KR20060057676A - A device about gantry robot system of keystone plate arc welding - Google Patents

A device about gantry robot system of keystone plate arc welding Download PDF

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KR20060057676A
KR20060057676A KR1020040096657A KR20040096657A KR20060057676A KR 20060057676 A KR20060057676 A KR 20060057676A KR 1020040096657 A KR1020040096657 A KR 1020040096657A KR 20040096657 A KR20040096657 A KR 20040096657A KR 20060057676 A KR20060057676 A KR 20060057676A
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welding
robot
gantry
compression
gantry robot
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KR1020040096657A
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Korean (ko)
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KR100900872B1 (en
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박정용
조대하
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현대중공업 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/30—Features relating to electrodes
    • B23K11/31—Electrode holders and actuating devices therefor
    • B23K11/314—Spot welding guns, e.g. mounted on robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K11/00—Resistance welding; Severing by resistance heating
    • B23K11/36—Auxiliary equipment
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0282—Carriages forming part of a welding unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0294—Transport carriages or vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/124—Circuits or methods for feeding welding wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S29/00—Metal working
    • Y10S29/013—Method or apparatus with electric heating

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Plasma & Fusion (AREA)
  • Manipulator (AREA)

Abstract

본 발명은 철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치에 관한 것이며; 그 목적은 갠트리로봇에 용접부재를 용접하는 용접수단과 용접부재의 폭 방향 전체를 가압할 수 있는 압축수단을 구비하여 용접부재의 전체 가압에 의한 용접 생산성 및 제품의 품질이 향상되고, 자동 위치보정 기능에 의해 용접품질을 안정화 할 수 있는 철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치를 제공함에 있다. The present invention relates to a gantry robot device for keystone plate arc welding of a railway vehicle; The purpose is to include a welding means for welding the welding member to the gantry robot and a compression means capable of pressing the entire width direction of the welding member to improve the welding productivity and product quality by the total pressure of the welding member, automatic position correction To provide a gantry robotic device for keystone plate arc welding of railroad cars that can stabilize welding quality by its function.

상기 목적달성을 위한 본 발명은 용접부재 양측으로 설치되어 레일(13)을 따라 이동되는 수직부재(11)와, 상기 수직부재(11)를 연결해주고 용접수단(20)이 설치되는 거더(12)로 구성된 갠트리로봇에 있어서, 상기 갠트리로봇(10)의 전방으로 돌출되도록 거더(12)의 상부에 연결블록(26)이 설치되고, 이 연결블록(26)에 수직방향으로 설치되고 단부에 용접토치(23)를 구비하여 용접부재를 스폿 아크 용접해주는 다수의 다관절로봇(21)을 구비한 용접수단(20)과, 상기 갠트리로봇(10)의 거더(12)에 수직방향으로 높이조절이 가능한 다수의 압축장치(31)가 설치되고, 상기 압축장치(31)가 수평방향으로 연결되도록 설치되어 용접부재를 폭 방향으로 압축해주는 압축부(35)를 구비한 압축수단(30)과, 상기 갠트리로봇(10)에 설치되어 다관절로봇(21) 및 용접토치(23)가 좌표에 의한 용접위치를 이동되어 용접하도록 제어하는 로봇제어부(22)로 구성된 것을 특징으로 하는 철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치.The present invention for achieving the above object is installed on both sides of the welding member is connected to the vertical member 11 and the rail 13, the girder 12 is connected to the vertical member 11 and the welding means 20 is installed In the gantry robot consisting of, the connection block 26 is installed on the upper part of the girder 12 so as to protrude forward of the gantry robot 10, is installed perpendicular to the connection block 26 and the welding torch at the end And a welding means 20 having a plurality of articulated robots 21 for spot arc welding the welding member with 23, and height adjustable vertically to the girder 12 of the gantry robot 10. Compression means (30) having a plurality of compression devices (31) are installed, the compression device (31) is installed so that the compression device (31) is connected in the horizontal direction and compresses the welding member in the width direction, and the gantry Installed in the robot 10, the articulated robot 21 and the welding torch 23 depend on the coordinates. Gantry robots for keystone plate arc welding of the rolling stock, characterized in that configured in the robot controlling section 22 for controlling to move the welding is a welding position.

갠트리로봇, 다관절로봇, 키스톤플레이트, 스폿 아크용접, 압축수단Gantry robot, articulated robot, keystone plate, spot arc welding, compression means

Description

철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치{A device about gantry robot system of keystone plate arc welding} A gantry robot system of keystone plate arc welding for railway vehicles             

도 1 은 본 발명의 상세한 구조를 나타낸 정면도,1 is a front view showing a detailed structure of the present invention,

도 2 은 도 1 의 A 부분의 상세도,FIG. 2 is a detailed view of portion A of FIG. 1;

도 3 는 본 발명의 상세한 구조를 나타낸 평면도,3 is a plan view showing a detailed structure of the present invention,

도 4 는 본 발명의 상세한 구조를 나타낸 측면도,4 is a side view showing a detailed structure of the present invention;

도 5 은 본 발명의 전체적인 작업상태를 나타낸 평면도5 is a plan view showing the overall working state of the present invention

도 6 는 본 발명의 전체적인 작업상태를 나타낸 측면도Figure 6 is a side view showing the overall working state of the present invention

도 7 은 본 발명의 용접토치가 소재변형에 따라 자동으로 대응되는 것을 나타낸 예시도,7 is an exemplary view showing that the welding torch of the present invention automatically corresponds to the deformation of the material,

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

(10) : 갠트리로봇 (11) : 수직부재(10): gantry robot (11): vertical member

(12) : 거더 (13) : 레일12: girder 13: rail

(20) : 용접수단 (21) : 다관절로봇(20): welding means (21): articulated robot

(22) : 로봇제어부 (23) : 용접토치(22): robot control unit (23): welding torch

(24) : 와이어커터 (25) : 와이어공급장치 (24): wire cutter (25): wire feeder                 

(26) : 연결블록 (27) : 로봇제어기(26): connection block (27): robot controller

(30) : 압축수단 (31) : 압축장치(30): compression means (31): compression device

(32) : 실린더 (33) : 가이드바 (32): cylinder 33: guide bar

(34) : 압축판 (35) : 압축부(34): compression plate 35: compression

(36) : 누름판 (37) : 결합블록(36): pressing plate (37): coupling block

(100) : 키스톤플레이트
(100): Keystone plate

본 발명은 철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치에 관한 것으로, 보다 상세하게는 갠트리로봇에 용접토치를 구비한 다관절로봇과, 용접부재를 압축해주는 압축수단을 탑재하여 철도차량의 키스톤플레이트를 스폿 아크용접 하되, 상기 압축수단이 키스톤플레이트의 폭 방향 전체를 가압해줌으로써 용접시 평활도 불량이 발생하지 않고 토치센싱 기능을 통해 키스톤플레이트의 길이방향과, 폭방향의 변형을 자동으로 감지하여 보상할 수 있는 철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치에 관한 것이다.
The present invention relates to a keystone plate arc welding gantry robot device of a railway vehicle, and more particularly, to a gantry robot, a multi-joint robot having a welding torch, and a compression means for compressing a welding member, and a keystone plate of a railway vehicle. Spot arc welding, but the compression means pressurizes the entire width direction of the keystone plate without compromising smoothness during welding, and automatically detects the deformation in the longitudinal direction and width direction of the keystone plate through the torch sensing The present invention relates to a keystone plate arc welding gantry robot device of a railway vehicle.

통상 갠트리로봇은 용접부재의 상방에 설치된 용접로봇을 이동하여 자동으로 용접작업을 능률적으로 수행하는 산업용 로봇을 말한다. 이러한 갠트리로봇에는 용 접로봇이 2개 설치되며, 이 용접로봇은 하측에 놓여진 용접부재에 대한 용접선을 따라 용접하기 위해 상하 이동하거나 갠트리 로봇과 함께 종횡 이동하여 작업명령에 대응하는 용접작업을 수행하게 된다.
In general, the gantry robot refers to an industrial robot that automatically performs a welding operation efficiently by moving a welding robot installed above the welding member. Two gantry robots are installed in the gantry robot, and the welding robot moves up and down to weld along the welding line for the welding member placed on the lower side or vertically and horizontally with the gantry robot to perform welding work corresponding to the work order. do.

이러한 갠트리로봇을 이용하여 철도차량에 설치되는 키스톤플레이트를 스폿 아크 용접할 경우, 종래에는 상기 갠트리로봇에 롤러가 설치되어 상기 키스톤플레이트를 눌러준 상태에서 갠트리로봇의 이동에 따라 롤러가 이동된다. 이때 용접로봇은 롤러를 따라 용접부재를 용접하게 된다.In the case of spot arc welding of a keystone plate installed in a railroad vehicle using such a gantry robot, a roller is conventionally installed in the gantry robot and the roller is moved in accordance with the movement of the gantry robot while pressing the keystone plate. At this time, the welding robot welds the welding member along the roller.

그러나 상기의 갠트리로봇은 수직이나 수평의 직교축으로 이동하도록 구성되어 있어 용접시에 생산성이 저하되고, 롤러를 통해 개별 포인트만을 가압한 후 용접하게 되므로 용접생산성이 매우 낮고, 키스톤플레이트의 평활도의 불량이 많이 발생하게 된다.However, since the gantry robot is configured to move on a vertical or horizontal orthogonal axis, productivity decreases during welding, and welding is performed after pressing only individual points through a roller, so welding productivity is very low, and the smoothness of the keystone plate is poor. This will happen a lot.

또한 스틱아웃(stick-out) 유지가 되지 않아 용접아크가 불안정하게 됨에 따라 용접 스패터(spatter)가 증가되어 용접품질이 저하되는 문제점이 있다.In addition, as the welding arc becomes unstable because the stick-out is not maintained, the welding spatter is increased to reduce the welding quality.

또한 제품의 티칭시간이 길어 작업시간이 길어지며, 제품의 위치보정이 불가능하여 용접품질저하가 발생되는 문제점이 있다.
In addition, the teaching time of the product is long, the working time is long, there is a problem that the quality of the welding is not possible due to the position correction of the product.

본 발명은 상기와 같은 종래의 문제점을 해결하기 위하여 창출되는 것으로, 갠트리로봇에 용접부재를 용접하는 용접수단과 용접부재의 폭 방향 전체를 가압할 수 있는 압축수단을 구비하여 용접부재의 전체 가압에 의한 용접 생산성 및 제품의 품질이 향상되고, 자동 위치보정 기능에 의해 용접품질을 안정화 할 수 있는 철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치를 제공함을 목적으로 한다.
The present invention is created in order to solve the above conventional problems, and provided with a welding means for welding the welding member to the gantry robot and a compression means capable of pressing the entire width direction of the welding member to the overall pressure of the welding member. The purpose of the present invention is to provide a gantry robotic device for keystone plate arc welding of a railway vehicle that can improve welding productivity and product quality and stabilize welding quality by an automatic position correction function.

상기 목적을 달성하기 위한 본 발명은 용접부재 양측으로 설치되어 레일을 따라 이동되는 수직부재와, 상기 수직부재를 연결해주고 용접수단이 설치되는 거더로 구성된 갠트리로봇 장치에 있어서, 상기 갠트리로봇의 전방으로 돌출되도록 거더의 상부에 연결블록이 설치되고, 이 연결블록에 수직방향으로 설치되고 단부에 용접토치를 구비하여 용접부재의 스폿 아크 용접위치로 이동 되도록 하는 다관절로봇을 구비한 용접수단과, 상기 갠트리로봇의 거더에 수직방향으로 높이조절이 가능하도록 다수의 압축장치가 설치되고, 상기 압축장치를 수평방향으로 연결해주며 용접부재를 폭 방향으로 압축해주는 압축부를 구비한 압축수단과, 상기 갠트리로봇에 설치되어 다관절로봇 및 용접토치의 좌표에 의한 용접위치를 제어하는 로봇제어부로 구성된 것을 특징으로 하는 철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치.
The present invention for achieving the above object is a gantry robot device comprising a vertical member which is installed on both sides of the welding member is moved along the rail and the girder connecting the vertical member and the welding means is installed, in front of the gantry robot A connecting block is installed on the upper part of the girder so as to protrude, and is provided with a joint articulated robot installed vertically to the connecting block and having a welding torch at the end to move to the spot arc welding position of the welding member; A plurality of compression devices are installed in the girder of the gantry robot to be able to adjust the height in the vertical direction, the compression means having a compression unit for connecting the compression device in the horizontal direction and compresses the welding member in the width direction, and in the gantry robot The robot control unit is installed to control the welding position by the coordinates of the articulated robot and the welding torch. Gantry robots for keystone plate arc welding of the rolling stock, characterized by.

이하, 본 발명에 대하여 구성 및 작용을 첨부도면과 연계하여 상세히 설명한다.Hereinafter, the configuration and operation of the present invention will be described in detail with reference to the accompanying drawings.

도 1 은 본 발명의 상세한 구조를 나타낸 정면도, 도 2 은 도 1 의 A 부분의 상세도, 도 3 는 본 발명의 상세한 구조를 나타낸 평면도, 도 4 는 본 발명의 상세한 구조를 나타낸 측면도로서, 키스톤플레이트(100)의 상방향에 설치되어 용접작업을 능률적으로 수행하도록 이동되는 갠트리로봇(10)과, 상기 갠트리로봇(10)에 설치되고 용접토치(23)를 구비하여 하측에 놓여진 키스톤플레이트(100)를 스폿아크 용접해주는 용접수단(20)과, 상기 갠트리로봇(10)에 설치되어 수직방향으로 이동하면서 용접수단(20)에 의한 스폿아크용접이 용이하도록 키스톤플레이트(100)를 가압해주는 압축수단(30)과, 상기 다관절로봇(10)을 구동 제어하도록 갠트리로봇(10)상에 설치된 로봇제어부(22)로 구성된다. 1 is a front view showing a detailed structure of the present invention, Figure 2 is a detailed view of the portion A of Figure 1, Figure 3 is a plan view showing a detailed structure of the present invention, Figure 4 is a side view showing a detailed structure of the present invention, The keystone plate (10) installed in the upper direction of the keystone plate 100 is moved to perform the welding operation efficiently, and the keystone plate (13) installed on the gantry robot 10 and provided with a welding torch 23 Welding means 20 for spot arc welding 100 and the gantry robot 10 is pressed to press the keystone plate 100 to facilitate spot arc welding by the welding means 20 while moving in the vertical direction Means 30 and a robot controller 22 installed on the gantry robot 10 to drive control the articulated robot 10.

상기 갠트리로봇(10)은 키스톤플레이트(100)의 양측으로 설치되어 레일(13)을 따라 이동되는 수직부재(11)와, 상기 수직부재(11)를 연결해주고 용접수단(20) 및 압축수단(30)이 설치되는 거더(12)로 구성된다.The gantry robot 10 is installed on both sides of the keystone plate 100 to connect the vertical member 11 and the vertical member 11 to be moved along the rail 13, the welding means 20 and the compression means ( 30) is composed of girders 12 are installed.

상기 용접수단(20)은 갠트리로봇(10)의 거더(12) 상부에 설치되어 갠트리로봇(10)의 전방으로 돌출된 2개의 연결블록(26)과, 상기 연결블록(26)에 설치되어 작동되고 단부에 키스톤플레이트(100)를 스폿 아크 용접할 수 있도록 용접토치(23)가 설치된 2대의 다관절로봇(21)으로 구성된다. 한편 상기 용접토치(23)는 다관절로봇의 로봇기능인 원호보간에 따라 용접와이어의 끝단과 작업부재의 표면이 항상 수평을 이루는 스틱아웃(stick-out)유지 기능을 구현하도록 하여 스폿 용접작업을 함으로써 아크가 안정되어 용접시 스패터가 감소된다.The welding means 20 is installed on the girder 12 of the gantry robot 10 and two connection blocks 26 protruding forward of the gantry robot 10, and is installed and operated on the connection block 26 And it is composed of two articulated robots 21 are provided with a welding torch 23 to enable spot arc welding of the keystone plate 100 at the end. Meanwhile, the welding torch 23 performs spot welding by implementing a stick-out holding function in which the end of the welding wire and the surface of the work member are always horizontal according to circular interpolation, which is a robot function of the articulated robot. The arc is stable and spatter is reduced during welding.

한편 상기 압축수단(30)은 갠트리로봇(10)의 거더(12)에 수직방향으로 설치되는 다수의 압축장치(31)와, 상기 압축장치(31)를 수평방향으로 연결하여 키스톤 플레이트(100)를 폭 방향으로 압축해주며 하측으로 다수의 누름판(36)을 구비한 압축부(35)로 구성된다.On the other hand, the compression means 30 is a keystone plate 100 by connecting a plurality of compression devices 31 installed in the vertical direction on the girder 12 of the gantry robot 10 and the compression device 31 in the horizontal direction Compresses in the width direction and is composed of a compression unit 35 having a plurality of pressing plates 36 in the lower side.

상기 압축장치(31)는 거더(12)에 설치되어 수직방향으로 높이조절이 가능하도록 하고 외부면에 결합블록(37)을 구비한 실린더(32)와, 상기 실린더(32)에 힌지작동 되도록 설치되어 상하로 높이가 조절되고 하부면에 상기 압축부(35)가 설치되는 압축판(34)과, 상기 실린더(32)의 양측으로 결합블록(37)에 끼워지도록 설치되되, 끝단이 압축판(34)에 연결되어 실린더(32)의 상하 이동에 따라 압축판(34)의 힌지작동을 제어하는 가이드바(33)로 구성된다.The compression device 31 is installed on the girder 12 to allow height adjustment in the vertical direction, and to install a cylinder 32 having a coupling block 37 on the outer surface and a hinge operation on the cylinder 32. The height is adjusted up and down and the compression plate 35 is installed on the lower surface and the compression plate 35 is installed to be fitted to the coupling block 37 on both sides of the cylinder 32, the end is a compression plate ( It is connected to the 34 and consists of a guide bar 33 for controlling the hinge operation of the compression plate 34 in accordance with the vertical movement of the cylinder (32).

한편 상기 로봇제어부(22)는 키스톤플레이트(100)의 스폿 용접시 다관절로봇(21)을 제어하는 2개의 로봇제어기(27)와, 스폿 용접위치에 와이어를 공급하는 와이어공급장치(25)와, 스폿 아크용접이 종료되면 와이어를 커팅해주는 와이어커터(24)를 구비하여 OLP(좌표값 입력방식)를 통해 다관절로봇(10)과 용접토치(23)를 제어한다.Meanwhile, the robot controller 22 includes two robot controllers 27 for controlling the articulated robot 21 during spot welding of the keystone plate 100, a wire supply device 25 for supplying a wire to the spot welding position, and When the spot arc welding ends, the wire cutter 24 cutting the wire controls the articulated robot 10 and the welding torch 23 through an OLP (coordinate value input method).

상기 로봇제어부는 오프라인쉬프트(off-line shift) 기능을 구비하고 있어 티칭시간이 단축되는데, 이를 보다 상세히 설명하면, 오프라인 상태에서 로봇이 기억할 때 각각의 포인트를 쉬프트 명령으로 프로그래밍 하는 방법으로 각각의 포인트마다 로봇의 위치를 기억하는 종래의 방법에 비해 티칭시간이 단축된다.
The robot control unit has an off-line shift function to shorten the teaching time, which will be described in more detail. Each point is programmed by shifting each point when the robot remembers the offline state. The teaching time is shortened compared to the conventional method of storing the position of the robot every time.

상기와 같이 구성된 본 발명의 작동상태를 설명하면 다음과 같다.Referring to the operating state of the present invention configured as described above are as follows.

도 5,6에서와 같이 지면에 설치되어 있는 레일(13)을 따라 갠트리로봇(10)이 이동되어 하부에 위치한 키스톤플레이트(100)의 용접위치에 고정되고, 상기 실린더(10)의 작용에 의해 갠트리로봇(10)에 설치되어 있는 압축수단(30)이 하부로 이동되어 상기 키스톤플레이트(100)를 압축해준다. 이때 압축수단(30)에 설치되어 있는 다수의 누름판(36)이 키스톤플레이트(100) 폭 방향으로 균일하게 압축되도록 눌러준다. 이렇게 압축수단(30)에 의해 압축된 키스톤플레이트(100)는 갠트리로봇(10)의 거더(12)에 설치된 2대의 다관절로봇(21)에 의해 키스톤플레이트(100)의 폭 방향으로 스폿 아크용접을 주게 되는데, 이는 상기 로봇제어부(22)를 통해 OLP(좌표값 입력방식)를 다관절로봇(10)에 입력함에 따라 상기 다관절로봇(10)의 단부에 설치된 용접토치(23)를 제어하여 용접하게 된다.As shown in FIGS. 5 and 6, the gantry robot 10 is moved along the rail 13 installed on the ground to be fixed at the welding position of the keystone plate 100 positioned at the lower portion thereof, and by the action of the cylinder 10. The compression means 30 installed in the gantry robot 10 is moved downward to compress the keystone plate 100. At this time, the plurality of pressing plates 36 installed on the compression means 30 are pressed to be uniformly compressed in the width direction of the keystone plate 100. The keystone plate 100 compressed by the compression means 30 is spot arc welded in the width direction of the keystone plate 100 by two articulated robots 21 installed on the girder 12 of the gantry robot 10. This is to control the welding torch 23 installed at the end of the articulated robot (10) by inputting the OLP (coordinate value input method) to the articulated robot (10) through the robot control unit 22 Weld

상기 용접토치(23)는 도7에서와 같이 토치센싱기능에 의해 키스톤플레이트(100)의 길이방향과 높이방향의 변형을 자동으로 감지하여 미리 읽혀진 좌표값에 비해 소재 위치가 틀려졌을 경우 로봇이 센싱하여 작업 위치를 자동을 바꿔주는 위치보정이 가능하다.
The welding torch 23 automatically detects the deformation in the longitudinal direction and the height direction of the keystone plate 100 by the torch sensing function as shown in FIG. 7, and the robot senses when the material position is different from the previously read coordinate value. Position correction is possible.

본 발명은 상술한 특정의 바람직한 실시예에 한정되지 아니하며, 청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자라면 누구든지 다양한 변형실시가 가능한 것은 물론이고, 그와 같은 변경은 청구범위 기재의 범위 내에 있게 된다.
The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

상기와 같은 구성 및 작용에 의해 기대할 수 있는 본 발명의 효과는, 스틱아웃 유지기능 구현에 의해 아크가 안정되어 용접스패터가 감소되고, 용접토치센싱 작용에 의해 용접부재의 길이방향과, 높이방향에 대한 변형을 자동으로 감지하여 보상해주어 용접품질이 안정되며, 용접부재의 가압시 폭 방향의 전체를 가압한 후 용접함에 따라 키스톤플레이트의 평활도가 향상되고, 로봇제어기를 2대 구비하여 OLP좌표가 입력에 따른 용접토치의 프로그래밍이 간단해지며, 티칭시간이 단축되어 생산성이 증가되는 매우 유용한 발명이다.












The effect of the present invention can be expected by the configuration and action as described above, the arc is stabilized by the stick-out holding function to reduce the welding spatter, the longitudinal direction and the height direction of the welding member by the welding torch sensing action The welding quality is stabilized by automatically detecting and compensating for the deformation. The smoothness of the keystone plate is improved by pressing and welding the whole width direction when the welding member is pressurized, and the OLP coordinates are provided with two robot controllers. It is a very useful invention that the programming of the welding torch according to the input is simplified and the teaching time is shortened and the productivity is increased.












Claims (3)

용접부재 양측으로 설치되어 레일을 따라 이동되는 수직부재와, 상기 수직부재를 연결해주고 용접수단이 설치되는 거더로 구성된 갠트리로봇 장치에 있어서, In the gantry robot device comprising a vertical member installed on both sides of the welding member and moved along the rail, and a girder connecting the vertical member and the welding means is installed, 상기 갠트리로봇의 전방으로 돌출되도록 거더의 상부에 연결블록이 설치되고, 이 연결블록에 수직방향으로 설치되고 단부에 용접토치를 구비하여 용접부재를 스폿 아크 용접해주는 다수의 다관절로봇을 구비한 용접수단과,A connection block is installed on the upper part of the girder so as to protrude forward of the gantry robot, and the welding block is provided with a plurality of articulated robots installed in the vertical direction and having a welding torch at the end to spot arc weld the welding member. Sudan, 상기 갠트리로봇의 거더에 수직방향으로 높이조절이 가능한 다수의 압축장치가 설치되고, 상기 압축장치가 수평방향으로 연결되도록 설치되어 용접부재를 폭 방향으로 압축해주는 압축부를 구비한 압축수단과,Compression means having a plurality of compression devices that can be adjusted in the vertical direction in the girder of the gantry robot is installed, the compression device is provided so that the compression device is connected in the horizontal direction and compresses the welding member in the width direction; 상기 갠트리로봇에 설치되어 다관절로봇 및 용접토치가 좌표에 의한 용접위치를 이동되어 용접하도록 제어하는 로봇제어부로 구성된 것을 특징으로 하는 철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치.The gantry robot apparatus for keystone plate arc welding of a railway vehicle, comprising a robot control unit installed on the gantry robot and configured to control the joint joint robot and the welding torch to move and weld the welding position by coordinates. 제1항에 있어서,The method of claim 1, 상기 압축장치는 거더에 설치되어 수직방향으로 높이조절이 가능하도록 하고 외부면에 결합블록을 구비한 실린더와, The compression device is installed on the girder to enable height adjustment in the vertical direction and the cylinder having a coupling block on the outer surface, 상기 실린더에 힌지작동 되도록 설치되어 상하로 높이가 조절되고 하부면에 상기 압축부가 설치되는 압축판과, A compression plate installed to hinge on the cylinder, the height of which is adjusted up and down, and the compression unit installed on a lower surface thereof; 상기 실린더의 양측으로 결합블록에 끼워지도록 설치되되, 끝단이 압축판에 연결되어 실린더의 상하 이동에 따라 압축판의 힌지작동을 제어하는 가이드바로 구성된 것을 특징으로 하는 철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치Installed on both sides of the cylinder to be fitted to the coupling block, the end is connected to the compression plate and the keystone plate arc welding gantry of the railway vehicle, characterized in that consisting of a guide bar for controlling the hinge operation of the compression plate according to the vertical movement of the cylinder Robot device 제1항에 있어서,The method of claim 1, 상기 압축부의 하부에는 용접부재가 일정한 평활도를 유지하도록 하여 가압되도록 하는 다수의 누름판이 설치된 것을 특징으로 하는 철도차량의 키스톤플레이트 아크용접용 갠트리 로봇장치The gantry robot apparatus for keystone plate arc welding of a railway vehicle, characterized in that a plurality of pressing plates are installed at the lower portion of the compression unit to press the welding member to maintain a constant smoothness.
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KR100461861B1 (en) * 2003-01-23 2004-12-18 주식회사 로템 Appratus for pressing keystone plate of railway car

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KR101379169B1 (en) * 2009-02-03 2014-03-28 현대중공업 주식회사 The wire cutter unit for movable welding robot
CN110181204A (en) * 2019-05-25 2019-08-30 招商局重工（江苏）有限公司 The station layout structure of packaged type large size flat section T row welding equipment robot
CN111421202A (en) * 2020-01-15 2020-07-17 广东艾迪特智能科技有限公司 Multi-robot collaborative material increase platform and material increase method for oversized metal component
CN111421202B (en) * 2020-01-15 2022-03-11 广东艾迪特智能科技有限公司 Multi-robot collaborative material increase platform and material increase method for oversized metal component
CN112338403A (en) * 2020-09-27 2021-02-09 中电装备青岛豪迈钢结构有限公司 Special welding set of high-efficient portable angle steel tower column foot
CN112496502A (en) * 2020-11-30 2021-03-16 芜湖双翼液压件有限公司 Double-station argon arc automatic welding equipment
CN115464296A (en) * 2022-10-12 2022-12-13 上海振华重工(集团)股份有限公司 Semi-circular arc crossbeam and assembling method thereof
CN117733463A (en) * 2024-01-22 2024-03-22 蒙阴五月树液压机械有限公司 Track beam assembly welding tool
CN117733463B (en) * 2024-01-22 2024-05-14 蒙阴五月树液压机械有限公司 Track beam assembly welding tool

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