KR950010973B1

KR950010973B1 - Brazing bead cutting robot system

Info

Publication number: KR950010973B1
Application number: KR1019920025089A
Authority: KR
Inventors: 최종범; 정영걸
Original assignee: 현대자동차주식회사; 전성원
Priority date: 1992-12-22
Filing date: 1992-12-22
Publication date: 1995-09-26
Also published as: KR940013737A

Abstract

The robotic system cuts and removes the brazing bead built up in brazing of the vehicle parts such as a roof panel or a quarter panel. The system comprises a robot(1) controlled by a process controller(2); a cutting tool(10) mounted at the end of the robot in connection with a holder(14) of the motor shaft(12); a milling cutter(13) connected with a plurality of tips(25) on the holder; a block(13) assembled with the holder and milling cutter by using a taper bearing(19) and a bearing lock nut(20); a guide(15) assembled with the block by a precision adjusting screw(18); a pin(23) for fixing the block with a block case(23); air-supply hole(16) and air supply hole(17) for blowing the chips off.

Description

Brazing Bead Cutting Robot System

제1도는 본 발명의 로보트 시스템의 개략도.1 is a schematic diagram of a robotic system of the present invention.

제2도는 본 발명의 컷팅툴을 도시한 측 단면도.2 is a side cross-sectional view showing a cutting tool of the present invention.

제3(a)도,제3(b)도,제3(c)도는 각각 본 발명이 적용되는 자동차의 작업부위를 도시한 평면도와 작업전과 작업후의 단면도.3 (a), 3 (b), and 3 (c) are plan views and cross-sectional views before and after work, respectively, showing working parts of a vehicle to which the present invention is applied.

* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings

1 : 로보트 2 : 공정제어반1: Robot 2: Process Control Panel

10 : 컷팅툴 11 : 모터10: cutting tool 11: motor

12 : 회전축 13 : 밀링컷터12: axis of rotation 13: milling cutter

14 : 홀더 15 : 가이드14: holder 15: guide

16 : 부유공기공급공 17 : 칩배출 공기공급공16: floating air supply hole 17: chip discharge air supply hole

18 : 미세조정나사 19 : 테이퍼 베어링18: Fine adjustment screw 19: Taper bearing

20 : 베어링 고정록너트 21 : 블록20: Bearing lock nut 21: Block

22 : 블록 케이스 23 : 블록고정핀22: block case 23: block fixing pin

24 : 축고정홈 25 : 팁24: shaft fixing groove 25: tip

26 : 고정볼트 27 : 연결축26: fixing bolt 27: connecting shaft

본 발명은 자동차의 루프 패널(ROOF PANEL)과 쿼터 패널(QUARTER PANEL)의 브레이징 용접작업후 브레이징 용접비드를 제거하는 브레이징 비드컷팅 로보트 시스템(BRAZING BEAD CUTTING ROBOT SYSTEM)에 관한 것이다.The present invention relates to a brazing bead cutting robot system for removing brazing welding beads after brazing welding operations of a roof panel (ROOF PANEL) and a quarter panel (QUARTER PANEL) of an automobile.

일반적으로 자동차는 제3도에서 보는 바와 같이 루프 패널(100)과 쿼터 패널(102)의 가공작업시 접촉되는 부분을 브레이징 용접한 후 제품의 품질향상을 위하여 돌출된 브레이징 용접비드를 제거하여 제품의 형상을 미려하게 한다.In general, as shown in FIG. 3, an automobile brazes a part of a roof panel 100 and a quarter panel 102 to be contacted during a machining operation, and then removes a protruding brazing weld bead to improve the quality of the product. Make the shape beautiful.

종래에는 상기와 같은 작업을 할 때 루프 패널과 쿼터 패널을 브레이징 용접한 후 브레이징 용접비드를 작업자가 디스크 샌드 페이퍼(DISC SAND PAPER)를 부착한 에어 그라인더를 사용하여 갈아내 불필요한 브레이징 용접 비드를 제거하고 있어, 작업시 분진과 소음이 많이 발생함으로 인해 작업환경이 매우 좋지 않아 유해 작업기피 현상을 가져오고 수작업으로 인한 작업의 불정확성으로 인해 차체 패널을 손상하여 품질저하를 유발하며 작업시간이 많이 걸리는 등의 문제점이 있어왔다.Conventionally, when performing the above operation, after brazing welding the roof panel and the quarter panel, the worker grinds the brazing welding beads using an air grinder attached with a disc sand paper, and removes unnecessary brazing welding beads. The work environment is very poor due to the generation of dust and noise during the work, which leads to the avoidance of harmful work and the inaccuracy of the work due to the manual work, which causes the deterioration of the car body panel and causes the quality deterioration and takes much time. There has been a problem.

본 발명은 상기의 문제점을 해결하기 위하여 창안한 것으로 로보트에 컷팅툴을 부착하여 사용함으로써 브레이징 용접비드의 제거작업을 자동화하므로서 무인작업을 하여 작업방법을 개선하고 인원절감을 하여 투자 경제성을 가져오며 차체 패널의 손상을 방지하여 품질향상을 가져올 수 있도록 한 브레이징 비드컷팅 로보트 시스템을 제공하는데 본 발명의 목적이 있다.The present invention has been devised to solve the above problems by using a cutting tool attached to the robot to automate the removal of the brazing welding bead, thereby improving the working method by reducing the number of people and reducing the number of people, and bringing investment economy. SUMMARY OF THE INVENTION An object of the present invention is to provide a brazing bead cutting robot system capable of preventing damage to the panel and bringing improved quality.

이하 첨부된 도면에 의하여 본 발명의 바람직한 실시예를 상세히 설명하면 다음과 같다.Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

본 발명에 사용되어지는 로보트(1)는 제1도에 도시된 바와 같이 공정 제어반(2)에서 설정된 제어에 의해 작동되는 것으로, 이러한 로보트(1)는 기존에 많이 사용되어지고 있으므로 상세히 설명하지 않는다.The robot 1 used in the present invention is operated by the control set in the process control panel 2, as shown in FIG. 1. The robot 1 is not used in detail because it is used a lot. .

본 발명을 제2도를 바탕으로 상세히 설명하면 공정제어반(2)에 의해서 제어작동되는 로보트(1)에 있어서, 상기 로보트(1)의 끝단에 설치되는 컷팅룰(10)은, 모터(11)의 회전축(12)에 홀더(14)가 연결되고 홀더(14)에 수개의 팁(25)을 이용해 홀더(14)와 밀링컷터(13)는 블록(21)에 조립되고 베어링 고정록너트(20)에 의해 회전운동가능하게 고정되며, 상기 블록(21)에는 가이드(15)가 미세조정나사(18)에 의해 조립연결되고, 상기 블록(21)은 전후 슬라이딩 가능하게 블록케이스(22)에 조립되어 블록 고정핀(23)에 의해 고정되며, 블록케이스(22)와 블록(21)의 내부에 부유공기공급공(16)과 칩배출 공기공급공(17)을 형성하여 구성 설치되어지는 것으로 상기에서 가이드(15)는 왼나사 너트(18c)와 오른나사 너트(18b)와 왼나사와 오른나사를 혼합적용한 혼합너트(18a)로 이루어지는 미세조정나사(18)로 블록(21)에 고정함과 동시에 미세조정 가능토록 하고 가이드 자체에 핀을 부착해 미세조정나사(18)를 회전시키더라도 가이드(15)는 전후진운동을 하되 회전운동은 하지 않도록 하고, 상기에서 부유공기공급공(16)은 일정한 공기압을 공급하여 컷팅툴(10)이 차체 패널에 접촉시 역으로 힘이 작용되도록 하고 모터(11)에 키홈 두개를 가공하여 키에서 직선운동과 회전운동이 동시에 이루어지도록 하며, 칩배출 공기공급공(17)은 일정한 공기압을 공급하여 컷팅작업이 이루어지는 밀링컷터(13) 쪽으로 공기를 불어주고, 상기 홀더(14)와 블록(21) 및 블록케이스(22)를 통하여 축 고정홈(24)을 만들고 밀링컷터(13)를 홀더(14)에 탈장착이 가능하도록 고정볼트(26)로 조립하며, 상기 블록고정핀(23)이 고정되는 블록(21)에 10mm의 여유를 갖는 홈을 형성하고, 상기 베어링 고정록너트(20)는 두개의 너트와 하나의 와셔로 이루어지는 것으로 모터(11)의 회전시 풀리지 않도록 회전방향과 반대방향으로 나사가공을 하여 적용하고 너트와 너트사이에 풀림 방지 와셔를 삽입하며 홀더축에 홈을 만들어 와셔의 회전을 방지하고 상기 모터(11)의 회전축(12)의 길이를 별도의 연결축(27)을 나사 조립하여 연장하며, 공기의 공급은 솔리노이드 밸브를 적용하여 공기의 소모량을 최소화하고 부유 공기압력이 조절을 위해 밸브에 압력 조절게이지를 부착하며 칩배출 공기는 로보트의 기동시에만 작동되도록 한 것이다.The present invention will be described in detail with reference to FIG. 2 in the robot 1 controlled by the process control panel 2, and the cutting rule 10 provided at the end of the robot 1 is a motor 11. The holder 14 is connected to the rotating shaft 12 of the holder 14 and the holder 14 and the milling cutter 13 are assembled to the block 21 using several tips 25 to the holder 14 and the bearing fixing lock nut 20 It is fixed so as to be rotatable by the movement, the guide 21 is assembled to the block 21 by the fine adjustment screw 18, the block 21 is assembled to the block case 22 so as to slide back and forth. Is fixed by the block fixing pin 23, and is formed by forming a floating air supply hole 16 and a chip discharge air supply hole 17 in the block case 22 and the block 21. The guide 15 is composed of a left nut 18c, a right screw nut 18b, and a mixing nut 18a in which left and right screws are mixed. While the fine adjustment screw 18 is fixed to the block 21 and can be finely adjusted, and the pin is attached to the guide itself to rotate the fine adjustment screw 18, the guide 15 moves forward and backward but rotates. In the above, the floating air supply hole 16 supplies a constant air pressure so that when the cutting tool 10 comes into contact with the vehicle body panel, a force is reversed and two key grooves are machined on the motor 11 so that The linear motion and the rotational motion are simultaneously performed, and the chip discharge air supply hole 17 supplies a constant air pressure to blow air toward the milling cutter 13 where the cutting operation is performed, and the holder 14 and the block 21 are rotated. And the shaft fixing groove 24 is made through the block case 22, and the milling cutter 13 is assembled with the fixing bolt 26 to be detachably attached to the holder 14, and the block fixing pin 23 is fixed. In the block 21, a groove having a margin of 10 mm is formed, The bearing fixing lock nut 20 is composed of two nuts and one washer, and is applied by screwing in a direction opposite to the rotation direction so as not to be loosened when the motor 11 rotates. An anti-loosening washer is inserted between the nut and the nut. And by making a groove in the holder shaft to prevent rotation of the washer and extend the length of the rotating shaft 12 of the motor 11 by assembling a separate connecting shaft 27, the supply of air by applying a solenoid valve Minimize air consumption, float air pressure is attached to the valve to control the valve, and chip discharge air is operated only when the robot is started.

이와 같이 구성되는 본 발명의 작용효과를 상세히 설명하면 다음과 같다.Referring to the effects of the present invention configured as described in detail as follows.

본 발명은 루프 패널과 쿼터 패널의 브레이징 용접비드를 공정제어반(2)의 제어명령에 의해 로보트(1)가 동작하여 로보트(1)의 끝단에 설치된 컷팅툴(10)이 작동함으로서 브레이징 용접비드를 제거하는 것으로, 브레이징 용접비드 제거작업을 할 때 가이드(15)는 미세조정나사(18)를 조작함으로서 미세조정이 가능하여 차체 패널과 밀링커터(13)의 팁(25)과의 간격을 일정하게 유지시키며 차체 패널의 손상을 방지하고 부유공기공급공(16)으로 공급되는 부유공기압력은 차체의 오차, 왕복오차, 지그오차 및 로보트 반복오차 등을 흡수하여 컷팅툴(10)이 차체 패널의 브레이징 용접비드 부위를 절삭작업할 수 있도록 함은 물론 작업누락을 방지하고, 칩배출 공기공급공(17)으로 공급되는 칩배출 공기압은 비드의 절삭작업시 발생되는 칩이 테이퍼 베어링(19) 안으로 들어오는 것을 방지하며 컷팅작업이 이루어지는 쪽으로 공기압을 불어주어 절삭작업시 발생되는 팁(25)의 열을 냉각시키며 차체 패널에 발생되는 열을 냉각시키므로 차체의 변형을 방지할 수 있도록 한 것이다.According to the present invention, the brazing welding beads of the roof panel and the quarter panel are operated by the control command of the process control panel 2 so that the cutting tool 10 installed at the end of the robot 1 operates the brazing welding beads. When the brazing weld bead is removed, the guide 15 can be fine-tuned by manipulating the fine adjustment screw 18 so that the distance between the body panel and the tip 25 of the milling cutter 13 is constant. The floating air pressure supplied to the floating air supply hole 16 absorbs the error of the vehicle body, the reciprocation error, the jig error, and the robot repeating error, so that the cutting tool 10 brazes the body panel. It is possible to cut the weld bead, as well as to prevent work leakage, the chip discharge air pressure supplied to the chip discharge air supply hole 17 is the chip generated during the cutting operation of the bead into the tapered bearing (19) Prevents incoming and cooled the heat of the cutting operation the tip 25 is given blow generated during the cutting operation of the air pressure into the formed because the cooling heat generated in the vehicle body panel is a so as to prevent the deformation of the vehicle body.

상기와 같이 작용하는 본 발명에 의하면 공정제어반에 의해서 제어 작동되는 로보트의 끝단에 컷팅툴을 설치하여 브레이징 용접비드의 제거작업을 행함으로서 작업공정의 자동화로 무인작업을 할 수 있어 작업자를 유해환경이 존재하는 기피공정으로부터 해방시킬 수 있으며 자동공정의 전환으로 인원을 절감하여 인건비를 줄일 수 있음은 물론 불량률을 극소화하여 재료비를 절감하여 투자 경제성을 향상시키고, 수작업으로 인한 차체 패널의 손상 및 마찰열에 의한 차체의 변형을 방지하여 품질향상을 가져올 수 있는 등의 효과를 갖는 매우 우수한 발명인 것이다.According to the present invention that acts as described above by installing a cutting tool at the end of the robot controlled by the process control panel to remove the brazing welding bead can perform unmanned work by automation of the work process to reduce the worker's hazardous environment It can be freed from the existing evasion process, and the labor cost can be reduced by switching the automatic process, and the material cost can be reduced by minimizing the defective rate, thereby improving the investment economic efficiency, It is a very excellent invention having the effect of preventing the deformation of the vehicle body, such as to improve the quality.

Claims

In the robot 1 controlled by the process control panel 2, the cutting tool 10 installed at the end of the robot 1 is connected to a holder 14 connected to a rotating shaft 12 of the motor 11. The milling cutter 13 having several tips 25 installed on the holder 14 is connected, and the holder 14 and the milling cutter 13 are assembled to the block 21 using a tapered bearing 19, and the bearing lock The nut 20 is rotatably fixed, and a guide 15 is assembled to the block 21 by a fine adjustment screw 18, and the block 21 is capable of sliding back and forth. 22) is fixed by the block fixing pin 23, and the floating air supply hole 16 and the chip discharge air supply hole (17) formed in the block case 22 and the block 21, and installed Brazing non-cutting robot system characterized by.

2. The guide (15) according to claim 1, wherein the guide (15) is a fine adjustment screw (18) consisting of a left screw nut (18c), a right screw nut (18b), and a mixing nut (18a) in which left and right screws are mixed. Brazing is characterized in that the guide 15 is configured to make forward and backward movements but not rotational movements even when the fine adjustment screw 18 is rotated by attaching a pin to the guide itself. Bead cutting robot system.

2. The floating air supply hole (16) according to claim 1, wherein the floating air supply hole (16) supplies a constant air pressure so that the force is reversed when the cutting tool (10) contacts the vehicle body panel and the chip discharge air supply hole (17) supplies a constant air pressure. Air is blown toward the milling cutter 10 where the cutting operation is performed, and the air supply is attached to a solenoid valve that minimizes the consumption of air, and the chip discharge air is configured to operate only when the robot 1 is started. Brazing bead cutting robot system.

The fixing bolt 26 of claim 1, wherein the shaft fixing groove 24 is formed in the holder 14, the block 21, and the block case 22, and the milling cutter 13 is detachable from the holder 14. To form a groove having a margin of 10 mm in the block 21 to which the block fixing pin 23 is fixed, and the bearing lock nut 20 is composed of two nuts and one washer of the motor 11. Apply by screwing in the opposite direction of rotation to prevent loosening during rotation, and inserting the anti-loosening insert between the nut and the nut to make a groove in the holder shaft 14 to prevent the washer from rotating, and the rotating shaft 12 of the motor 11 Extends the length of the separate connecting shaft 27 by screw assembly and processing the two key grooves on the rotating shaft 12 of the motor 11 so that the holder 14 is installed in the key so that the linear movement and the rotational movement is made at the same time Brazing bead cutting robot system, characterized in that.