KR20050058113A - System of welding robot - Google Patents

Abstract

The present invention relates to a robot system, and more particularly, a welding guide (10) which is remotely controlled and a traveling guide (20) mounted on the main body (11) of the welding robot (10) to be movable up and down, and the welding robot An adjuster having an input unit, a display unit, an input / output port, a microprocessor for inputting a predetermined program to the main body 11 attached to one side of the 10, and detachably connected to the main body 11 via a communication port ( 30) and the computer system 40, the plurality of arms having each servomotor can be attached and detached according to the working range to adjust the length, it is composed of multiple joints It can be used for welding or painting in narrow areas, which has the effect of preventing safety accidents.

Description

Welding Robot System {System of welding robot}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot system, and in particular, consisting of a welding robot and a traveling guide through which the welding robot moves, a regulator and a computer system, and a plurality of arms having respective servomotors are attached and detached according to a working range. The present invention relates to a system that is adjustable and can be used for welding or painting in confined spaces or narrow areas.

In general, the welding apparatus has already been developed and used in various forms according to the peripheral factors such as the shape and shape of the welded object, the joining direction and welding direction between the welded object, the characteristics of the welding operation.

However, the conventional welding apparatus welds by moving the to-be-welded object to the welding position by means of the feeder in the state where the torch is fixed, or by welding the torch to the welding position by means of the conveying device in the state where the torch is fixed. Since the structure is considerably complicated and inevitably increased, the product cost of the workpiece increases, and the welding application target is greatly limited.

In particular, such as a guide piece for installing a seal that seals a hatch cover of a ship, a welding device that has a relatively small welding space and a long welding length and suitable welding of continuous welded objects has not been developed. In this case, the worker is welding each other by hand.

Utility Model Registration Application No. 20-2003-0025849 is provided with a base consisting of a welding torch and a seating portion, which is a floor, and a column portion perpendicular to the base portion, and a main frame and a main frame which are elevated in a height direction in the column direction and in a horizontal direction. A horizontal moving part to be movable and a clamping part provided at one end of the horizontal moving part to rotatably support the welding torch, the main frame having one end screwed to the column part and the other end passing through the main frame; A lift handle coupled to an exposed end of the screw shaft and the screw shaft exposed to the outside and a lifting handle for rotating the screw shaft are provided on the screw shaft so that the rotation movement of the lifting handle is converted to the lifting movement of the main frame. It characterized in that it comprises a support for supporting rotatably Introduces welding equipment.

However, the above invention can improve the welding efficiency by allowing the position of the welding torch to be moved not only in the horizontal direction but also in the height direction while being able to properly adjust the inclination angle of the torch holder according to the shape and condition of the welding part. As the welding space is narrow, the welding length is long and the welding of the deep part that the operator cannot come and go has a problem that is practically impossible.

Accordingly, the present invention is to solve the above disadvantages and problems, the plurality of arms each having a servo motor can be attached and detached according to the working range, the length can be adjusted, it is composed of a multi-joint enclosed space or narrow It is an object of the present invention to provide a system that can be used for welding or painting a site to prevent a safety accident.

In order to achieve the above object, a welding guide that is remotely controlled and a traveling guide mounted to the main body of the welding robot so as to be movable up and down, and an input unit for inputting a predetermined program to the main body attached to one side of the welding robot, display unit And an input / output port, a microprocessor, and a regulator which is detachably connected via a communication port to the main body, wherein the welding robot has a respective servo motor having a rotating shaft therein and a plurality of links. Using a plurality of arms including a support arm that can be coupled and disassembled using each other, The main body is an input unit including an infrared sensor, the output unit including a light emitting diode (LED) is installed to control the microcomputer, and is input from the outside Predetermined operation by independently forward and reverse rotation of the plurality of servomotors according to the stored program To provide a welding robot system which comprises running.

Hereinafter, a configuration and an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

First, referring to the accompanying drawings, Figure 1 is an overall conceptual view showing the configuration of the welding robot system according to the present invention, Figure 2 is a side view showing the working state of the welding robot according to the present invention, Figure 3 Is a block diagram of the main functions for programming a welding robot system according to the present invention.

As the welding robot system of the present invention can be seen in Figure 1, the overall conceptual diagram showing the configuration, the traveling guide is mounted so that the remote control of the welding robot 10 and the main body 11 of the welding robot 10 can be moved up and down 20 and an input unit for inputting a predetermined program to the main body 11 attached to one side of the welding robot 10, a display unit, an input / output port, a microprocessor, and a communication port through the main body 11; The controller 30 and the computer system 40 are detachably connected to each other.

1 and 2, the support arm 12 and the plurality of arms 13-18 of the welding robot 10 may include respective servo motors 131, 141, 151, 161, 171, and 181 having a rotating shaft therein. And the links 131a, 141a, 151a, 161a, 171a, and 181a can be combined and disassembled with each other.

In addition, the main body 11 is installed so that the input unit including the infrared sensor, the output unit including the light emitting diode (LED) to control the microcomputer, and independently stationed the plurality of servo motors (131, 141, 151, 161, 171, 181) according to an externally input and stored program. It rotates to perform a predetermined operation.

As shown in FIG. 3, the main body 11 of the present invention includes a six-channel PWM output unit and a two-channel signal for connecting a control line of each servomotor 131-181 to a microprocessor and a memory for controlling a robot. It is mounted as a module together with an electronic circuit section such as an output section, a three channel signal input section and a serial transmission interface. The microprocessor uses an 8-bit one-chip, nonvolatile EEPROM with at least 4Kbytes of memory and a scalable configuration up to 16Kbytes. The PWM generator uses a frequency of 100 Hz. The three-channel signal input unit is for detecting an operating condition of the welding robot, and may connect an infrared sensor (not shown) for detecting a position, a light sensor for detecting darkness, and a sound sensor for detecting sound. The serial transmission interface uses RS232.

In addition, according to the present invention, a regulator having an input unit for inputting a predetermined program to the main body 11, a display unit, an input / output port, a microprocessor, etc., and detachably connected to the main body 11 via a communication port ( 30). Referring to FIG. 3, in the adjuster 30, the key input unit may use a ten key, the display unit may use an LCD panel, and the input / output port uses the same serial transmission interface as in the main body 11. Although not shown, a selector switch for selecting an operation mode may be provided.

As shown in FIG. 2, the controller 30 is connected to the main body 11 with a serial communication cable, and the command for operating each servomotor 131-181 is input using the key input unit and the selection switch while watching the LCD display unit. Information for inputting and performing commands during the adjustment is output to the LCD display, so that the user can easily determine. More specifically, the information displayed on the LCD display includes position data for each axis of the robot, speed data, condition input data, timer data, and output data.

On the other hand, instead of using the regulator 30, it is also possible to adjust by connecting the computer device to the main body 11 by serial communication, in which case it is preferable to process using a separate software. Accordingly, the function of recording and storing teaching data on a computer recording medium, transmitting and executing the stored data to the main body 11, and simultaneously displaying the welding robot's operation as a graph on the monitor also perform the welding robot's simulation function. can do.

And while the present invention has been shown and described with respect to certain preferred embodiments, it will be understood that the present invention may be variously modified and changed without departing from the spirit or scope of the invention as set forth in the claims below. Those skilled in the art can easily know that.

As described above, the plurality of arms having each servomotor can be attached and detached according to the working range, and the length can be adjusted, and it is composed of multiple joints, which can be used for welding or painting in a confined space or a narrow area. There is an effect that can be prevented.

1 is an overall conceptual view showing the configuration of a welding robot system according to the present invention.

Figure 2 is a side view showing a working state of the welding robot according to the present invention.

Figure 3 is a block diagram of the main function for programming a welding robot system according to the present invention.

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

10: welding robot 11: body

12: support arm 13: first arm

14: second arm 15: third arm

16: arm 4 17: arm 5

18: sixth arm 19: support portion

20: driving guide 30: regulator

40: Computer system 131-181: Servo motor

131a: first link 141a: second link

151a: third link 161a: fourth link

171a: fifth link 181a: sixth link

191 camera 192 welding torch

Claims (3)

The welding robot 10 to be remotely controlled and the main body 11 of the welding robot 10 is mounted to the traveling guide 20 so as to be movable up and down, and the main body 11 attached to one side of the welding robot 10 And a controller 30 and a computer system 40 having an input unit, a display unit, an input / output port, and a microprocessor for inputting a predetermined program, and which are detachably connected to the main body 11 via a communication port. Welding robot system. The welding robot 10 is equipped with a respective servo motor (131, 141, 151, 161, 171, 181) having a rotating shaft therein, using a plurality of links (131a, 141a, 151a, 161a, 171a, 181a). Welding robot system, characterized in that it comprises a support arm (12) and a plurality of arms (13-18) that can be mutually coupled and disassembled. According to claim 1, The main body 11 is installed so that the input unit including an infrared sensor, the output unit including a light emitting diode (LED) to control the microcomputer, the plurality of servo motors (131, 141, 151, 161, 171, 181 according to the externally stored program) Welding robot system, characterized in that for performing a predetermined motion by independently forward and reverse rotation.