KR20130064597A - Laser cutting automation system - Google Patents

Abstract

PURPOSE: A laser cutting automation system comprises a transfer unit, a part arrangement unit, a molding unit, a verification unit, a loading palette, and a test unit, and is provided to easily mold a steel sheet of a high-tension steel material by having a gripper in a leading end of the transfer unit. CONSTITUTION: A laser cutting automation system comprises a transfer device(100), a part arrangement unit(130), a molding unit(140), a verification unit(160), a loading palette(170), and a test unit(180). The part arrangement unit arranges by being supplied a part transferred from the transfer unit through a transporting robot(20). The molding unit molds a part by being supplied an arranged part from the transporting robot. The verification unit inspects by being supplied a part molded in the molding unit from the transporting robot. The loading palette receives a molded product inspection-completed in the verification unit through a blow down robot(60). The test unit re-inspects a part which receives a rejection decision from the verification unit by being supplied from the blow down robot. A gripper(190) is installed for griping a part in a leading end of the transporting robot.

Description

Laser Cutting Automation System

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser cutting automation system, and more particularly, to a laser cutting automation system capable of piercing and forming a material of a high tensile steel material used to reduce the weight of an automobile.

Recently, researches for lightening automobiles have been actively conducted for fuel efficiency improvement, exhaust gas reduction, and environmental protection. There are various methods of weight reduction, and in terms of materials, a method using aluminum, magnesium, plastic, or the like, which is a high tensile strength steel or a lightweight material, is applied.

Accordingly, automotive body parts are also designed to reduce the weight of automobiles by applying high-strength steel or lightweight materials.

Such automotive parts are generally manufactured by press molding, and according to the method using press molding, the prepared steel sheet is blanked and then press molded to manufacture automotive components. Hole-shaped car parts are pierced during press molding.

However, in the method using press molding, there is a problem in that moldability is lowered when a high strength steel sheet is used. In particular, there is a problem in that the piercing molding of the hole-shaped automotive parts is not made or the press die is broken.

In order to solve such a problem, the piercing molding of automobile parts using a laser cutting device is performed in recent years.

However, the piercing molding of automotive parts using a conventional laser cutting device has a problem in that workability and productivity are deteriorated because automation of a molding line is not performed.

The present invention is to solve the problems described above, to provide a laser cutting automation system that can easily form a high-strength steel sheet used for weight reduction of the automobile to improve productivity and improve workability The purpose.

In order to achieve the above and other objects of the present invention, according to an embodiment of the present invention, the transfer means for transferring the parts to be molded along the rail installed on the bottom surface, and the transfer robot to transfer the parts transferred from the transfer means A part sorting means for receiving and aligning the supplied parts, molding means for receiving the parts aligned in the part sorting means from the transport robot, and molding the parts, and inspecting the parts molded in the forming means from the transport robot for inspection. Means, a loading pallet for receiving the molded article inspected by the inspection means through a take-out robot, and an inspection port provided at one side of the inspection means at a predetermined position and supplied from the take-out robot for re-inspection. It consists of, but the front end of the transfer robot for gripping parts It provides a laser cutting automation system, characterized in that are to be installed.

The conveying means is located on the upper rail and characterized in that consisting of a conveying bogie sliding in the longitudinal direction of the rail and a conveying pallet seated on the upper portion of the conveying bogie.

The transport cart is composed of a pair of vertical frame and a horizontal frame is formed of a grid-shaped body, and a pair of wheel blocks provided with driving wheels on both sides are spaced apart at regular intervals in the longitudinal direction on the pair of vertical frames, respectively. And at least one of the wheel blocks facing each other is provided with a drive shaft, and the drive shaft is coupled to a reducer having a drive motor.

The transfer pallet may include a base plate seated on an upper side of the body, a pair of first guide posts provided at a predetermined distance from a predetermined position on one side of the upper surface of the base plate, and open at one side thereof, and the first guide post. It is provided with a plurality of second guide posts provided at predetermined intervals spaced at predetermined positions on the other side of the upper surface of the base plate facing each other and formed in the center along the height direction, the first and second guide posts respectively in the height direction It characterized in that it comprises a plurality of first and second latches provided to be rotatable at regular intervals along the.

One end of each of the first and second latches is characterized in that the support bar for supporting the component seated on the transport pallet is installed.

The component alignment means includes a base plate, a pair of support plates provided symmetrically with each other at a predetermined position on an upper surface of the base plate, a plurality of support frames provided at a predetermined position on an upper surface of the support plate, and an upper portion of the support frame. And a pair of reference pins provided to be spaced apart from a predetermined position of a central portion of the support plate to hold the center of the component seated on the support block.

The forming means is characterized in that the rotating plate having a molding jig provided on both sides symmetrically provided with a laser device for molding the parts seated and fixed to the molding jig.

The molding jig includes a body having a coupling part coupled to one side of the rotating plate, a plurality of vertical frames spaced apart along a longitudinal direction at a predetermined position on an upper surface of the body, and a support coupled to an upper portion of the vertical frame. It characterized in that it comprises a block and a pair of clamp members provided to face each other at a predetermined position on both sides of the body.

The clamp member may be configured to include a pair of cylinders coupled to face each other at predetermined positions on both sides of the body, and a clamp rotatably coupled to a rotating shaft provided on an upper portion of the cylinder.

The inspection means is composed of a jig in which the molded part is seated by the forming means, and a vision sensor coupled to the tip of the robot provided at a predetermined interval away from the jig to inspect the molded state of the molded part seated on the jig It is characterized by.

The inspection port may include a housing having an open upper portion, an inspection jig installed at a predetermined position on an inner bottom surface of the housing, a pair of rail wheels provided at predetermined positions on both sides of the housing in a longitudinal direction, and a predetermined position on a lower surface of the housing. It is configured to include a plurality of casters provided at a predetermined interval, the rail wheel is characterized in that coupled to the slide movable on the rail installed on the fence provided adjacent to the inspection means.

The gripper includes a tool frame coupled to the tip of the transfer robot, a tool joint member coupled to one side of the tool frame, a main plate coupled to one side of the tool joint member, and a lower surface of the main plate. A plurality of clamp members provided at regular intervals along the longitudinal direction, at least one lifting member provided at predetermined intervals at a predetermined position on the upper surface of the main plate, and as long as symmetrically installed on both sides of the longitudinal direction of the main plate Characterized in that comprises a pair of component detection sensor.

The tool joint member includes a first coupler coupled to one side of the tool frame and a second coupler coupled to an upper surface of the main plate, wherein the first coupler includes a first diameter portion and a second diameter portion. The second diameter portion may be rotatably coupled to a rotating body having a plurality of protrusions formed on an outer circumferential surface thereof in a circumferential direction, and the plurality of locking portions may be circumferentially coupled to an inner circumferential surface of the second coupler so that the protrusions may be engaged. As a result of being spaced apart from each other by a predetermined protruding toward the center of the second coupler.

A 'b' shaped cutout groove is formed at a predetermined position on the outer circumferential surface of the second coupler, and an insertion groove is formed in at least one of the plurality of protrusions, and the rotatable member is coupled to the engaging portion by the protrusion. Rotating fastening handle is characterized in that one end is coupled to the insertion groove through the cutting groove.

According to one embodiment of the present invention, the steel sheet made of a high-strength steel material used to reduce the weight of the vehicle can be easily molded to improve productivity and improve workability.

1 is a schematic diagram of a laser cutting automation system in accordance with one embodiment of the present invention;
2 is a perspective view of a transport cart according to an embodiment of the present invention.
3 is a plan view of a transport cart according to an embodiment of the present invention.
4 is a perspective view of a transport pallet according to an embodiment of the present invention.
5 is an operational state diagram of the second latch shown in FIG.
6 is a perspective view of a part alignment means according to an embodiment of the present invention.
7 is a perspective view of a molding jig according to an embodiment of the present invention.
8 is a plan view of the molding jig shown in FIG.
9 is an exploded perspective view of the clamp member shown in FIG.
10 is a perspective view of a test tool according to an embodiment of the present invention.
FIG. 11 is a side view of the inspection tool shown in FIG. 10. FIG.
12 is a perspective view of a gripper according to an embodiment of the present invention.
FIG. 13 is a perspective view of the tool joint member shown in FIG. 12. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation.

In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

1 is a schematic diagram of a laser cutting automation system according to an embodiment of the present invention, FIG. 2 is a perspective view of a transport cart according to an embodiment of the present invention, FIG. 3 is a plan view of a transport cart according to an embodiment of the present invention; 4 is a perspective view of a transport pallet according to an embodiment of the present invention, Figure 5 is an operating state of the second latch shown in Figure 4, Figure 6 is a perspective view of the parts alignment means according to an embodiment of the present invention, Figure 7 is a perspective view of a molding jig according to an embodiment of the present invention, Figure 8 is a plan view of the molding jig shown in Figure 7, Figure 9 is a perspective view of the inspection tool according to an embodiment of the present invention, Figure 10 is shown in Figure 9 Figure 11 is a side view of the inspection tool, Figure 11 is a perspective view of the gripper according to an embodiment of the present invention, Figure 12 is a perspective view of the tool joint member shown in FIG.

1 to 12, the laser cutting automation system 10 according to an embodiment of the present invention is a conveying means 100, parts alignment means 130, forming means 140, inspection means 160, It is configured to include a loading pallet 170, the inspection port 180, the gripper 190.

The transfer means 100 transfers a part to be molded along a rail installed on the bottom surface, and is positioned on an upper portion of the rail 102 and slides along the longitudinal direction of the rail 102 to move the transfer bogie 110 and It is composed of a transport pallet 120 seated on the upper portion of the trolley 110.

The transport cart 110 is composed of a pair of first frames 112a and a second frame 112b and is fixed along the longitudinal direction to the body 112 and the pair of first frames 112a, respectively. It is provided with a spaced apart and consists of a plurality of wheel blocks 114 having drive wheels 114a on both sides.

In this case, at least one of the wheel blocks 114 facing each other is provided with a drive shaft 116, and the drive shaft 116 is coupled to a reducer 118 having a drive motor 118a.

The transport pallet 120 is provided with a base plate 122 seated on the upper surface of the body 112 of the transport cart 110 and spaced apart at a predetermined position on one side of the upper surface of the base plate 122, and one side is opened. A plurality of first guide posts 124 and a plurality of incisions provided on the other upper surface of the base plate 122 opposed to the first guide posts 124 at predetermined positions and spaced apart in a center along a height direction Second guide posts 126 and a plurality of first and second latches 128 and 129 rotatably spaced apart at regular intervals along the height direction of the first and second guide posts 124 and 126. It is made to include.

Here, the base plate 122 is guided by guide pins 119 protruding symmetrically with respect to a predetermined position on the upper surface of the body 112 of the transport cart 110, that is, the upper surface of the pair of first frames 112a. It is preferable to be seated on the upper surface of the body (112).

In addition, support bars 128a and 129a are provided at one ends of the first and second latches 128 and 129 to support components seated on the transport pallet 120, respectively.

Part sorting means 130 is to receive and align the parts transferred from the conveying means 110 through the transfer robot 20, the rectangular base plate 132 and the upper surface of the base plate 132 in a predetermined position A pair of support plates 134 provided symmetrically with each other, a plurality of support frames 136 provided at predetermined positions on the upper surface of the support plate 134, and support blocks 138 coupled to the upper portions of the support frames 136 And a pair of reference pins 139 provided to be spaced apart at a central location of the support plate 132 to hold the center of the component seated on the support block 138.

Here, the support frame 136 provided at a predetermined position on the upper surface of the support plate 134 and the support block 138 coupled to the upper portion of the support frame 136 support the component to be molded.

Therefore, the parts aligning means 130 centers the parts to be molded so that they can be accurately seated when the parts are supplied and seated to the forming jig 150 of the forming means 140 to be described later.

Forming means 140 is molded by receiving the parts from the transfer robot 20, the center (Center) position is aligned by the component alignment means 130.

The molding means 140 includes a rotating plate 142 having a pair of molding jigs 150 symmetrically arranged on both sides thereof, and a laser device (not illustrated) for molding the parts fixed and seated on the molding jigs 150. O).

Here, since the laser device (not shown) is a known technique, detailed description thereof will be omitted.

Molding jig 150 is a body 152 having a coupling portion 151 coupled to one side of the rotating plate 142 and a plurality of spaced apart in the longitudinal direction at a predetermined position on the upper surface of the body 152 It comprises a vertical frame 154, a support block 156 coupled to the upper portion of the vertical frame 154, and a pair of clamp members 158 provided to face each other at a predetermined position on both sides of the body 152. .

Coupling portion 151 is formed at both ends of the coupling plate 151a abuts on one side of the rotation plate 142, the coupling plate 151a is formed in the rotation plate 142 is inserted into the insertion groove (not shown) , Consisting of a coupling pin (151b) to be coupled.

Here, the vertical frame 154 provided at a predetermined position on the upper surface of the body 152 and the support block 156 coupled to the upper portion of the vertical frame 154 support the component to be molded.

The clamp member 158 is rotatably coupled to a pair of cylinders 158a coupled to face each other at predetermined positions on both sides of the body 152 and to a rotation shaft 158b provided at an upper predetermined position of the cylinder 158a. It consists of a clamp 158c.

The inspection means 160 receives the molded parts formed in the forming means 140 by the transfer robot 20 and inspects the molded state of the parts.

The inspection means 160 is coupled to the front end of the jig 162 on which the molded part is seated by the forming means 140 and the robot 40 provided to be spaced apart from the jig 162 by a predetermined distance. It consists of a vision sensor 164 for inspecting the molding state of the molded part seated on.

Here, the jig 162 on which the molded part is seated is made of the same configuration as the above-described part alignment means 130, and the vision sensor 164 is a known technique for checking the molding state of the molded part. It will be omitted.

The loading pallet 170 receives the parts inspected by the inspection means 160 from the takeout robot 60.

The inspection tool 180 is provided at a predetermined position on one side of the inspection means 160 and re-inspected by receiving a component that has been determined to be incompatible from the inspection means 160 from the take-out robot 60.

The inspection opening 180 is provided with a housing 182 having an open upper portion, an inspection jig 184 installed at a predetermined position on an inner bottom surface of the housing 182, and a predetermined position at both longitudinal sides of the housing 182. A pair of rail wheels 186 and a plurality of casters 188 are provided at a predetermined distance from a predetermined position on the lower surface of the housing 182. In addition, the handle 182a is preferably coupled to a predetermined side surface of the housing 182.

Here, the inspection tool 180 is provided to be slidably movable on the fence 80 provided adjacent to the inspection means 160, that is, the rail wheel 186 on the rail 82 provided at a predetermined position of the fence 80. This is because is coupled to the sliding movement.

The gripper 190 is coupled to the front end of the transfer robot 20 and grips a part. The gripper 190 is coupled to one side of the tool frame 192 and the tool frame 192 coupled to the front end of the transfer robot 20. The joint member 194, the main plate 210 coupled to one side of the tool joint member 194, and the plurality of clamp members 212 provided at regular intervals along the longitudinal direction on the lower surface of the main plate 210. ), At least one elevating member 214 provided at a predetermined distance from a predetermined position on the upper surface of the main plate 210, and a pair of component detection sensors installed symmetrically on both sides of the main plate 210 in the longitudinal direction. And 216.

Here, referring to FIG. 11, four clamp members 212 are preferably provided, and the clamp members corresponding to the odd-numbered clamp members hold the LH parts based on the clamp member on the left side of the drawing. The corresponding clamp member grips the RH part.

The tool joint member 194 includes a first coupler 196 coupled to one side of the tool frame 192 and a second coupler 198 coupled to the upper surface of the main plate 210.

The first coupler 196 consists of a first diameter portion 196a and a second diameter portion 196b, the outer circumferential surface of the second diameter portion 196b is formed of a plurality of protrusions 200a along the circumferential direction The whole 200 is rotatably coupled.

On the inner circumferential surface of the second coupler 198, a plurality of catches 198a are formed to protrude toward the center of the second coupler 198 at regular intervals along the circumferential direction so that the protrusions 200a may be engaged. .

In addition, a 'b' shaped cutout groove 198b is formed at a predetermined position on the outer circumferential surface of the second coupler 198, and an insertion groove 200b is formed in at least one of the plurality of protrusions 200a so that the protrusion ( It is preferable that one end of the coupling handle 202 for rotating the rotating body 200 through the cutting groove 198b is coupled to the insertion groove 200b so that the 200a is engaged with the locking portion 198a. At this time, the insertion groove 200b may be entirely formed in the plurality of protrusions 220a.

The second coupler 198 is inserted into and coupled to the second diameter portion 196b of the first coupler 196, which penetrates through the cutout groove 198b formed in the second coupler 198 to engage the first coupler 198. A fastening handle having one end coupled to the insertion groove 200b formed in any one of the protrusions 200a formed on the outer circumferential surface of the rotating body 200 rotatably coupled to the outer circumferential surface of the second diameter portion 196b of the sphere 196 ( By moving the 202 along the cutting groove 198b, the protrusion 200a is engaged with the catching portion 198a so that the first coupler 196 and the second coupler 198 are coupled to each other.

The lifting member 214 is composed of a rod (not shown) coupled to the end of the cylinder 214a and the cylinder 214a so as to be lifted and lowered, and is mounted on the support block 156 of the molding jig 150. Pressurized to be in close contact with the support block 156.

Hereinafter, the operation of the laser cutting automation system of the present invention configured as described above will be described.

First, when the worker loads the parts to be molded in the transfer means 100, it is installed on the bottom surface of the transfer means 100 is moved to a position adjacent to the transfer robot 20 along the rail 112.

At the same time, the transfer robot 20 grips the parts to be molded in the transfer means 100 and seats them on the part alignment means 130 to center the parts, and the parts centered by the part alignment means 130. Is again gripped by the transfer robot 20 is transferred to the molding jig 150 of the forming means 140, and seated, the component seated on the molding jig 150 is molded by a laser device (not shown).

Thereafter, the molded part is gripped again by the transfer robot 20 to be transferred to the inspection means 160, and the component transferred to the inspection means 160 is inspected whether the molding is accurately performed by the vision sensor 164.

At this time, the component determined to be unsuitable by the inspection means 160 is moved to the inspection port 180 by the take-out robot 60, the component determined to be suitable by the take-out robot 60 to the loading pallet 170. Transferred. Here, the parts are transferred to the inspection port 180 is inspected by the operator again.

Therefore, the laser cutting automation system configured as described above has the effect of easily forming a high-strength steel sheet used for weight reduction of the automobile to improve productivity and improve workability.

Although the preferred embodiments of the present invention have been described with reference to the accompanying drawings, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit of the invention It can be understood that it is possible.

100: transfer means 129a: support bar 158b: coupling pin 198a: locking portion
102: rail 129a: support bar 158c: clamp 198b: incision groove
110: transfer cart 130: parts alignment means 160: inspection means 200: rotating body
112: body 132: base plate 162: jig 200a: protrusion
112a: first frame 134: support plate 164: vision sensor 200b: insertion groove
112b: second frame 136: support frame 170: loading pallet 202: fastening handle
114: wheel block 138: support block 180: inspection port 210: main plate
114a: driving wheel 139: reference pin 182: housing 212: clamp member
116: drive shaft 140: forming means 182a: handle 214: elevating member
118: reducer 142: rotating plate 184: inspection jig 214a: cylinder
118a: drive motor 150: molding jig 186: rail wheel 216: component detection sensor
119: guide pin 151: coupling portion 188: caster
120: conveying pallet 151a: coupling plate 190: gripper
122: baseplate 151b; Coupling Pin 192: Tool Frame
124: first guide post 152: body 194: tool joint member
126: second guide post 154: vertical frame 196: first coupler
128: first latch 156: support block 196a: first diameter portion
128a: support bar 158: clamp member 196b: second diameter portion
129: second latch 158a: cylinder 198: second coupler

Claims (14)

A conveying means 100 for conveying a part to be molded along the rail 102 installed on the bottom surface;
Component alignment means 130 for receiving and aligning the components transferred from the transfer means 100 through a transfer robot 20;
Molding means (140) for molding the parts by receiving the parts aligned in the parts alignment means (130) from the transport robot (20);
Inspection means (160) for receiving and inspecting the parts formed in the forming means (140) from the transfer robot (20);
A loading pallet 170 which receives the molded article inspected by the inspection means 160 through the take-out robot 60; And
Is provided in one of the predetermined position of the inspection means 160, the inspection port 180 for re-inspecting the parts received the non-conformity determination from the inspection means 160 from the take-out robot 60;
Laser cutting automation system, characterized in that the gripper 190 is installed at the front end of the transfer robot for gripping parts.
The method of claim 1, wherein the transfer means 100,
Located on the upper portion of the rail 102, the transport trolley 110, which slides along the longitudinal direction of the rail 102, and a transport pallet 120 seated on the upper portion of the transport trolley 110, Laser cutting automation system.
The method of claim 2, wherein the transport cart 110,
A pair of first frame 112a and a second frame (112b) composed of a grid-like body 112 and the pair of first frame (112a) are provided at regular intervals along the lengthwise direction, respectively, both side surfaces A pair of wheel blocks 114 having a driving wheel 114a at one side thereof, and at least one of the wheel blocks 114 facing each other, a drive shaft 116 is installed, and the drive shaft 116 is a drive motor. Laser cutting automation system, characterized in that coupled to the reducer (118) having a (118a).
The method of claim 3, wherein the transport pallet 120,
The base plate 122 seated on the upper side of the body 112, and a pair of first guide posts 124 are provided spaced at predetermined intervals at a predetermined position on one side of the upper surface of the base plate 122, one side is opened ) And a plurality of second guide posts 126 provided at predetermined positions spaced apart from each other on a predetermined position on the other upper surface of the base plate 122 facing the first guide post 124 and having cutouts in a height direction in a central portion thereof. ),
The first and second guide posts 124 and 126 may include a plurality of first and second latches 128 and 129 rotatably provided at predetermined intervals along the height direction, respectively. Cutting automation system.
The method of claim 4,
One end of the first and second latches (128, 129), the laser cutting automation system, characterized in that the support bars (128a, 129a) for supporting the components seated on the conveying pallet (120), respectively.
The method according to claim 1,
The component alignment means 130 includes a base plate 132, a pair of support plates 134 symmetrically arranged at predetermined positions on an upper surface of the base plate 132, and an upper surface of the support plate 134. A plurality of support frame 136 provided at a predetermined position, a support block 138 coupled to the upper portion of the support frame 136, and the support block 138 provided to be spaced apart from a predetermined position in the center of the support plate 134 Laser cutting automation system comprising a pair of reference pins (139) for holding the center of the component seated on the).
The method according to claim 1,
The molding means 140 comprises a rotating plate 142 having a pair of molding jig 150 is provided symmetrically on both sides and a laser device for molding the parts fixed to the molding jig 150 is fixed. Laser cutting automation system, characterized in that.
The method according to claim 7, wherein the molding jig 150,
Body 152 having a coupling portion 151 coupled to one side of the rotating plate 142 and a plurality of vertical frames 154 spaced apart in a longitudinal direction at a predetermined position on the upper surface of the body 152 ), A support block 156 coupled to an upper portion of the vertical frame 154, and a pair of clamp members 158 provided to face each other at predetermined positions on both sides of the body 152. Laser cutting automation system.
The method according to claim 8,
The clamp member 158 is rotatably coupled to a pair of cylinders 158a coupled to face each other at predetermined positions on both sides of the body 152, and a rotation shaft 158b provided on an upper portion of the cylinder 158a. Laser cutting automation system, characterized in that it comprises a clamp (158c).
The method according to claim 1,
The inspection means 160 is coupled to the front end of the jig 162 on which the parts formed by the molding means 140 are seated, and the robot 40 provided at a predetermined interval apart from the jig 162 and the jig ( Laser cutting automation system, characterized in that consisting of a vision sensor (164) for inspecting the molding state of the molded part seated on 162.
The method of claim 10,
The inspection opening 180 may include a housing 182 having an upper opening, an inspection jig 184 installed at a predetermined position on an inner bottom surface of the housing 182, and a predetermined position on both sides of the housing 182 in the longitudinal direction. It is configured to include a pair of rail wheels 186 provided, and a plurality of casters (188) provided at a predetermined interval spaced at a predetermined position on the lower surface of the housing 182,
The rail wheels (186) is slidably coupled to the rail (82) installed on the fence (80) provided adjacent to the inspection means (160).
The method of claim 1, wherein the gripper 1900,
Tool frame 192 coupled to the tip of the transfer robot 20, a tool joint member 194 coupled to one side of the tool frame 192, and coupled to one side of the tool joint member 194 The main plate 210 and the plurality of clamp members 212 provided at regular intervals along the longitudinal direction on the lower surface of the main plate 210 and a predetermined interval at a predetermined position on the upper surface of the main plate 210 Laser cutting automation, characterized in that it comprises at least one lifting member 214 spaced apart from each other and a pair of component detection sensors 216 installed symmetrically on both sides of the main plate 210 in the longitudinal direction. system.
The method according to claim 12, The tool joint member 194,
Consists of a first coupler 196 coupled to one side of the tool frame 192, and a second coupler 198 coupled to the upper surface of the main plate 210,
The first coupler 196 includes a first diameter portion 196a and a second diameter portion 196b, and the second diameter portion 196b includes a plurality of protrusions 200a along the circumferential direction on the outer circumferential surface thereof. The formed rotating body 200 is rotatably coupled, and a plurality of locking portions 198a are spaced apart at regular intervals along the circumferential direction so that the protrusion 200a may be coupled to the inner circumferential surface of the second coupling hole 198. The laser cutting automation system, characterized in that protruded toward the center of the second coupler (198).
The method according to claim 13,
A 'b' shaped cutout groove 198b is formed at a predetermined position on the outer circumferential surface of the second coupler 198, and an insertion groove 200b is formed in at least one of the plurality of protrusions 200a.
A fastening handle 202 for rotating the rotating body 200 so that the protruding portion 200a is engaged with the locking portion 198a penetrates the cutting groove 198b so that one end thereof is coupled to the insertion groove 200b. Laser cutting automation system characterized in that.

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