 mounted on the case 21 of the cutter 20, and the hinge pin 35 to the rod 31a of the cylinder (31). A welding point position automatic control device for a welding robot, comprising a housing (32) formed in the rod (34) and a jig (33) coupled to the housing (32) to hold the position of the torch (1a). According to claim 6, The jig (33) is formed with an inlet hole (33 ') for holding the position of the welding spot is set to the torch (1a) of the welding robot 1, this inlet hole (33') Is an inflow surface 33a which is widely opened to facilitate the insertion of the torch 1a, and an intimate surface 33b formed in a straight section so as to be in close contact with the inflow surface 33a so that the torch 1a is not in close contact with the inflow surface 33a. A welding point position automatic adjustment device for a welding robot, characterized in that a restraining surface (33c) narrowed inward is formed to restrict downward movement of the torch (1a) inserted following (33b).