KR20090095041A - Automatic welding system - Google Patents

Abstract

An automatic welding system is provided to reduce the operation time and to make the mass production possible if the same base material is welded. An automatic welding system comprises a position unit(100) and a welding unit(200). The position unit elevates or rotates the temporary welded base material. The welding unit is connected at one end part of the position unit to move back and forth or right and left. The welding unit welds the base material controlled by the position unit. The position unit comprises a frame(120), a rotation unit(180), a slewing gear(160) and an elevating unit. The welding unit comprises a welding robot(220), a horizontal shifter(240) and a back and forth moving unit(260).

Description

Automatic welding system {

The present invention relates to an automatic welding system.

In general, steel structures such as buckets, various beams, and steel pipes of excavators are manually welded by an operator using a welding machine.

However, a large number of welders are required to weld large-scale steel such as buckets of excavators, various beams or steel pipes, and the quality of welding work is determined according to the skill of the operator, and the entire top, bottom, left, and right sides of the bucket, beam, and steel pipe are welded. There is a problem that takes a considerable time to.

In addition, steel structures such as buckets, beams, steel pipes, etc. are heavy and long, so that welding is not easy, and when welding is wrong, a complicated and complicated correction work is required.

In addition, there is a problem in that the quality of the welding operation may be different or the welding portion may be missing depending on the state of the operator when performed by hand.

An object of the present invention, when the base material in the temporarily welded state is transferred to the work table, by rotating, turning, lifting and moving the base material through a welding robot coupled to the Y-axis and X-axis movably at the top of the frame It is to provide an automatic welding system for welding the entire surface of the base material.

Automatic welding system according to the present invention for achieving the above object, the positioner unit for constraining, rotating and elevating restrained base metal (된); And a welding unit coupled to one side of the positioner unit so as to be movable back and forth, left and right, and welding a base material restrained by the positioner unit.

According to the automatic welding system according to the present invention as described above, the welding device is coupled to the upper end of the frame, there is an advantage that can be automatic welding in a relatively narrow space. That is, the welding robot is coupled to the welding robot to move through the horizontal moving device and the front and rear moving device coupled to the upper end of the frame, so that only the installation space of the frame is secured, the automatic welding can be performed.

In addition, since the welding work of the entire surface of the base material is automatically performed as the work table on which the base material is raised is rotated, swiveled, and elevated, there is an advantage that the safety of the work is improved.

In addition, the quality of the welding work according to the skill of the operator does not change, it is always kept constant, there is an advantage that the welding work is carried out firmly.

And, when welding the same base material can be a large amount of work, there is an advantage that the working time is also shortened.

Hereinafter, a specific embodiment of the present invention will be described with reference to the drawings.

1 is a plan view schematically showing the configuration of a welding system according to the spirit of the present invention.

1, the automatic welding system according to the present invention is provided integrally with the positioner unit 100 and the positioner unit 100 to constrain, rotate and elevate the base metal welded, It comprises a welding unit 200 for welding the base material mounted on the positioner unit 100, the base material transfer device 300 for transferring the base material to be welded and the welded base material on one side of the positioner unit 100 Is further provided.

And, one side of the positioner unit 100 is further provided with a control unit 400 for controlling the operation and the operation order of the positioner unit 100 to the base material transfer device 300.

Specifically, the control unit 400 is a setting box 410 for setting the overall operation of the positioner unit 100 to the base material feeding apparatus 300 and in accordance with the order input by the setting box 410 It comprises a controller 420 for controlling the operation of the positioner unit 100 to the base material transfer device 300, and the operation box 430 for controlling the start, end, emergency stop, etc. of the controller 420. . In addition, the control unit 400 is further connected to a welding machine 450 and a wire, carbon dioxide gas (CO2 Gas) for supplying power for the welding operation to the welding unit 200.

The setting box 410 is a configuration for inputting the movement coordinates of the base material transfer device 300 and the welding unit 200 and the operation coordinates of the positioner unit 100 according to the size and type of the base material, and this setting is The operator can be set to perform each step, or all the steps can be set sequentially at a time so that the transfer and welding work of the base material from the beginning to the end automatically.

In addition, the control unit 400 may be further connected to a computer for displaying a graph of the current and voltage waveform of the welder output during welding, through which the operator can check the state of the welder 450.

On the other hand, the welding unit 200 is provided on the positioner unit 100, the welding robot 220 is composed of a multi-joint, and the horizontal movement device 240 for guiding the Y-axis movement of the welding robot 220 ), And the front and rear teeth guiding device 260 for guiding the X-axis movement of the welding robot 220 will be described in detail below.

The welding robot 220 is composed of multiple joints to enable the base material mounted on the positioner unit 100 to operate in three dimensions such as various angles, that is, a straight line and a curve. That is, a servo motor (AC-Servo motor) is provided in each of the plurality of joints, so that the welding robot 220 can be precisely moved through the control of the servo motor.

An end of the welding robot 220 is further provided with a torch 221 to perform a welding operation using carbon dioxide gas and wire. And, although not shown in the figure, an image camera is further provided above the torch 221, and may be configured to capture a welding operation in real time. In addition, by connecting the image camera installed at the end of the welding robot 22 to the computer can be configured to check the welding state in real time or to store the working image.

Meanwhile, the welding robot 220 is coupled to the upper side of the positioner unit 100 by the horizontal moving device 240 and the front and rear moving device 260. That is, the positioner unit 100 forms an overall appearance, and rotates the frame 120 to which the welding robot 220 is movably coupled in the horizontal direction and the front and rear directions, and the work table 190 on which the base material is placed. The rotating device, including the rotating device 180, the rotating device 160, and the lifting device 140 to rotate, and detailed configuration thereof will be described below.

On the other hand, one side of the frame 120 is provided with a base material transfer device 300 to which the base material to be welded is transferred or the welded base material is discharged.

The base material transfer device 300 includes a transfer plate 320 on which a base material is placed, a transfer rail 340 forming a movement path of the transfer plate 320, and the transfer plate along the transfer rail 340. It is configured to include a conveying means 360 to move the 320.

The transfer plate 320 is formed of a substantially rectangular plate having a width in which a base material such as a bucket, various beams or steel pipes can be stably supported, and along the transfer rail 340 by the transfer means 360. It serves to transfer the base material to be welded and the welded base material.

The lower side of the conveying plate 320 is provided with a conveying rail 340 for forming a movement path of the conveying plate (320). The transfer rail 340 is formed so that the transfer plate 320 is moved forward from the side (left side in FIG. 1) of the frame 120 (see black block arrow direction) as shown in the drawing or It is formed to be moved laterally from the front of the frame 120 (see block arrow direction).

That is, the transfer plate 320 on which the base material to be welded is transferred forward from the side of the frame 120, and then mounted on the work table 190 to perform a welding operation, and the base material on which the welding operation is completed is transferred. After being moved to the plate 320 is configured to be discharged to the front of the frame 120, or vice versa.

In addition, the transfer rail 340 is formed in the form of a date, the transfer plate 320 may be configured to move from the side of the frame 120 to the side, that is, from left to right, or from right to left. will be.

On the other hand, although not shown in detail, the conveying means 360 is configured to include a moving motor for generating a rotational force, and a moving motor pulley connected to the moving motor to roll the upper surface of the conveying rail 340 The operation coordinates are set to move according to the welding operation speed of the welding robot 220 by the setting box 410 described above. That is, the operator first sets the transport and discharge operation coordinates of the base material transfer apparatus 300, the operation coordinates of the welding unit 200 and the positioner unit 100, etc. by using the setting box 410, and then the The same operation is automatically and repeatedly performed by the controller 420 according to the operation coordinates set through the setting box 410.

Hereinafter, the configuration of the positioner unit 100 and the welding unit 200 will be described in detail.

Figure 2 is a perspective view showing the external appearance of the positioner unit and the welding unit of the main components of the automatic welding system according to the spirit of the present invention, Figure 3 is an exploded perspective view of FIG.

2 to 3, the welding robot 220 composed of a plurality of joints is positioned above the frame 120 so as to be movable back and forth / left and right by the front and rear movement apparatus 260 and the horizontal movement apparatus 240. Combined.

In detail, the horizontal moving device 240 is coupled to an upper end of the horizontal moving frame 250 and the horizontal moving frame 250, the horizontal moving motor for generating a rotational force coupled to one end of the horizontal moving frame 250 242 and a horizontal movement ball screw 244 rotatably coupled to the horizontal movement motor 242 and rotated by the horizontal movement motor 242 and the rotation movement of the horizontal movement ball screw 244. It is configured to include a horizontal screw nut 246 for converting a linear motion, and serves to guide the Y-axis movement (left and right direction when viewed in Figure 2) of the welding robot 220.

That is, the horizontal moving device 240 is the base material to be welded by the above-described base material transfer device 300 is transferred, when the welding robot 220 is the left end (as shown in Figure 2) when placed on the work table 190 In order to be moved to the), in addition to the role that the welding robot 220 is not damaged in the process of raising the base material on the work table 190, if the left and right length of the base material mounted on the work table 190 is long The welding robot 220 forms a path to move from side to side, so that welding of the base material with a long left and right length can be easily performed.

The horizontal frame 250 is formed of a hollow steel to support the load of the welding robot 220, is coupled to the upper end of the frame 120 using a bolt and nut, such as welding Combined in a way.

In addition, a horizontal movement motor hole 251 to which one end of the horizontal movement motor 242 is accommodated and coupled is formed at the right end of the horizontal movement frame 250, and the horizontal movement motor hole 251 has a horizontal movement. Motor 242 is coupled.

The horizontal movement motor 242 is preferably composed of a servo motor (AC-Servo motor) capable of precise speed control and position control, the horizontal movement motor hole so that the rotation axis protrudes into the horizontal movement frame 250 251 is fixed. In addition, the horizontal motor 242 is accommodated inside the horizontal motor cover 243, it is configured not to be exposed to the outside.

The rotation shaft of the horizontal motor 242 is further provided with a reducer and a coupler, the horizontal ball screw 244 is coupled by the coupler. The horizontal moving ball screw 244 is formed of an iron rod having a predetermined length having a thread (gear) formed on the outer peripheral surface. In addition, horizontal moving support bearings 245 are further provided at both ends of the horizontal moving ball screw 244, and are fixed to the inside of the horizontal moving frame 250 so as to be rotatable by the horizontal moving support bearing 245. .

On the other hand, the outer circumferential surface of the horizontal moving ball screw 244 is further provided with a horizontal moving screw nut 246. An inner circumferential surface of the horizontal movable screw nut 246 is formed with a thread (gear) having a shape corresponding to a thread formed on an outer circumferential surface of the horizontal movable ball screw 244, thereby linearly rotating the horizontal movable ball screw 244. Convert to exercise That is, when the horizontal moving ball screw 244 is rotated in the clockwise or counterclockwise direction, the horizontal moving screw nut 246 is relatively linearly moved in the right or left direction.

In addition, the horizontal movement screw nut 246 is further coupled to the front and rear movement plate 248 to which the front and rear movement apparatus 260 is coupled, and the welding robot 220 coupled to the front and rear movement apparatus 260 is left and right. It becomes movable.

Meanwhile, horizontally moving rails 252 for guiding Y-axis movement (movement in left and right directions when viewed in FIG. 2) of the front and rear movement apparatus 260 are provided at the front and upper ends of the horizontal frame 250. The horizontal movable rail 252 is further provided with a horizontal movable rail guide 249 coupled to the front and rear movement apparatus 260, so that the front and rear movement apparatus 260 is slidably moved in the Y-axis direction.

The front of the horizontal frame 250 is further provided with a horizontal frame frame 255 having a horizontal movable bellows cover 253, the inside of the horizontal frame 250 is shielded, the horizontal The movable bellows cover 253 is formed with wrinkles, so that the inside of the horizontal frame 250 is not exposed even when the front and rear movement device 260 is moved in the left and right directions (as shown in FIG. 2).

On the other hand, the front and rear movement plate 248 is coupled to the front and rear movement device 260. The front and rear movement apparatus 260 is coupled to one end of the front and rear movement frame 270 and the front and rear movement frame 270, and the front and rear movement motor 262 to generate a rotational force and Rotational movement of the front and rear movement ball screw 264 and the front and rear movement ball screw 264 rotatably coupled to the front and rear movement motor 262 and rotated by the front and rear movement motor 262 are linear movements. It is configured to include a front and rear movement screw nut 266 to convert, and serves to guide the X-axis movement (front and rear direction when viewed in Figure 2) of the welding robot 220.

That is, the front and rear movement device 260 serves to facilitate the front and rear welding of the base material by moving the welding robot 220 in the front and rear direction of the base material mounted on the work table 190. .

In detail, the front and rear movement frame 270 is formed of a hollow steel to support the load of the welding robot 220, and is coupled to the front and rear movement plate 248 using bolts and nuts. .

In addition, a front and rear movement motor hole (not shown) to which the front and rear movement motor 262 is coupled is formed at the rear end of the front and rear movement frame 270, and the front and rear movement motor (not shown) is formed in the front and rear movement motor hole (not shown). 262 is combined.

The front and rear movement motor 262 is preferably composed of a servo motor (AC-Servo motor) capable of precise speed control and position control, the front and rear movement motor hole so that the rotating shaft protrudes inside the front and rear movement frame 270. It is fixed to (not shown). In addition, the front and rear movement motor 262 is accommodated inside the front and rear movement motor cover (not shown), and is configured not to be exposed to the outside.

The rotation shaft of the front and rear movement motor 262 is further provided with a reducer and a coupler, the front and rear movement ball screw 264 is coupled by the coupler. The front and rear movement ball screw 264 is formed of an iron rod having a predetermined length having a thread (gear) formed on an outer circumferential surface thereof. Further, both ends of the front and rear movement ball screw 264 are further provided with a front and rear movement support bearing 265, and fixed to the inside of the horizontal frame 250 so as to be rotatable by the front and rear movement support bearing 265. .

On the other hand, the front and rear movement screw nut 266 is further provided on the outer circumferential surface of the front and rear movement ball screw 264. A thread (gear) having a shape corresponding to the thread formed on the outer circumferential surface of the back and forth ball screw 264 is formed on the inner circumferential surface of the back and forth screw nut 266 to straighten the rotational movement of the back and forth ball screw 264. Convert to exercise That is, when the front and rear movement ball screw 264 is rotated in the clockwise or counterclockwise direction, the horizontal screw nut 246 is relatively linearly moved backward or forward.

In addition, the robot screw plate 268 to which the welding robot 220 is coupled is further coupled to the front and rear movement screw nut 266, so that the welding robot 220 is movable in the front and rear direction.

On the other hand, the left and right ends of the front and rear movement frame 270 is provided with a front and rear movement rail 272 for guiding the X-axis movement (moving forward and backward as seen in Figure 2) of the welding robot 220. The front and rear movement rail 272 is further provided with a front and rear movement rail guide 269 coupled to the robot coupling plate 268, so that the welding robot 220 is slidably moved in the X-axis direction.

The lower and lower surfaces of the front and rear frame 270 is further provided with a front and rear frame frame 275 provided with a front and rear movable bellows cover (not shown), and configured to shield the inside of the front and rear frame 270. The front and rear movement bellows cover (not shown) is formed with wrinkles so that the inside of the front and rear movement frame 270 is not exposed even when the welding robot 220 is moved in the front and rear direction (as shown in FIG. 2).

On the other hand, the welding unit 200 is coupled to the positioner unit 100, that is, the frame 120 for rotating, turning, lifting and lowering the temporary welded base material. The positioner unit 100 forms an overall skeleton, the frame 120 for supporting the welding unit 200 and the base material, and the work table 190 on which the base material is placed on the Z axis (up and down direction of the frame). It includes a rotating device for rotating 180, a turning device 160 for rotating the work table 190 with respect to the X-axis, and a lifting device 140 for moving the work table 190 in the Z-axis direction. .

In detail, the frame 120 is formed in a cross-section approximately "c" shape, the elevating frame 121 is accommodated inside the elevating device 140, coupled to the lower end of the elevating frame 121, It includes a support frame 127 for supporting the positioner unit 100 and the welding unit 200, it is made of a steel material to enable a stable support of the positioner unit 100 and the welding unit 200.

The support frame 127 is formed in a substantially "H" shape when viewed from the top surface, and is fixed by the support means such as anchor bolts embedded in the ground, to stably position the positioner unit 100 and the welding unit 200 I support it.

On the other hand, the lifting frame 121 is provided with a lifting device 140. The elevating device 140 is a lifting motor 142 for generating a rotational force, the lifting ball screw 144, which is axially coupled with the lifting motor 142 and rotates, the linear movement of the lifting ball screw 144 It is configured to include a lifting screw nut 146 for converting the movement, and serves to move the base material mounted on the work table 190 in the Z-axis direction (up and down direction when viewed in FIG. 2).

In detail, a lifting motor hole (not shown) to which the lifting motor 142 is coupled is drilled at an upper end of the lifting frame 121, and the lifting motor 142 is formed at the lifting motor hole (not shown). Combined. In addition, the lifting motor 142 is accommodated inside the lifting motor cover 143 and is configured not to be exposed to the outside.

The lifting motor 142 is composed of a servo motor (AC-Servo motor) is preferably configured to enable precise speed control and position control, the reduction shaft and the coupler is further provided on the rotating shaft of the lifting motor 142, The lifting ball screw 144 is coupled.

The elevating ball screw 144 is formed of an iron rod having a predetermined length having a thread (gear) formed on the outer circumferential surface, and elevating support bearings 145 are further provided at both ends of the elevating ball screw 144. It is fixed inside the lifting frame 121 so as to be rotatable by the rotational force of the motor 142.

On the other hand, the lifting screw nut 146 is further provided on the outer circumferential surface of the lifting ball screw 144. An inner circumferential surface of the elevating screw nut 146 is formed with a thread (gear) having a shape corresponding to a thread formed on an outer circumferential surface of the elevating ball screw 144, thereby converting the rotational movement of the elevating ball screw 144 into a linear motion. do. That is, when the elevating ball screw 144 is rotated in the clockwise or counterclockwise direction, the elevating screw nut 146 linearly moves upward or downward relatively.

In addition, the lifting screw nut 146 is further coupled to the rear frame 170 of the turning device 160, the base material mounted on the worktable 190 is movable up and down.

On the other hand, the front left and right ends of the elevating frame 120 is provided with a lifting rail 122 for guiding the worktable 190 Z-axis movement (up and down direction when viewed in Figure 2). The elevating rail 122 is further provided with an elevating rail guide 172 coupled to the rear frame 170, the worktable 190 is configured to smoothly slide in the Z-axis direction.

In addition, a lifting bellows cover 123 is further provided on a front surface of the lifting frame 120, and the inside of the lifting frame 120 is shielded, and the lifting bellows cover 123 is formed with wrinkles. In addition, even if the work table 190 is moved up and down (as shown in FIG. 2), the inside of the lifting frame 120 is configured not to be exposed.

Meanwhile, the pivoting device 160 is coupled to the rear frame 170. The turning device 160 is coupled to one side of the rear frame 170, the turning motor 162 for generating a rotational force, the turning motor gear 164 rotatably coupled to the rotation shaft of the turning motor 162. And a swing gear 166 which is rotated by being geared with the swing motor gear 164 and rotates the work table 190 about the X axis.

In detail, the rear frame 170 is formed with a swing motor fixing hole 171 to which the swing motor 162 is fixed, and the swing motor 162 is coupled to the swing motor fixing hole 171. The swing motor 162 is preferably composed of a servo motor (AC-Servo motor) capable of precise speed control and position control, the swing motor 162 is accommodated inside the swing motor cover 163 to the outside It is configured not to be exposed to.

In addition, a reduction gear is further provided on the rotation shaft of the swing motor 162, and the rotation motor gear 164 is rotatably coupled to the rotation shaft of the swing motor 162 by the reduction gear. The swing motor gear 164 is formed on the outer circumferential surface, and is mounted to rotate in the same direction as the rotation axis of the swing motor 162.

One side of the swing motor gear 164 is provided with a swing gear 166. The swing gear 166 is gear-coupled with the swing motor gear 164 to be rotatable in a direction opposite to the swing motor gear 164. In detail, a gear having a shape corresponding to the swing motor gear 164 is formed on an outer circumferential surface of the swing gear 166, and is bolted to the swing frame 168 to which the work table 190 is coupled to form an X axis. It is coupled to the rear frame 170 to be rotatable as a reference.

In addition, the swing motor gear 164 to the swing frame 168 is accommodated inside the front cover 169 is configured not to be exposed to the outside.

On the other hand, the work frame 181 is coupled to the swing frame 168. The workbench frame 181 is configured to serve to support the load of the base material placed on the workbench 190 as well as to allow the workbench 190 to be spaced apart from the pivoting device 160 by a predetermined distance. Consisting of a hollow steel, there is provided a rotating device 180 for rotating the work table 190 with respect to the Z axis.

The rotating device 180 is coupled to the inside of the workbench frame 181, the rotary motor 182 for generating a rotational force, and the rotary motor gear 184 is rotatably coupled to the rotation axis of the rotary motor 182. And, it is configured to include a rotary gear 186 which is rotated in gear coupling with the rotary motor gear 184.

In detail, the worktable frame 181 is provided with a rotating motor fixing hole (not shown) to which the rotating motor 182 is fixed, and the rotating motor 182 is coupled to the rotating motor fixing hole (not shown). . The rotary motor 182 is preferably composed of a servo motor (AC-Servo motor) capable of precise speed control and position control, the rotary motor 182 is not exposed to the outside by a rotary motor cover (not shown). It is configured not to.

In addition, a reduction gear is further provided on the rotation shaft of the rotation motor 182, and the rotation motor gear 184 is rotatably coupled to the rotation shaft of the rotation motor 182 by the reduction gear. A bevel gear is formed on an outer circumferential surface of the rotary motor gear 184 and mounted to rotate in the same direction as the rotation axis of the rotary motor 182.

One side of the rotary motor gear 184 is provided with a rotary gear 186. The rotary gear 186 is gear-coupled with the rotary motor gear 184 to be rotatable in a direction orthogonal to the rotary motor gear 184. In detail, a bevel gear having a shape corresponding to the rotary motor gear 184 is formed on the outer circumferential surface of the rotary gear 186, and is coupled to and fixed to the rotary shaft 187. The rotation shaft 187 is bolted to the rotation frame 188 to which the work platform 190 is coupled, and is coupled to the work frame frame 181 so as to be rotatable about the Z axis.

In addition, the rotary motor gear 184 to the rotating frame 188 is accommodated inside the rotary shaft cover 189, and is configured not to be exposed to the outside.

On the other hand, the upper side of the rotating frame 188 is provided with a work bench 190 is fixed the base material welded. The work bench 190 is configured in various shapes according to the shape of the base material, the shape corresponding to the bucket is shown in the drawing as an example.

The worktable 190 is further provided with a plurality of fixing clips 192 and the support 194 for restraining the base material to prevent the flow of the base material during rotation, rotation, lifting of the base material. The fixing clip 192 and the support 194 is configured in various forms according to the shape of the base material, it is configured to support and restrain at least two surfaces of the base material. That is, the fixing clip 192 and the support 194 is fixed to the front and rear sides of the base material, so that even if the base material is rotated, swinged, raised and lowered so that it is always kept in the correct position. In addition, as shown in the figure, when the size of the bucket is large, the fixing clip 192 is fixed to the front and rear / left and right sides of the base material, the support 194 is inserted into the pinhole of the bucket to fix the upper side of the bucket By doing so, the fixing clip 192 and the support 194 is configured to support the five sides of the bucket.

Hereinafter, the operation of the automatic welding system having the above configuration will be described with reference to FIGS. 1 to 6.

4 to 6 is a perspective view showing the operation of the automatic welding system according to the spirit of the present invention.

First, when the base material to be welded is partially welded so that the original shape is maintained and placed on the transfer plate 320, the transfer means 360 transfers the transfer rails according to the movement order and movement coordinates input through the setting box 410. 340 is moved to the lower side of the work bench 190.

Then, after seating the weldable base material on the work table 190, using the fixing clip 192 and the support 194 restrains the front, rear, left and right of the base material, so that the base material does not flow, Figure It is in the same state as 4.

Thereafter, the operation order and the moving coordinates of the welding unit 200 and the positioner unit 100 are set by using the setting box 410, and the welding operation on the base metal having the same shape is automatically performed.

In detail, the welding robot 220 in the state as shown in FIG. 4 performs the welding operation of the upper and rear surfaces of the base material when the welding robot 220 is moved back and forth / left and right by the front and rear movement apparatus 260 and the horizontal movement apparatus 240. Then, if necessary, by using the lifting device 140, by moving the work table 190, that is, the base material upward or downward, or by rotating the base material 360 degrees with respect to the Z axis using the rotating device 180, The welding work on the upper and rear surfaces of the tank should be carried out.

When the welding operation of the upper and rear surfaces of the base material is completed as described above, the base material is rotated at a predetermined angle in the clockwise or counterclockwise direction by the turning device 160, and at the same time the right side of the base material by the welding robot 220 And the left side is to be welded. When the base material is rotated 90 degrees counterclockwise, the state becomes as shown in FIG. 5, and when the base material rotates 180 degrees, the state becomes as shown in FIG. 6, and the lower surface of the base material can be welded.

Then, all parts of the base material are welded by elevating or rotating the base material using the elevating device 140 and the rotating device 180 as necessary.

When all parts of the base material are welded as described above, the welding robot 220 is positioned at the left end by the horizontal moving device 240, the welded base material is moved to the upper surface of the transfer plate 320.

The base material transferred to the transfer plate 320 is discharged from the base material welded by the transfer means 360, and the base material to be welded is transferred at the same time as the welded base material is discharged, and the above process is repeated.

The scope of the present invention is not limited to the above-exemplified embodiments, and many other modifications based on the present invention may be made by those skilled in the art within the above technical scope.

1 is a plan view schematically showing the configuration of a welding system according to the spirit of the present invention.

Figure 2 is a perspective view showing the appearance of the positioner unit and the welding unit of the main components of the automatic welding system according to the spirit of the present invention.

3 is an exploded perspective view of FIG. 2;

4 to 6 is a perspective view showing the operation of the automatic welding system according to the spirit of the present invention.

<Description of Symbols for Main Parts of Drawings>

100. Positioner Unit 120. Frame

140. Lifting device 142. Lifting motor

144. Lifting Ball Screws 146. Lifting Screw Nuts

160. Slewing device 162. Slewing motor

164. Slewing Motor Gear 166. Slewing Gear

180. Rotating device 182. Rotating motor

184. Rotating Motor Gear 186. Rotating Gear

200. Welding unit 220. Welding robot

240. Horizontal shifter 242. Horizontal shifter

244. Horizontally Moving Ball Screw 246. Horizontally Moving Screw Nut

260. Forward and backward movement device 262. Forward and backward movement motor

264. Forward and backward ball screw 266. Forward and backward screw nut

300. Base material feeder 320. Feed plate

340. Transfer rail 360. Transfer means

400. Control Unit 410. Setting Box

420. Controller 430. Operation Box

Claims (8)

A positioner unit which constrains, swivels, and elevates by restraining the weldable base material; And a welding unit coupled to one side of the positioner unit so as to be movable back and forth, left and right, to weld the base material restrained by the positioner unit. The method of claim 1, wherein the positioner unit, A frame forming an overall skeleton; A rotating device provided at one side of the frame and rotating the work table on which the base material is constrained based on the Z axis; A pivoting device provided at one side of the frame and rotating the work table about an X axis; Is provided on one side of the frame, the lifting device for moving the worktable in the Z-axis direction; Automatic welding system comprising a. The method of claim 2, wherein the welding unit, A welding robot for welding the base metal; A horizontal moving device coupled to an upper end of the frame and guiding a Y axis movement of the welding robot; Is coupled to one side of the horizontal moving device, the front and rear movement device for guiding the X-axis movement of the welding robot; Automatic welding system comprising a. According to claim 3, The horizontal movement device, A horizontal motor for generating rotational force, A horizontal moving ball screw rotatably coupled to the horizontal moving motor and rotated by the horizontal moving motor; Automatic welding system including a horizontal ball screw gear for converting the rotational movement of the horizontal moving ball screw to a linear movement. According to claim 3, The front and rear movement apparatus, A forward and backward moving motor generating a rotational force, A front and rear movement ball screw rotatably coupled to the front and rear movement motor, and rotated by the front and rear movement motor, Automatic welding system comprising a front and rear ball screw gear for converting the linear movement of the rotational movement of the front and rear movement ball screw. According to claim 1, At one side of the positioner unit, Automated welding system, characterized in that the base material to be welded, or the base material transfer device for discharging the completed base material is further provided. According to claim 6, The base material transfer device, A transfer plate on which the base material to be welded is raised, A transfer rail forming a movement path of the transfer plate; Automatic welding system comprising a conveying means for moving the conveying plate along the conveying rail. The method of claim 6, wherein the transfer rail, And the conveying means is formed to move forward from the side of the frame or from the front to the side.

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