KR950006370B1 - Lift stock device of a welding machine - Google Patents

Abstract

The driving system for standby lift stokes reduces loading and unloading time of work piece and maximize the operating rate of welding robots by operating the driving system coupled with automatic jig of welding robots. The driving system comprises; (A) solenoid valves (39,39A) to tune the lifting speed of head and tail lift stoke (17a,17b) on the path of oil pumps (48,49); (B) check valves (57,57A) and flow control valves (58,58A) between a solenoid valve and oil pressure cylinders (60,60A); (C) pilot check valves (61,61A) positioned at the return path of lifting cylinders.

Description

Actuator for Standby Lift Stokes

1 is a schematic diagram of an automatic welding system in which an atmospheric lift stoke according to the present invention is used.

Figure 2 shows schematically the operation of the standby lift stoke according to the invention.

3 is a hydraulic circuit diagram of a drive system for driving the lift lift stock for standby according to the present invention.

* Explanation of symbols for main parts of the drawings

17a: Headlift Stoke 17b: Taillift Stoke

27,28: Table 29,30: Base

31-34: sensor 35: drive device

38: Motor 39,39A: Solenoid Valve

40: hydraulic tank 45: suction filter

48,49: Hydraulic pump 50,50A: Valve valve

57,57A: Check valve 58,58A: Flow control valve

59,59A: Regulator valve 61,61A: Pilot check valve

62,62A: Flow control valve 63: Fan cooler

The present invention relates to a driving device for a standby lift stoke for stoking a workpiece transported to each unit of a welding automatic system, and more particularly, a head and tail lift stoke using a lift device of a forklift. The present invention relates to a stand-by lift stoke which is installed to enable interlocking with unmanned conveying bogies and automatic robot jigs for welding robots, thereby greatly reducing the time for loading and unloading workpieces of unmanned conveying bogies. .

In general, in order to automatically weld a workpiece of a heavy weight such as an upper frame of an excavator, a feeder for conveying a workpiece, a fixing device for clamping a workpiece, and a load and unloading of a workpiece, which are operated by a program of a pre-input control device, There is a need for a device, and an unmanned transfer truck installed on a rail for automatically bringing the workpiece in and out of each device as described above is used.

However, in the conventional welding automatic system, when the temporary welded workpiece is placed on the loading stoke, the unmanned transfer truck installed on the rail moves, loads the workpiece loaded on the loading stoke and transfers it to the fixing device installed on the welding robot, and the workpiece is welded. When it is fixed as possible, welding work is carried out by the welding robot.When welding is completed, the unmanned transport cart moves to load the workpiece and transfers it to the take-out stoke.The unmanned transport cart moves to the import stoke again, and the welding work is completed. After loading, the welding is completed and the workpiece is moved to the welding robot in the exported state.

Therefore, the conventional welding automatic system is configured to load the workpiece that has been welded by the welding robot and transfer it to the take-out stock, and then load the workpiece loaded on the carry-in stock to transfer the workpiece to the welding robot, thereby loading and unloading the workpiece. It is inefficient because the work time is too long to load, and the welding robot is stopped while the workpiece is brought in and taken out from the welding robot. Thus, the expensive welding robot is unable to function again and the productivity is reduced. .

The present invention has been made in view of the problems of the prior art as described above, and an object of the present invention is a head, tail lift stoke which is synchronized to enable the interlocking use of the automatic jig and unmanned transport trolley for the welding robot of the welding automatic system By installing a standby lift stoke consisting of a workpiece, the loading and unloading time of the workpiece is shortened to provide a drive device for the standby lift stoke that can maximize the operation rate of the welding robot.

It is another object of the present invention to provide a driving device for a standby lift stoke which allows a safe loading of a workpiece since the speed and the positioning thereof are constantly controlled by the lifting of the head and the tail lift stoke operated by a hydraulic device. It is to

It is still another object of the present invention to provide a drive device for a standby lift stoke in which the cost of manufacturing is greatly reduced by applying a lift device of a forklift.

Characteristic of the stand-up lift stalk drive device according to the present invention for achieving the above object is, unmanned transfer cart 16 of the welding automatic system and the automatic jig for welding robot 9 is installed to be used unmanned In the driving device 35 of a liftable atmospheric lift stoke composed of a head and a tail lift stoke 17a (17b) on which a workpiece of the transport cart 16 is loaded and unloaded, the drive device 35 is hydraulically operated. The solenoid valves 39 and 39A are provided in the flow paths of the pumps 48 and 49 so as to synchronize the lifting speeds of the head and tail lift stokes 17a and 17b, and the solenoid valves 39 and 39A Check valves 57, 57A and flow control valves 58, 58A are installed in the flow path between the cylinders 60, 60A, and the pilots are installed in the return side flow paths of the lifting cylinders 60, 60A. The check valves 61 and 61A are interlocked with the return side flow paths of the solenoid valves 39 and 39A. Sikkim to the driving of the air lift for Stoke apparatus characterized by.

Hereinafter, with reference to the accompanying drawings, the driving apparatus for the standby lift stoke according to the present invention will be described in detail.

1 is a schematic diagram of an automatic welding system in which a standby lift stoke according to the present invention is used, and FIG. 2 is a view schematically showing the operation of the standby lift stoke according to the present invention, and FIG. This is a hydraulic circuit diagram of the hydraulic device used for the lift stoke.

The welding automatic system includes a plurality of ceiling driven multi-joint welding robots (1-4) installed in the X-axis direction and both head portions (5-8) of each of the welding robots so that the welding robots (1-4) can be welded. Automatic jig for welding robot (9-12) installed in the clamping part, carrying-in stoke (13) for handing over the temporary work and centering it, and carrying out the work completed by the robot from the unmanned transport truck Stokes 14, a control device 15 for automatically controlling the devices by pre-programmed input data, and an unmanned rail mounted on a rail for automatically bringing in and out a workpiece to each unit of the welding system. A standby lift stoke (17-20) consisting of a head and a tailstock provided between the conveyance bogie 16, the section between the welding robot automatic jig 9-12 and the unmanned conveyance bogie 16, and In the welding process Gajeop comprises a device 26 consisting of a paper that each gajeop (21-24) and the balance shuttle 25, which per.

In the above description, the standby lift stock 17-20 according to the present invention is provided with the head lift stock 17a facing the rail 54 in the longitudinal direction in which the transverse trolley 16a of the unmanned transport trolley 16 travels. ) And the tail lift stoke (17b), and the standby lift stoke (17a) has a head and tail stoke (17a) having tables (27) and (28), respectively, capable of moving up and down for loading a workpiece in common. 17b is installed on the bases 29 and 30, and on one side of the tables 27 and 28, sensors 31 and 32 for checking the loading of the workpiece are installed, The model is installed in a position where it can be detected in common, and at equal intervals of 100 mm in a predetermined position corresponding to the height of the tables 27 and 28 fixed to the head and tail lift stokes 17a and 17b. Positioning sensors 33 and 34 are provided.

On the other hand, the tables 27 and 28 of the standby lift stock 17 are loaded with the workpiece from the traveling trolley 16b while the transverse trolley 16a loads the workpiece to the automatic jig 9 for the welding robot. The lifter 35 is lifted at a predetermined height so that the vehicle can run, and the driving device 35 for synchronously operating the standby lift stoke 17 lifts to optimize the lifting speed and power of the standby lift stoke 17. Lifting of the lift stock 17 generated in accordance with the load deviation of the workpiece loaded on the table 27 and 28 and one motor 38 for driving each pump line 36, 37 of the stock 17. It is made of a solenoid valve (39) and installed to enable simultaneous operation or separate operation in preparation for the speed difference.

As shown in FIG. 3, the hydraulic circuit used in the driving device 35 has a magnet 41 formed at the bottom of the hydraulic tank, indicated by reference numeral 40, and a heater 44 and an oil gauge 42 on the side. ) And a drain cock 43 are attached to each other, and an air breather 56 is installed on the upper side of the tank 40, and a coupler is connected to a supply side pipe connected to the suction filter 45 installed in the tank 40. Hydraulic pumps 48 and 49 connected to the motor 38 through the ring 46 are installed.

The check valve 50 is connected to a supply-side hydraulic oil line connected to the pumps 48 and 49, and a cock 51 is connected to each of the pipes branched from the flow path between the check valve 50 and the pump 48. The pressure gauge 52 and the relief valve 53 are provided, respectively, and the check valve 50 is connected to the direction switching solenoid valve 39. A check valve 57, a flow control valve 58, and a regulator valve 59 are sequentially connected to the solenoid valve 39. The regulator valve 59 is connected to a hydraulic cylinder 60 having a limiting valve. Connected.

On the other hand, a pilot check valve 61 and a flow control valve 62 are connected to the return side pipe branch branched between the flow control valve 58 and the regulator 59, and the pilot check valve 61 ) And the return pipe of the solenoid valve 39 is connected to the outlet of the return pipe installed inside the hydraulic tank 40 through the fan cooler 63.

Since the hydraulic circuit of the tail lift stoke 17b shown on the right side of the drawing, centering on the fan cooler 63, is configured in the same way as the hydraulic circuit of the head lift stoke 17a shown on the left side, these symbols are referred to as heads. "A" is added to the symbols of the parts of the lift stock 17a and description of these configurations is omitted.

The hydraulic cylinders 60 and 60A operated as described above are selectively raised and lowered according to the switching of the solenoid valves 39 and 39A, that is, the rotational force of the motor 38 is coupled to the coupling 46. As the medium is transmitted to the pumps 48 and 49, the hydraulic oil of the tank 40 flows into the pumps 48 and 49 through the suction filter 45 and flows into the pumps 48 and 49. Hydraulic oil is to be introduced to the check valve 50 and the solenoid valve 39 sequentially through the supply side pipe.

On the other hand, the tables 27 and 28 of the head and tail lift stokes 17a and 17b are lifted, that is, the rising lines of the hydraulic cylinders 60 and 60A; Directional solenoid valve (39)-Check valve (57)-Flow control valve (58)-Regulator valve (59)-Hydraulic cylinder (60) is sequentially transmitted, and descending line: Directional solenoid valve (39)- It is transmitted to the pilot check valve 61-flow control valve 62-regulator valve (59).

Referring to the operation and effect of the driving device of the atmospheric lift stoke of the present invention configured as described above, the temporary welding of the welding system 26 through the temporary jig (21-24) of each of the temporary welding device 26. When the completed workpiece is loaded and centered, the centering completion signal of the loading stock 13 is transmitted to the control device 15 to determine whether the welding robot is welded and then determine the welding robot that needs to be loaded into the workpiece. .

By the control device 15, the unmanned conveyance trolley 16 checks the workpiece to be carried in and the place of the carry-on, and the traveling trolley 16b moves along the rail 55 in the transverse direction to the section of the carry-on stock 13. Stops, and the transverse trolley 16a mounted on the traveling trolley 16b travels along the rail 54 in the longitudinal direction and is centered on the carry-in stoke 13 to load the workpiece which is waiting, and then the traveling trolley 16b. The work is returned to the traveling cart 16b.

The traveling trolley 16b equipped with the transverse trolley 16a is stopped by moving to the welding robot section where the workpiece is to be carried along the rail 55 in the transverse direction, and the transverse trolley 16a is an automatic jig for welding robot ( 9), the head and tail lift stoke (17a) (17b) is to enter the first check whether the workpiece is loaded and whether it is possible to enter, by loading the welded workpiece from the automatic jig (9) for the welding robot When mounted on the head and tail lift stokes 17a and 17b, the tables 27 and 28 of the head and tail lift stokes 17a and 17b are raised to a predetermined height to stop, and the table 27 ( When 28) is completed, the traverse trolley 16a moves again to return to the traveling trolley 16b, loads the unwelded workpiece which is waiting, enters the automatic jig 9 for the welding robot, and the workpiece in the automatic jig 9 After loading, the welding Bot teuneun stops intended to start welding of the work piece, a table (16c) of the transverse balance (16a) is transferred to the centerline of the head and the tail lift stalk (17a) (17b) to fall into a predetermined position.

When the tables 27 and 28 of the atmospheric lift stock 17 which lifted the welded workpiece are lowered to a predetermined height so that the transverse bogie 16a can load the workpiece, the transverse bogie 16a loads the workpiece. By returning to the travel cart 16b, the unmanned transport trolley 16 travels and stops in the unloading stock 14 section along the rail 55 in the transverse direction, and the travel cart 16a stops at the travel cart 16b. The welded workpiece is loaded on the discharging stock 14 by deviating from the pump.

As described above, the driving device of the stand-by lift stoke 17 according to the present invention operates simultaneously with the solenoid valve 39 in preparation for the speed difference between the head and the tail lift stokes 17a and 17b according to the unloading load of the workpiece. Alternatively, by allowing the separate operation to be possible, the up and down speeds of the head and tail lift stokes 17a and 17b are controlled or controlled separately, and the standby lift stoke 17 is unmanned and conveyed by the automatic jig 9 for the welding robot. It is installed to enable interlocking use with the trolley 16, and the sensors for checking whether the workpiece is installed on one side of the tables 27 and 28 are detected by the 31 and 32 to detect the loading and unloading state of the workpiece. By doing so, it is possible to prevent a collision state between the transverse trolley 16a and the workpiece, which may be generated in the welding automatic system, in advance, and according to the load of the uneven workpiece loaded from the transverse trolley 16a (lift device 17a) ( 17b) The height difference of the tables 27 and 28 is to be synchronized with each other within 100 mm intervals, and when the speed difference of the tables 27 and 28 occurs out of the dimension range, the first table is raised to stop so that the workpiece falls. The risk is to be completely prevented.

As described above, the driving device for the standby lift stoke according to the present invention is fixed such that a table on which a workpiece is commonly loaded on the head and the tail lift stoke installed on the base is lifted, and the standby lift stoke is capable of controlling sequence. It is operated by the device.A) Loading and unloading the workpiece transferred to the unit of the welding system by installing a standby lift stoke so that it can be interlocked with the automatic jig for the welding robot and the unmanned transfer truck. Since the loading time is drastically shortened, the mass production of the product is possible, and the price thereof can be lowered.B) The production structure and labor cost of the lift lift stoke can be greatly reduced by applying the lift device of the forklift. For positioning several heads and tail lift stokes If one side of the lift stoke is disabled by the sensor, the other side of the lift stoke automatically stops, preventing the fall of the workpiece and thus preventing the safety accident of the worker.

Claims (1)

Head and tail lift stokes 17a for installing and unloading the workpiece of the unmanned conveying bogie 16 so as to be interlocked with the unmanned conveying bogie 16 of the welding automatic system and the automatic jig 9 for the welding robot. In the drive device 35 for a liftable atmospheric lift stoke made of 17b), the drive device 35 is provided with a head and a tail lift stoke 17a and 17b in a flow path of the hydraulic pumps 48 and 49. A solenoid valve 39 (39A) is provided to synchronize the lifting speed, and check valves (57) (57A) and flow control are provided in the flow path between the solenoid valves (39) (39A) and the hydraulic cylinders (60) (60A). The valves 58 and 58A are provided, and the pilot check valves 61 and 61A installed in the return side flow paths of the lifting cylinders 60 and 60A are connected to the return side flow paths of the solenoid valves 39 and 39A. A drive device for an atmospheric lift stoke, characterized in that it is formed in communication.