KR20240037473A - Different parts welding device by mobile robot - Google Patents

Abstract

The heterogeneous parts welding device using the mobile collaborative robot of the present invention includes a first feeder (210a) and a second feeder (210b), a first feeder (210a), and a second feeder (210b) that supply heterogeneous parts for automobiles of different shapes. A welder 230, which welds dissimilar parts for automobiles supplied from the welder 130, and an inspection machine 240, which inspects genuine products welded to ensure that dissimilar automobile parts welded by the welder 130 meet the design dimensions and defective products that deviate from the design dimensions. A loading unit 250 for loading the heterogeneous automotive parts inspected at 240 by dividing them into genuine and defective parts, and a welder 230 for dissimilar automotive parts supplied from the first feeder 210a and the second feeder 210b. After moving the dissimilar automotive parts that have been welded in the welder 230 to the inspection machine 240, the heterogeneous automobile parts that have been inspected for defects in the inspection machine 240 are placed in the loading unit 250 as genuine and genuine parts. The point is to include a mobile collaborative robot (100) that classifies and loads defective products.

Description

Welding device for heterogeneous parts by mobile collaborative robot {DIFFERENT PARTS WELDING DEVICE BY MOBILE ROBOT}

The present invention relates to a welding device. Specifically, using a robot, automobile parts supplied from a feeder are transferred to a welder, the welded automobile parts are moved to a welding quality inspection machine, and then defects are inspected by the inspector, This relates to a heterogeneous parts welding device using a mobile collaborative robot that can improve productivity and improve corporate competitiveness with optimal manufacturing costs by selecting genuine and defective products that have been welded in accordance with the design dimensions and loading them into the loading section.

The transfer of parts using robots is commonly used in the domestic and global automobile industries, and its use is spreading in the downstream industries, such as materials, parts, and S/W, and the upstream industries, such as system integration and manufacturing, centered on robot manufacturers. there is.

Figure 1 is a schematic perspective view of a conventional transfer robot.

As shown, a clamping device 9 for clamping the automobile parts 7 placed on the upper part of the pallet 5 is mounted on the front end of the arm 3 of the robot 1, and a robot for transporting automobile parts is known. It is done.

However, the conventional transfer robot can only simply move automobile parts, but there is a problem in that the robot cannot sequentially and automatically move automobile parts to the welder, inspection machine, and loading unit.

Public Patent Publication No. 10-2004-0043520 (published on May 24, 2004)

The present invention is intended to solve the above problems. Using a robot, automobile parts supplied from a feeder are transferred to a welder, the welded automobile parts are moved to a welding quality inspection machine, and then defects are inspected by the inspector. The purpose is to provide a heterogeneous parts welding device using a mobile collaborative robot that can improve productivity and improve corporate competitiveness with optimal manufacturing costs by selecting genuine and defective products that have been welded to design dimensions and loading them into the loading section. .

The present invention's heterogeneous parts welding device using a mobile collaborative robot includes a first feeder and a second feeder that supply heterogeneous parts for automobiles of different shapes, a welder for welding heterogeneous automobile parts supplied from the first feeder and the second feeder, An inspection machine that inspects genuine products welded by a welder to ensure that the dissimilar parts for automobiles meet the design dimensions and defective products that deviate from the design dimensions. A loading section that separates the heterogeneous automobile parts inspected by the inspection machine into genuine products and defective products and loads them. After moving the heterogeneous automotive parts supplied from the feeder and the second feeder to the welder, the heterogeneous automotive parts that have been welded in the welder are moved to the inspection machine, and then the heterogeneous automobile parts that have been inspected for defects in the inspection machine are placed in the loading area. It is characterized by including a mobile collaborative robot that sorts and loads genuine and defective products.

In addition, the mobile collaborative robot has a mobile cart that moves forward and backward and left and right in the workplace, and multi-joint operating parts change the position of the head at the front end to the up and down, left and right, and forward and backward directions, and fix the mobile cart. A robot unit installed on one side of the top of the table, a first gripper that is selectively mounted on the head of the robot unit and grips the heterogeneous parts for the first automobile supplied from the first feeder, and the heterogeneous parts for the second automobile supplied from the second feeder. It is characterized in that it includes a second gripper that grips and a gripper loading table installed on the top of the fixed table of the mobile bogie unit and on which the first gripper and the second gripper are loaded.

Additionally, the welder is equipped with a seating jig; The seating jig has a rectangular shape and includes a main body provided with support protrusions on both sides of the upper end and an input groove provided between both support protrusions, a weld end support provided on the left support protrusion side of the input groove, and a weld end support part. It is characterized in that it includes a welding hole into which the welding head of the welder is inserted, an end support portion is provided on the right support protrusion side of the input groove, a spring pin installed on the end support portion, and a proximity sensor installed on the inside of the left support protrusion.

By manufacturing automobile parts using mobile collaborative robots, operational competitiveness can be strengthened.

In addition, using a mobile collaborative robot, the automobile parts supplied from the feeder are transferred to the welder, the welded automobile parts are moved to the welding quality inspection machine, and the inspection machine checks for defects, and the welded automobile parts are inspected for defects with designed dimensions. By selecting defective products and loading them into the loading section, productivity can be improved.

Figure 1 is a schematic perspective view of a conventional transfer robot.
Figure 2 is a layout diagram of a heterogeneous parts welding device using a mobile collaborative robot of the present invention.
Figure 3 is a perspective view of a mobile collaborative robot.
Figure 4 is a plan view of the welding part seating jig of the welder;
Figure 5 is a longitudinal cross-sectional view of the welded part being inserted into the welded part seating jig.
Figure 6 is an example photo of heterogeneous parts.

Preferred embodiments of the present invention will be described in detail with reference to the attached drawings. For reference, the sizes of components, thickness of lines, etc. shown in the drawings used to describe the present invention may be somewhat exaggerated for ease of understanding.

In addition, the terms used in the description of the present invention are defined in consideration of the functions of the present invention and may vary depending on the user, operator intention, custom, etc. Therefore, the definition of this term should be based on the overall content of this specification.

In the present application, terms such as 'comprise', 'have', etc. refer to the existence of specific numbers, steps, operations, components, parts, or combinations thereof described in the specification, and do not refer to the presence of one or more other numbers, steps, operations, components, parts, or combinations thereof. It should be understood that this does not exclude in advance the possibility of the presence or addition of features, numbers, steps, operations, components, parts, or combinations thereof.

In addition, the present invention is not limited to the embodiments disclosed below and will be implemented in various different forms, but the present embodiments only serve to ensure that the disclosure of the present invention is complete and to convey the scope of the invention to those skilled in the art. It is provided for complete information.

Therefore, since the present invention can make various changes and take various forms, implementation examples (or embodiments) will be described in detail in the specification. However, this is not intended to limit the present invention to a specific disclosed form, and should be understood to include all changes, equivalents, and substitutes included in the technical idea of the present invention, and the singular expressions used in this specification are clearly different from the context. Unless otherwise intended, plural expressions are included.

However, in describing the present invention, detailed descriptions of well-known or known functions or configurations will be omitted to make the gist of the present invention clear.

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

Figure 2 is a layout diagram of the dissimilar parts welding device using the mobile collaborative robot of the present invention.

As shown, the 'heterogeneous parts welding device using a mobile collaborative robot' (200, hereinafter referred to as the 'heterogeneous parts welding device') includes a first feeder (210a), a second feeder (210b), and a mobile collaborative robot (100). , including a welder 230, an inspection machine 240, and a loading unit 250.

The first feeder 210a and the second feeder 210b supply dissimilar automotive parts of different shapes.

Heterogeneous parts refer to parts with different shapes, as shown in FIG. 6.

Since the first feeder 210a and the second feeder 210b are well-known and commonly used structures in this technical field, a description of the interlocking relationship of the specific structures is omitted here.

The welder 230 welds dissimilar parts for automobiles supplied from the first feeder 210a and the second feeder 210b.

The inspection machine 240 inspects genuine products welded by the welder 130 to ensure that the dissimilar parts for automobiles meet the design dimensions and defective products that deviate from the design dimensions.

The loading unit 250 divides the heterogeneous automotive parts inspected by the inspection machine 240 into genuine and defective parts and loads them.

The mobile collaborative robot 100 moves the heterogeneous automotive parts supplied from the first feeder 210a and the second feeder 210b to the welder 230, and then moves the heterogeneous automotive parts welded in the welder 230. After being moved to the inspection machine 240, the heterogeneous automotive parts that have been inspected for defects in the inspection machine 240 are classified into genuine and defective parts and loaded into the loading unit 250.

This heterogeneous parts welding device 100 has the effect of strengthening operational competitiveness by manufacturing automobile parts, and using a mobile collaborative robot, heterogeneous automobile parts supplied from a feeder are transferred to a welder. Productivity can be improved by moving the welded dissimilar parts for automobiles to the welding quality inspection machine, inspecting the inspection machine for defects, selecting genuine and defective products with welds to the designed dimensions, and loading them into the loading section separately. It has a certain action and effect.

Below, the specific structure of the mobile collaborative robot will be described.

Figure 3 is a perspective view of a mobile collaborative robot.

As shown, the mobile collaborative robot 100 includes a mobile truck unit 110, a robot unit 120, a first gripper 130, a second gripper 140, a gripper loading table 150, and a first part. It includes a loading table 160 and a second parts loading table 170.

The mobile cart unit 110 is a part that moves forward and backward and left and right in the workplace. The mobile cart unit 110 moves forward and backward and left and right through a traveling motor, a moving wheel connected to it, and a control unit. Since the configuration of the mobile truck unit 110 is a well-known and common configuration generally used in the technical field to which the present invention pertains, detailed description will be omitted here.

A fixed table 111 on which a robot unit 120, a gripper loading stand 150, a first parts loading stand 160, and a second parts loading stand 170 are installed is provided at the top of the mobile truck unit 110. do.

The robot unit 120 is a part that switches the position of the head 121 at the tip up and down, left and right, and forward and backward through multi-joint operating parts, and is located at the top of the fixed table 111 of the mobile truck unit 110. It is installed on one side.

The configuration of the robot unit 120, like the configuration of the mobile truck unit 110, is a well-known and commonly used configuration in the technical field to which the present invention pertains, and therefore detailed description is omitted here.

The first gripper 130 is a part that grips the dissimilar parts for the first automobile supplied from the first feeder 210a, and the second gripper 140 is a part for the second automobile supplied from the second feeder 210b. This is the part that grips dissimilar parts.

The first gripper 130 and the second gripper 140 are selectively mounted on the head 121 of the robot unit 120.

That is, when the first part is welded through the welder 230, the first gripper 130 is mounted on the head 121 of the robot unit 120, and when the second part is welded through the welder 230, the first gripper 130 is mounted on the head 121 of the robot unit 120. 2The gripper 140 is mounted on the head 121 of the robot unit 120.

The gripper loading stand 150 is a part where the first gripper 130 and the second gripper 140 are loaded, and is installed at the top of the fixed table 111 of the mobile truck unit 110.

The first component loading stand 160 is a portion for loading the first component, and the second component loading dock 170 is a portion for loading the second component.

The first parts loading stand 160 and the second parts loading stand 170 are installed on one upper side of the fixed table 111 of the mobile truck unit 110.

Looking at the operational relationship of the mobile collaborative robot 100 as described above,

After gripping the first and second parts supplied from the first and second feeders 210a and 210b with the first gripper 130 or the second gripper 140 provided in the robot unit 120, the welder 230 After transferring the first and second welded parts to the inspection machine 240, it has the function of loading the inspected genuine and defective products separately into the loading unit 250.

In the following embodiments, a seating jig that can stably support parts in a welder will be described.

Figure 4 is a plan view of the welding part seating jig of the welder, and Figure 5 is a longitudinal cross-sectional view of the welding part being placed in the welding part seating jig.

As shown, the welding part seating jig 300 installed in the welding machine 230 of this embodiment is provided with support protrusions 311 and 312 on both sides of the upper end of the rectangular main body 310, and both support protrusions ( It has an input groove 313 for inserting parts between 311 and 312.

In the above, the length between the two supporting protrusions 311 and 312 is formed to a length corresponding to the left and right width of the welded part, and the inside of the left supporting protruding part 311 of both supporting protrusions 311 and 312 has a length corresponding to the left and right width of the welded part. A proximity sensor 320 is installed to detect presence or absence.

A weld end support portion 313a is provided on the left side of the support protrusion 311 of the input groove 313, and a weld hole 314 into which the welding head (not shown) of the welder is inserted is formed in the weld end support portion 313a. do.

An end support portion 313b is provided on the right side of the support protrusion 312 of the input groove 313, and at least one spring pin 330 is installed on the end support portion 313b.

A rectangular mounting groove 315 is provided at the bottom of the main body 310 to allow the seating jig 300 to be stably mounted by inserting it into the square protrusion (not shown) of the jig mounting portion of the welder 230, and the main body 310 ), a pair of mounting guide holes 316 are provided on one upper side into which a mounting guide pin (not shown) of the square protrusion of the jig mounting portion of the welder 230 is inserted.

The spring pin 330 installed on the end support part 313b provided on the right side of the support protrusion 312 of the insertion groove 313 of the seating jig 300 elastically supports the lower part of the part to prevent deformation or damage of the part. I do it.

The proximity sensor 320 installed inside the left support protrusion 311 of the seating jig 300 detects whether a part has been supplied to the upper part of the part's fastening hole (S) and sends a detection signal to the control unit (not shown). The control unit prevents welding defects due to malfunction by allowing welding to proceed while the parts are supplied.

The mobile collaborative robot 100 transfers the parts from the feeders 210a and 210b and accurately places them in the insertion groove 313 of the welding part seating jig 300.

With the above-mentioned seating jig, the quality and productivity of welding can be improved by stably supporting the parts during the welding process, and malfunctions and welding defects can be prevented by preventing welding from proceeding when parts are not supplied. It has a certain action and effect.

100: Mobile collaborative robot 110: Mobile loan unit
111: Fixed table 120: Robot unit
121: Head 130: First gripper
140: Second gripper 150: Gripper loading stand
160: First part loading stand 170: First part loading stand
200: Welding device for heterogeneous parts by mobile collaborative robot
210a: 1st feeder 210b: 2nd feeder
230: Welder 240: Inspection machine
250: Loading unit 300: Seating jig
310: Main body 311,312: Support protrusion
313: Input groove 313a: Weld end support portion
313b: End support 315: Mounting groove
316: Mounting guide hole 320: Proximity sensor
330: Spring pin

Claims (2)

A first feeder (210a) and a second feeder (210b) that supply heterogeneous automobile parts of different shapes,
A welder 230 that welds dissimilar parts for automobiles supplied from the first feeder 210a and the second feeder 210b,
An inspection machine (240) that inspects genuine products welded by the welder (130) to ensure that the dissimilar parts for automobiles meet the design dimensions and defective products that deviate from the design dimensions;
A loading unit 250 that separates the heterogeneous automobile parts inspected in the inspection machine 240 into genuine and defective products and loads them;
After moving the heterogeneous automotive parts supplied from the first feeder 210a and the second feeder 210b to the welder 230, the heterogeneous automotive parts that have been welded in the welder 230 are moved to the inspection machine 240. Next, the heterogeneous automotive parts inspected for defects in the inspection machine 240 are classified into genuine and defective parts and are loaded into the loading unit 250. Part welding device. The method of claim 1,
The mobile collaborative robot (100) is,
A mobile truck unit 110 that moves forward and backward and left and right in the workplace,
The position of the head 121 at the tip is switched up and down, left and right, and forward and backward through multi-joint operating parts, and the robot unit 120 installed on one side of the upper part of the fixed table 111 of the mobile truck unit 110 ,
It is selectively mounted on the head 121 of the robot unit 120, and the first gripper 130 that grips the dissimilar parts for the first automobile supplied from the first feeder 210a and the first gripper 130 supplied from the second feeder 210b. A second gripper (140) for gripping heterogeneous parts for a second automobile,
A mobile collaborative robot comprising a gripper loading table 150 installed on the top of the fixed table 111 of the mobile cart 110 and on which the first gripper 130 and the second gripper 140 are loaded. Welding equipment for dissimilar parts.