KR950007236B1 - Automatic setup device for welding robot - Google Patents
Automatic setup device for welding robot Download PDFInfo
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- KR950007236B1 KR950007236B1 KR1019920015087A KR920015087A KR950007236B1 KR 950007236 B1 KR950007236 B1 KR 950007236B1 KR 1019920015087 A KR1019920015087 A KR 1019920015087A KR 920015087 A KR920015087 A KR 920015087A KR 950007236 B1 KR950007236 B1 KR 950007236B1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/16—Loading work on to conveyors; Arranging work on conveyors, e.g. varying spacing between individual workpieces
- B23Q7/18—Orienting work on conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/14—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting co-ordinated in production lines
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Abstract
Description
제1도는 종래기술에 의한 용접자동 시스템의 개략도.1 is a schematic diagram of an automatic welding system according to the prior art.
제2도는 본 발명에 의한 용접로봇트용 자동셋엎장치가 사용되는 용접자동시스템의 개략도.2 is a schematic diagram of an automatic welding system in which an automatic settling device for a welding robot according to the present invention is used.
제3도는 본 발명에 의한 용접로봇트용 자동셋엎장치의 개략도.3 is a schematic diagram of an automatic set-up apparatus for a welding robot according to the present invention.
제4도의 (a) (b)는 본 발명에 의한 제3도의 요부발췌 정면도이다.(A) (b) of FIG. 4 is the front view of the main part excerpt of FIG. 3 by this invention.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
10∼13 : 가용접지그 14 : 셔틀대차10 ~ 13: Available grounding jig 14: Shuttle truck
15 : 가접장치 16 : 반입스토크15: welding apparatus 16: carry-on torque
17 : 횡행대차 18 : 주행대차17: running cart 18: running cart
19 : 무인반송대차 20∼23 : 자동셋엎장치19: unmanned transfer truck 20-23: automatic set up device
24∼27 : 대기용 리프트 스토크 28 : 잔여용접용 지그24 to 27: Standby lift stoke 28: Residual welding jig
29 : 반출스토크 30 : 제어장치29: carrying out stoke 30: control device
31,61 : 레일 32 : 헤드스토크31,61: Rail 32: Headstock
33 : 테일스토크 34,35 : 몸체33: tailstock 34,35: body
36,37 : 베이스 38,39,44,45 : 센서36,37 Base 38,39,44,45 Sensor
40,41 : 플레이트 42,43 : 테이블40,41: plate 42,43: table
46∼49 : 고정조오 50,51 : 좌,우이송장치46 ~ 49: Fixed jaw 50,51: Left and right feed device
52,53 : 유압실린더 54,55 : 엔코더52,53: Hydraulic cylinder 54,55: Encoder
56 : 유압푸셔 57,58 : 센서56: hydraulic pusher 57,58: sensor
59,60 : 유압장치59,60: Hydraulic device
본 발명은 용접자동 시스템에 사용되는 용접로봇트용 자동셋엎(set up) 장치에 관한 것으로, 더욱 상세하게는 굴삭기의 상부프레임을 용접로봇트에 의해 자동 용접하는 경우 용접로봇트 및 무인반송대차와 연동으로 작동되도록 헤드, 테일스토크로 이루어진 자동셋엎장치를 용접로봇트에 설치함으로서 공작물의 클램핑 및 센터링이 자동으로 이루어져 무인용접작업이 가능한 용접로봇트용 자동셋엎장치에 관한 것이다.The present invention relates to an automatic set up device for a welding robot used in an automatic welding system, and more particularly, when the upper frame of an excavator is automatically welded by a welding robot, the robot works in conjunction with a welding robot and an unmanned transport truck. The present invention relates to an automatic settling device for a welding robot, which is capable of unmanned welding by automatically clamping and centering a workpiece by installing an automatic settling device consisting of a head and a tailstock on a welding robot.
일반적으로 굴삭기의 상부프레임과 같은 중량체의 공작물을 자동용접하기 위해서는 미리입력된 제어장치의 프로그램에 의해 작동하는 공작물의 이송을 위한 이송장치와, 공작물의 클램핑을 위한 고정장치와, 공작물의 반입, 반출을 위한 장치가 필요하게 되며, 상기와 같은 각 장치에 공작물을 자동으로 반,출입시켜주는 레일상에 설치된 무인 반송대차가 사용된다.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 operated by a program of a pre-input control device, a fixing device for clamping the workpiece, a load in the workpiece, An apparatus for carrying out is required, and an unmanned conveyance trolley installed on a rail for automatically bringing in and out of a workpiece to each apparatus as described above is used.
그러나, 종래의 용접자동 시스템은 제1도에 도시한 바와같이, 수대의 용접로봇트(1∼3) 각각에 공작물 고정장치(positioner) (4∼6)를 설치하여 레일(7)상에 설치된 무인 반출입대차(8)로 반입스토크(9)에 대기중인 공작물을 용접로봇트(1)에 공급하도록 하고, 용접로봇트(1)에 용접작업이 완료되면 반출스토크(9a)로 공작물을 이동시키도록 되어 있다.However, in the conventional welding automatic system, as shown in FIG. 1, each of the several welding robots 1 to 3 is provided with a work positioner 4 to 6 to install on the rail 7 unmanned. The carry-on trolley 8 is configured to supply the workpiece waiting on the carry-in stoke 9 to the welding robot 1, and to move the work to the take-out stock 9a when the welding robot 1 is finished. .
상기와 같은 종래의 용접작동 시스템에 있어 공작물을 가접하여 반입스토크(9)에 위치시키면 레일상에 설치된 무인반출입 대차(8)가 이동하여 반입스토크(9)의 공작물을 고정장치(4)로 이송시키어 클램핑이 완료되면, 용접로봇트(1)로 용접을 하고, 용접이 완료되면 무인반출입대차(8)가 이동하여 용접이 완료된 공작물을 반출스토크(9a)로 이송을 시킨다. 그후, 무인반출입대차(8)는 다시 반입스토크(9)로 이동되어 대기중인 공작물을 적재시켜 상기 용접이 완료되어 공작물이 반출된 상태의 용접로봇트(1)로 이송시키는 일련의 동작을 반복하게 된다.In the conventional welding operation system as described above, when the workpiece is welded and placed on the loading stoke 9, the unloading cart 8 installed on the rail moves to transfer the workpiece of the loading stoke 9 to the fixing device 4. When the clamping is completed, the welding is carried out by the welding robot 1, and when the welding is completed, the unloading cart 8 moves to transfer the finished workpiece to the unloading stoke 9a. After that, the unloading and unloading cart 8 is moved to the loading stoke 9 again to repeat a series of operations for loading the workpiece waiting to be transferred to the welding robot 1 in which the welding is completed and the workpiece is taken out. .
따라서, 용접로봇트(1)에 의해 용접완료된 공작물은 무인 반,출입대차(8)로써 공작물 고정장치(4)에서 로딩하여 반출스토크(9a)에 이송시키는 동안, 공작물 고정장치(4)에는 공작물이 없게 되어 용접로봇트(1) 또한 작업중지상태이므로 용접로봇트의 연속적인 작업이 중단되어 제품의 대량생산이 어렵게 되는 문제점을 갖는 것이었다.Therefore, while the workpiece welded by the welding robot 1 is loaded from the workpiece holding device 4 by the unmanned semi-loading and loading cart 8 and transferred to the take-out stoke 9a, the workpiece holding device 4 has a workpiece. Since the welding robot 1 is also in the stopped state, the continuous work of the welding robot is interrupted, which makes it difficult to mass-produce the product.
본 발명은 상기와 같은 종래기술의 문제점을 감안하여 안출한 것으로, 본 발명에 의한 용접로봇트용 자동셋엎장치의 목적은, 용접로봇트에 헤드 및 테이스토크로 이루어진 용접로봇트용 자동셋엎장치를 설치함으로서 공작물의 반,출입과 이의 센터링 및 클램핑이 자동으로 이루어져 무인용접작업이 가능한 용접로봇트용 자동셋엎장치를 제공하는 데 있다.The present invention has been made in view of the problems of the prior art as described above, the object of the automatic robot settling device for welding robot according to the present invention, by installing the automatic robot settling device for welding robot consisting of the head and the take-stock in the workpiece It is to provide an automatic set-up device for a welding robot that can be unmanned and welded by automatically moving in and out and centering and clamping thereof.
본 발명의 다른 목적은, 용접로봇트 및 무인반송대차와의 사이에 이들과 연동작동이 가능하도록 설치된 용접로봇트용 자동셋엎장치에 의해 용접로봇트의 가동율을 극대화시킬 수 있는 용접로봇트용 자동셋엎장치를 제공하는 데 있는 것이다.Another object of the present invention is to provide an automatic settling device for a welding robot that can maximize the operation rate of the welding robot by the automatic settling device for the welding robot installed to enable interlocking operation with the welding robot and the unmanned transfer truck. It is to
상기와 같은 목적을 달성하기 위한 본 발명에 의한 용접로봇트용 자동셋엎장치의 특징은, 용접로봇트에 반입되는 공작물을 용접로봇트에 의해 자동 용접작업이 가능하도록 클램핑시켜주는 자동셋엎장치에 있어서, 용접로봇트에 공작물을 반,출입 시켜주는 횡행대차가 주행하는 종방향의 레일양측에 헤드스토크와 테일스토크로 이루어진 용접로봇트용 자동셋엎장치를 설치하되, 상기 헤드, 테일스토크는 전후 방향으로 이송되는 몸체와, 몸체에 고정되어 공작물을 셋팅시키는 테이블 및 테이블에 고정되어 공작물의 상면 및 측면을 클램핑시키는 각각의 고정조오를 구비한 좌,우 이송장치 설치되며, 좌,우 이송장치의 일측면에 공작물 Y축확인용 엔코더가 설치된 것이다.A feature of the automatic settling apparatus for a welding robot according to the present invention for achieving the above object is, in the automatic settling apparatus for clamping the workpiece carried in the welding robot to enable automatic welding operation by the welding robot, welding robot On the both sides of the longitudinal rail running transverse bogie to move the workpiece in and out, the automatic set-up device for the welding robot consisting of headstock and tailstock is installed, but the head and tailstock are transferred to the front and rear direction, The left and right feeders are installed with fixed table to fix the body and the table to set the work, and the fixing jaw fixed to the table to clamp the top and side of the work.Check the Y axis of the work on one side of the left and right feed. The encoder is installed.
이하, 본 발명에 의한 용접로봇트용 자동셋엎장치를 첨부도면을 참조하여 구체적으로 설명하면 다음과 같다.Hereinafter, with reference to the accompanying drawings, an automatic set-up apparatus for a welding robot according to the present invention will be described in detail.
제2도는 본 발명에 의한 용접로봇트용 자동셋엎장치가 사용되는 용접자동시스템의 계략도이고, 제3도는 본 발명에 의한 용접로봇트용 자동셋엎장치의 계략도이며, 제4도의 (a) (b)는 제3도의 요부를 발췌한 개략적인 정면도이다.2 is a schematic diagram of a welding automatic system in which an automatic settling apparatus for a welding robot according to the present invention is used, and FIG. 3 is a schematic view of an automatic settling apparatus for a welding robot according to the present invention, and FIG. ) Is a schematic front view of the main portion of FIG.
4단계의 가접공정 각각에 해당되는 가접용지그(10∼13)와 이들 사이에 설치되어 공작물을 자동으로 이송시키는 셔틀대차(14)로 이루어진 가접장치(15)와, 셔틀대차(14)로부터 반입되는 가접완료된 공작물을 적재하여 X, Y축으로 센터링시키는 반입스토크(16)와, 상기 반입스토크(16)로부터 공작물을 적재하여 종방향으로 이송하는 횡행대차(17)와 이를 탑제하여 횡방향으로 이송하는 주행대차(18)로서 이루어진 무인반송대차(19)와, 천정주행식 다관절 용접로봇트에 반입되는 공작물을 클램프시키는 용접로봇트 자동셋엎장치(20∼23)와, 상기 자동셋엎장치(20∼23)와 무인반송대차(19)사이에 설치된 대기용 리프트스토크(24∼27)와, 용접완료되어 반출되는 공작물을 받아 잔여용접용 지그(28)에 이송시키는 반출스토크 컨베이어(29)와, 상기 각 장치들을 미리 입력된 프로그램에 의해 자동으로 제어하는 제어장치(30)로 용접자동 시스템을 이루게 된다.Bringing in from the shuttle cart 14 and the temporary welding device 15 which consists of the temporary welding jig 10-13 corresponding to each of the four steps of the temporary welding process, and the shuttle trolley 14 installed between them, and conveys a workpiece automatically. A carry-on stoke 16 which loads a tentatively finished workpiece to be centered in the X- and Y-axis, and a transverse bogie 17 which loads a work-piece from the carry-in stoke 16 in the longitudinal direction and transfers it in a transverse direction. Unmanned conveyance trolley (19) consisting of a traveling trolley (18), a welding robot automatic settling device (20 to 23) for clamping a workpiece to be carried in a ceiling articulated articulated welding robot, and the automatic settling device (20 to 23). And lift lift conveyors (24 to 27) installed between the unmanned transfer truck (19), the take-out stock conveyor (29) for receiving the workpieces welded and carried out to the remaining welding jig (28), Pre-entered devices The automatic welding system in automatic control unit 30 for controlling by a program is formed.
상기 용접로봇트용 자동셋엎장치(20∼23)는 가접완료된 공작물을 용접작업할 수 있도록 용접로봇트에 반, 출입시켜주는 횡행대차(17)가 주행하는 종방향의 레일(31)양측에 헤드스토크(32)와 테일스토크(33)를 각각 설치하되, 헤드, 테일스토크(32) (33)에는 상기 레일(31)을 중심으로 지면에 설치된 베이스(36) (37)에 대해 전,후방향으로 슬라이딩식으로 이송되는 몸체(34) (37)에 대해 전,후방향으로 슬라이딩식으로 이송되는 몸체(34) (35)가 형성되고, 상기 몸체(34) (35)가 설치된 베이스(36) (37)의 양단부 상면에는 자동셋엎장치의 원점신호용 센서(38)(39)가 설치되며, 상기 몸체(34) (35)에 형성된 좌,우이송장치(50) (51)에 공작물이 안착되는 플레이트(40) (41)를 구비한 테이블(42) (43)이 형성되며, 상기 플레이트(40) (41)에는 공작물의 적재유무 확인용센서(44) (45)가 설치된다.The automatic robot setter device 20 to 23 for the welding robot has headstocks on both sides of the rail 31 in the longitudinal direction in which a transverse trolley 17 for moving in and out of the welding robot so as to weld the completed work is welded. 32) and tailstocks 33, respectively, but the head and tailstocks 32 and 33 slide forward and backward with respect to the bases 36 and 37 provided on the ground with respect to the rails 31. Body (34) (35) which is slidably transferred forward and backward with respect to the body (34) (37) to be conveyed in the form is formed, the base (36) (37) provided with the body (34) (35) On the upper surface of both ends, the sensor 38 and 39 for the origin signal of the automatic set-up device is installed, and the plate on which the workpiece is seated on the left and right feed devices 50 and 51 formed on the bodies 34 and 35. 40) Tables 42 and 43 having 41 are formed, and the plates 40 and 41 are provided with sensors 44 and 45 for checking whether a workpiece is loaded. .
상기 테이블(42) (43)에 안착되는 공작물의 상면 및 측면을 클램핑시키는 각각의 고정조오(46) (47) (48) (49)가 구비된 좌,우 이송장치(50) (51)가 몸체(34) (35)에 공작물에 대해 종방향으로 슬라이딩식으로 이송가능토록 고정되며 상기 공작물을 클랭핑시키는 상면 고정조어(46) (47)에는 유압실린더(52) (53)가 각각 설치되며, 상기 좌,우 이송장치(50) (51)의 양측면에는 테이블(42) (43)에 안착되는 공작물의 Y축 센터링 확인용 엔코더(54) (55)가 설치된다.Left and right transfer devices 50 and 51 with respective fixing jaws 46, 47, 48 and 49 for clamping the upper and side surfaces of the workpiece seated on the table 42 and 43 are Hydraulic cylinders 52 and 53 are respectively installed in the upper surface fixing gears 46 and 47 that are fixed to the bodies 34 and 35 so as to be slidably transportable in the longitudinal direction with respect to the workpiece. On both sides of the left and right transfer devices 50 and 51, encoders 54 and 55 for confirming the Y-axis centering of the workpiece seated on the tables 42 and 43 are installed.
한편, 상기 테일스토크(33)의 좌,우 이송장치(50)에 형성된 측면고정조오(48) 후방에 이와 수직으로 유압푸셔(56)를 설치하되, 유압푸셔(56)에는 이의 전진 상한점 및 원점위치를 감지하는 센서(57)가 설치되며, 상기 헤드스토크(32)의 좌,우이송장치(51)에 설치된 공작물의 상면 고정조오(47)하측에는 테이블(42) (43)에 적재된 공작물이 테일스토크(33)에 설치된 유압푸셔(56)의 푸싱에 의해 헤드스토크(32)로 밀리때 이를 감지하는 공작물 접촉유무 확인용 센서(58)가 설치되며, 상기 몸체(34) (35)에는 용접로봇트용 자동셋엎장치에 설치된 각종부품을 유압으로 작동시키는 유압장치(59) (60)가 내장된 것이다.On the other hand, the hydraulic pusher 56 is vertically installed at the rear of the side fixing jaw 48 formed at the left and right transfer devices 50 of the tailstock 33, but the hydraulic pusher 56 has its forward upper limit and A sensor 57 for detecting the home position is installed, and is mounted on the table 42 and 43 below the upper surface fixing jaw 47 of the workpiece installed in the left and right feeders 51 of the headstock 32. When the workpiece is pushed to the headstock 32 by pushing the hydraulic pusher 56 installed on the tailstock 33, a sensor 58 for detecting the workpiece contact is installed, and the body 34 (35) There is a built-in hydraulic device (59) (60) for hydraulically operating the various parts installed in the automatic set-up device for the welding robot.
상기와 같이 구성되는 본 발명의 용접로봇트용 자동셋엎장치의 작용 및 효과를 설명하면, 소정의 가접공정을 거쳐 가접완료되는 공작물이 셔툴대차(14)에 의해 반입스토크(16)에 반입되어져 공작물의 X,Y축 센터링이 실시되며, 공작물의 센터링이 완료되면 공작물의 모델명을 나타내는 신호가 용접자동시스템을 자동으로 제어하는 제어장치(30)로 전송되어 공작물의 반입을 필요로 하는 용접로봇트를 결정한다.Referring to the operation and effects of the automatic robot settling apparatus for welding robot of the present invention configured as described above, the workpiece that is temporarily welded through a predetermined welding process is carried into the loading stock 16 by the shovel tool 14 to the workpiece X and Y axis centering is performed, and when the centering of the workpiece is completed, a signal indicating the model name of the workpiece is transmitted to the control device 30 which automatically controls the welding automatic system to determine the welding robot requiring the workpiece. .
공작물을 필요로 하는 용접로봇트를 결정한 제어장치(30)의 판단에 의해 횡방향의 레일(61)상에 위치하는 무인반송대차(19)가 반입스토크(16)구간으로 이동하여 정지한 후, 횡행대차(17)가 반입스토크(16)로 진입하여 가접완료되어 대기중인 공작물로 로딩시켜 주행대차(18)에 복귀완료한다.After the unmanned conveyance trolley 19 located on the rail 61 in the transverse direction stops by moving in the loading stoke section 16 at the judgment of the control device 30 that determines the welding robot that requires the workpiece, The trolley | bogie 17 enters the carry-in stoke 16, is temporarily completed, is loaded with the workpiece | work which is waiting, and completes return to the traveling trolley | bogie 18.
횡행대차(17)를 탑재한 주행대차(18)는 제어장치(30)에 의해 용접할 수 있는 용접로봇트 구간으로 이동하여 정지하게 되며, 공작물을 로딩한 횡행대차(17)는 용접로봇트쪽으로 진입하여 용접로봇트용 자동셋엎장치(20)의 센터라인에 정지하며, 횡행대차(17)가 미리 프로그램화된 높이로 리프팅됨에 따라 자동셋엎장치의 헤드 및 테일스토크(32) (33)가 공작물을 클램핑시키기 위해 내측방향으로 전진하여 횡행 대차(17)에 적재된 공작물이 테이블(42)(43)의 플레이트(40) (41)에 안착되면, 횡행대차(17)는 하강하여 본래 높이로 정지하게 되며 공작물 좌,우 이송장치(50)(51)는 공작물의 Y축 방향의 클램핑을 시작하게 된다.The traveling trolley 18 equipped with the transverse trolley 17 moves to the welding robot section which can be welded by the control device 30 to stop, and the transverse trolley 17 loaded with the workpiece enters the welding robot side. It stops at the center line of the automatic settling device 20 for the welding robot, and the head and tailstocks 32 and 33 of the automatic settling device clamp the workpiece as the transverse trolley 17 is lifted to a preprogrammed height. When the workpiece loaded in the traverse trolley 17 is advanced to the plate 40 and 41 of the tables 42 and 43, the traverse trolley 17 descends and stops at its original height. The left and right feeders 50 and 51 start clamping in the Y-axis direction of the workpiece.
즉, 테일스토크(33)의 유압푸셔(56)가 전진하여 공작물을 헤드스토크(32)쪽으로 밀게되어 헤드스토크(32)의 공작물 상면 고정조오(47)에 형성된 센서(58)에 의해 공작물의 센터링이 완료되는 것이며, 횡행대차(17)는 후진하여 주행대차(18)에 복귀하며 공작물의 수직클램핑용 유압실린더(52) (53)의 하강에 의해 공작물의 상면 클램핑이 완료됨에 따라 용접로봇트는 용접을 행하게 된다.That is, the hydraulic pusher 56 of the tailstock 33 is advanced to push the workpiece toward the headstock 32 so that the centering of the workpiece is performed by the sensor 58 formed on the workpiece upper surface fixing jaw 47 of the headstock 32. Is completed, the transverse trolley 17 is reversed and returned to the traveling trolley 18, and the welding robot is welded as the upper surface clamping of the workpiece is completed by the lowering of the hydraulic cylinders 52 and 53 for vertical clamping of the workpiece. Will be done.
그리고, 용접작업이 완료되면 주행대차(18)로부터 횡행대차(17)가 용접로봇트용 자동셋엎장치쪽으로 이동하여 이의 센터라인에서 정지함에 따라, 공작물을 클램핑시킨 상면 및 측면 고정조오(46) (47) (48) (49)가 본래위치로 후진하여 정위치에 정지하며, 횡행대차(17)가 소정의 높이로 리프팅 완료하면 헤드 및 테일스토크(32) (33)는 후진하여 정위치에 정지하고 용접완료된 공작물을 적제한 횡행대차(17)는 후진하여 주행대차(18)로 복귀함에 따라 용접완료 된 공작물을 받아 잔여용접지그(28)에 이송시키는 반출스토크(29)로 이송을 하게 되어 공작물을 반출시키게 되는 것이다.When the welding operation is completed, the transverse trolley 17 moves from the traveling trolley 18 toward the automatic robot settling device for the welding robot and stops at its center line. (48) (49) retracts to the original position and stops in the right position. When the transverse trolley (17) completes lifting to the predetermined height, the head and tailstock (32) (33) retreats and stops in the correct position. The transverse trolley 17 having the welded workpiece loaded therein moves back to the traveling trolley 18 and transfers the workpiece to the unloading stoke 29 which receives the welded workpiece and transfers it to the remaining welding jig 28. It is to be taken out.
이상에서와 같은 본 발명에 의한 용접로봇트용 자동셋엎장치는 용접로봇트에 반입되는 공작뭉를 용접작업이 가능하도록 클램핑시켜주는 것에 있어서, 용접로봇트에 공작물을 반,출입시켜주는 횡행대차가 주행하는 종방향의 레일양측에 헤드스토크와 테일스토크로 이루어진 용접로봇트용 자동셋엎장치를 설치하되, 상기 헤드, 테일스토크에 전,후 방향으로 이송되는 몸체가 형성되고, 몸체에 공작물을 셋팅시키는 테이블 및 테이블에 셋팅되는 공작물의 상면 및 측면을 클램핑시키는 각각의 고정조오가 구비된 좌,우 이송장치가 각각 설치된 것이며, 용접로봇트에 설치된 헤드 및 테일스토크로 이루어진 용접로봇트용 자동셋엎장치에 의해 공작물의 무인용접작업이 가능하므로 용접작업에 필요한 인건비가 대폭적으로 절감되며, 용접로봇트 및 무인반송대차와 연동작동이 가능한 자동셋엎장치에 의해 용접로봇트의 비작업시간을 최소화시킴으로서 제품의 제품의 대량생산이 가능하여 이의 가격을 낮출수가 있는 것이다.Automatic set-up device for a welding robot according to the present invention as described above in the clamping the workpiece to be carried in the welding robot to enable the welding operation, the longitudinal direction in which the transverse trolley for transporting the workpiece into and out of the welding robot travels Install the automatic set-up device for the welding robot consisting of the headstock and tailstock on both sides of the rail, the body is formed in the head, the tailstock is transferred to the front and rear directions, and set on the table and the table for setting the workpiece on the body The left and right transfer devices are provided with respective fixing jaws for clamping the upper and side surfaces of the workpiece, and the unmanned welding work of the workpiece is performed by an automatic set-up device for the welding robot, which consists of a head and a tailstock installed on the welding robot. As a result, labor cost required for welding work is greatly reduced, welding robot and unmanned Song balance and the interlocking operation is capable of automatically seteop mass production of products of sikimeuroseo minimizing the non-working time of the welding device by a Robot product will be that can lower the price thereof.
Claims (2)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019920015087A KR950007236B1 (en) | 1992-08-21 | 1992-08-21 | Automatic setup device for welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019920015087A KR950007236B1 (en) | 1992-08-21 | 1992-08-21 | Automatic setup device for welding robot |
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| Publication Number | Publication Date |
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| KR940003667A KR940003667A (en) | 1994-03-12 |
| KR950007236B1 true KR950007236B1 (en) | 1995-07-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695188A (en) * | 2016-12-14 | 2017-05-24 | 柳州振业焊接机电设备制造有限公司 | Automatic welding system and method |
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1992
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695188A (en) * | 2016-12-14 | 2017-05-24 | 柳州振业焊接机电设备制造有限公司 | Automatic welding system and method |
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