KR100674578B1 - Automation process for welding process and control method - Google Patents

Abstract

The present invention relates to an automated device and a control method for a welding process, and more particularly, a welding machine installed in a transfer bogie automatically performs welding on a workpiece to shorten the time required for welding and to shorten the movement path of the transfer bogie. The present invention relates to an automated device for a welding process and a control method thereof, which can improve the efficiency of a welding operation.

In the automated device for welding process according to the present invention, since the spot welding machine is installed in the feed cart itself, the number of welding robots required for welding is significantly reduced. Therefore, it is possible to construct a system that can reduce the initial capital investment cost and minimize maintenance costs by minimizing the robot calibration requirements. In addition, the movement path of the conveyance bogie for the transfer of the workpiece is simple and the installation area can be minimized.

Feed cart, welding, workpiece, spot welder, rail, work position, loading position, standby position.

Description

AUTOMATED APPARATUS FOR WELDING PROCESS AND METHOD FOR CONTROLLING THEREOF}

1 is a planar view of one embodiment of an automated device for a welding process according to the present invention

2 is a working flowchart of an embodiment of a method for controlling an automation device for a welding process according to the present invention.

3 is a planar view of another embodiment of an automated device for a welding process according to the present invention;

4 is a working flowchart of another embodiment of the method for controlling the automation device for a welding process according to the present invention.

5 is a planar view of a welding process automation apparatus according to the prior art

<Description of the symbols for the main parts of the drawings>

100, 110, 120 Rail 150, 160 Rail Changeover

300 Feeding and conveying device 400 Intermediate welding device

500, 510 feed cart 600, 610 spot welder

The present invention relates to an automated device and a control method for a welding process, and more particularly, a welding machine installed in a transfer bogie automatically performs welding on a workpiece to shorten the time required for welding and to shorten the movement path of the transfer bogie. The present invention relates to an automated device for a welding process and a control method thereof, which can improve the efficiency of a welding operation.

Production of metal products often involves welding processes. For example, in the production process of automobiles, the body is assembled by welding the panel assembly. Since the panel assembly is manufactured by welding the sub-assembly again, the welding process occupies a large portion in the automobile production process, and an automation system for a welding process using a transfer cart according to the prior art is used to improve productivity through automation of the welding process. have.

In order to construct an automated system for the welding process, a lot of facility investment costs are required, and thus a system capable of efficiently welding the workpiece is required. Patent No. 10-0397970, "Balancing system of welding line," was developed for this purpose.

Referring to Figure 5 briefly described the automation system for a welding process according to the prior art disclosed in the patent as follows.

The automation system for a welding process according to the prior art includes a trolley | bogie waiting process part S, the component loading process part L, the 1st welding process part W1, the 2nd welding process part W2, and a rail. (R) and the welding robot 10 and the bogie. In the trolley | bogie waiting process part S, the branch process part P is arrange | positioned at the center, and the 1st-4th bogie intermediate | middle atmospheric process part S1, S2, S3 arrange | positioned to the front-back, left-right side centering on the branch process part P. , S4) and the first to fourth bogie waiting holes disposed adjacent to the third and fourth bogie middle waiting process parts S3 and S4 to the left and right sides of the first and second bogie middle waiting process parts S1 and S2. It consists of governments (D1, D2, D3, D4). And the component loading process part is arrange | positioned in front of the 1st bogie intermediate | middle atmospheric process part S1, and sequentially loads a subassembly to a trolley | bogie. In addition, the first welding process unit W1 is disposed to the left side of the third bogie middle standby process unit S3 to primary weld the sub-assemblies sequentially loaded on the bogie in the component loading process unit L. The 2nd welding process part W2 is arrange | positioned to the right side of a 4th bogie intermediate | middle atmospheric process part, and secondary-welds the subassembly primary welded by the 1st welding process part W1. In order to weld a panel in the 1st welding process part W1 and the 2nd welding process part W2, respectively, the some welding robot 10 provided with the welding machine 11 is needed. Each process unit is configured to be connected through a rail (R) so that a large number of carts can proceed.

The transfer bogie system of the welding line according to the prior art as described above is subdivided into the welding process to weld over two stages, and freely arrange the bogie for the main and non-main production models so as to increase the activity of the bogie. It has the effect of reducing unnecessary capital investment costs for production vehicles.

However, the automated system for a welding process according to the prior art takes a long time for the welding process because the movement path of the feed cart is complicated. In addition, the trolley waiting process is complicated, which increases the area occupied by the system. In addition, although the welding operation is automated to be performed by a plurality of welding robots equipped with a welding machine, there are many points to be welded on a sub assembly, which is a work piece, or the shape of the sub assembly is complicated. Frequently you can't. Therefore, in order to build an automated system for one welding process, a plurality of welding robots are required, and the initial facility investment cost is increased. In addition, since each welding robot performs welding while moving a plurality of points on the workpiece, it is not easy to control the robot, the time required for welding work is long, and the operation accuracy of the welding robot decreases as time passes. Since welding is not possible, the welding quality is also degraded. Therefore, in order to maintain the welding quality at a certain level, robot calibration must be performed regularly, which leads to an increase in system maintenance cost.

And the welding system automation system according to the prior art presupposes to manufacture the panel assembly by welding the sub-assembly through two welding operations consisting of the first primary welding and the second main welding. That is, in a process requiring three or more times of welding, the trolley accommodating the subassembly has to be repeatedly moved several times between the first welding process part, the second welding process part, and the component loading process part. For example, a panel assembly manufactured by welding a second subassembly to a first subassembly, and then welding a third assembly while inserting another component such as a sound insulation plate, is loaded with a transfer bogie system of a welding line according to the prior art. Load the first subassembly and the second subassembly in the process part, move to the first welding process part to weld the first subassembly and the second subassembly, move to the second welding process part, undergo main welding, and then the parts After returning to the loading process section, the sound insulation plate and the third sub-assembly are additionally loaded, and then the welding process is performed in the first welding process section and the main welding process in the second welding process section. Therefore, in the process requiring three or more welding, the movement path of the trolley becomes more complicated and the time required for welding increases, so there is a problem in that it is not expected to improve the production efficiency.

The present invention has been made to solve the problems of the prior art as described above, an object of the present invention is to provide a welding process automation device that can improve the efficiency of the welding operation by simplifying the movement path of the trolley.

Another object of the present invention is to provide an automated device for a welding process that can minimize the number of welding robots required to reduce equipment investment costs and maintenance costs.

Still another object of the present invention is to provide a control method capable of efficiently controlling an automation device for a welding process.

An automatic device for a welding process according to the present invention includes a standby position where a transfer bogie is waiting, a loading position for loading a workpiece on the transfer bogie, and a work position arranged between the standby position and the loading position, A welding process automation system comprising a rail for guiding the transfer bogie to move between a position and a loading position and a work position, the workpiece being welded to the workpiece when the transfer bogie is in the working position of the rail. It characterized in that it further comprises a spot welder for. And the welding device automation apparatus according to the invention preferably further comprises a take-out and transfer device for taking out the workpiece from the transfer bogie and transfer to the subsequent process when the transfer bogie is in the working position. In the automated device for welding process according to the present invention, if the take-out and transfer device further includes an intermediate welding device for welding the workpiece while transferring the workpiece, it is preferable because the number of welding can be increased. In this case, it is preferable that the take-out and transfer device is a multi-joint robot, and the intermediate welding device is a spot welder that is settled in place, because it minimizes the capital investment.

In the control method of the automated device for welding process according to the present invention, a standby position where the transfer trolley with a spot welder is waiting, a loading position for loading a workpiece in the transfer trolley, and an operation disposed between the standby position and the loading position 18. An automated system for a welding process comprising a rail having a position and guiding the transfer bogie to move between the standby position and a loading position and a work position, the step of moving the transfer bogie from the standby position to a loading position. And loading the workpiece on the transfer bogie positioned at the loading position of the rail, moving the transfer bogie on which the workpiece is loaded to the working position of the rail, and the transfer bogie being stopped at the working position. When the spot welder installed in the conveying bogie welds the workpiece, and the takeout and conveying device is transferred to the conveying bogie. Emitter characterized in that it comprises the step of taking out the welding of the workpiece.

In order to perform the welding operation repeated several times, the welding system automation system according to the present invention, respectively, the standby position waiting for the transfer bogie, the loading position for loading the workpiece on the transfer bogie, and between the standby position and the loading position A first row rail and a second row rail having a work position disposed in the first position and guiding the transfer cart to move between the standby position, the stacking position and the work position, and spaced apart from each other; And a spot welder installed in each of the second row rails to transport the workpieces, and between the first and second row rails, and taking out the workpieces from the transfer bogies of the first row rails. A take-out and transfer device for transferring the rail to a transfer bogie, and an intermediate welding table installed between the pair of rails and welding the workpiece while the take-out and transfer device transfers the workpiece. It is characterized by including a tooth. At this time, it is preferable that the takeout and transfer device is a multi-joint robot, and the intermediate welding device is a spot welder that is settled in place, because it minimizes the capital investment.

And in order to perform the welding operation repeated several times, the control method of the automation device for a welding process according to the present invention, the standby position where the first transfer bogie with the spot welder is waiting, and loading the workpiece in the first transfer bogie The first position of the first row rail having a loading position and a working position disposed between the waiting position and the loading position and guiding the first transport cart to move between the waiting position and the loading position; Moving a transport cart from the standby position to a stacking position; loading a workpiece on the first transport cart located at a stacking position of the rail; and working the rail on the first transport cart on which the workpiece is loaded. Moving to a position, and the spot welder installed in the first conveying bogie to weld the workpiece when the first conveying bogie is stopped at the working position. And a standby position where the second transfer bogie on which the spot welder is installed is waiting, a loading position for loading additional workpieces on the second transfer bogie, and a working position arranged between the standby position and the loading position, Moving the second transport cart of the second row rail from the standby position to the work position to guide the second transport cart to move between the standby position and the stacking position and the work position; Extracting the welded workpiece from the first transport cart and loading the welded workpiece on the second transport cart; moving the second transport cart from the working position to a stacking position; and the second moved to the stacking position. Stacking additional workpieces on a transfer cart, moving the second transfer cart on which the additional workpieces are loaded to a working position, and Characterized in that a welding machine comprising: a stage, a second takeout and transfer device for welding the workpiece and additional workpieces taken out of the welded workpieces from the second transport vehicle. In the control method of the automated device for welding process according to the present invention, for performing an additional welding operation, the intermediate method is provided between the first row and second row rails while the first takeout and transfer device takes out and transports the workpiece. Preferably, the welding apparatus further includes welding the workpiece. In order to further add the number of welding operations, the spot welder installed in the second transfer bogie when the second transfer bogie is stopped at the working position before moving the second transfer bogie from the working position to the loading position. Preferably it further comprises the step of welding the workpiece.

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the automated device for welding process according to the present invention.

1 is a planar view of one embodiment of an automated device for a welding process according to the present invention.

Rail 100 is to guide the transport cart 500 to move, the waiting position (S), the waiting position of the transport bogie, the loading position (L) for loading the workpiece in the transport bogie, and between the waiting position and the loading position It is provided with the work position W arrange | positioned at.

The transport cart 500 loads the workpiece 50 such as a subassembly and moves between the standby position S, the loading position L, and the working position W along the rail 100. In particular, the feed cart 500 is provided with a spot welder 600 for welding the workpiece (50, 51, 52). Loading of the workpiece 50 on the transport cart 500 may be made by the operator 30 or may be made by a separate loading robot.

The takeout and transfer apparatus 300 is for taking out a workpiece from the transfer cart and transferring it to a subsequent process when the transfer cart is at the work position W, and preferably, a general articulated robot.

Intermediate welding device 400 is a conventional spot welder, fixed in place and only the welding tip is movable enough to weld the same point in the space. In other words, it does not have to be a complex device with multiple joints, such as a welding robot. This is because the take-out and transfer apparatus 300, which is a multi-joint robot, may position a point where welding on the workpiece is required before the welding tip of the spot welder while transferring the workpiece.

Referring to Figure 2 showing the working flow diagram of an embodiment of the method for controlling the automation system for welding process according to the present invention, the operation of the automation system for welding process according to the present invention, first transfer rail 500 to the rail (100) ) Moves from the standby position (S) to the stacking position (L) via the working position (W) (S11). In the stacking position L, the worker 30 loads the workpiece 50 to be welded to the feed cart 500 (S12). When the workpiece is loaded, the transfer cart 500 is moved from the loading position L to the working position W (S13). When the feed cart 500 stops at the work position W, the spot welder 600 installed in the feed cart 500 performs welding on a predetermined point of the workpiece (S14). When the welding is completed in the transfer cart 500, the takeout and transfer apparatus 300 approaches the transfer bogie to take out the workpiece and then transfers it for the subsequent process (S15). At this time, the take-out and transfer device 300 is preferably a multi-joint robot. In addition, it is preferable that the intermediate welding device 400 performs welding again on the workpiece while the takeout and transfer device 300 transfers the workpiece for subsequent processing. By controlling the automation system for a welding process according to the present invention to go through the above operating procedure, the welding is performed automatically once or twice.

3 is a planar view of another embodiment of an automation system for a welding process according to the present invention.

The first row rail 110 guides the first transport cart 500 to move, and the workpieces 50 and 51 are placed in the standby position S at which the first transport cart 500 waits and the first transport cart. ) And a working position (W) disposed between the standby position and the loading position.

The first row rail 110 is provided with a pair of a standby position (S), a loading position (L) and a working position (W), respectively. 500 may also be provided with a plurality, and the welding operation is possible at once for the workpieces 50, 51 of different types. However, when a plurality of positions are provided, it is preferable that the standby position S and the loading position L are disposed at right angles with respect to the working position W. In this case, the working position W may be (500) It should be provided with a rail switching device 150 to switch the direction of movement. Similarly, the rail switching device 160 is also required at the work position W of the second row rail 120. Each rail switching device (150, 160) can apply a known technique, so a detailed description of the specific configuration is omitted.

In addition, the second row rail 120 guides the second transport cart 510 to move, and the standby position S at which the second transport cart 510 waits to be symmetrical with the first row rail 110. And a loading position L for loading the additional work piece 52 into the second transport cart 510, and a working position W disposed between the standby position S and the loading position. The standby position, the loading position and the working position of the second row rail 120 may also be provided in plural as in the first row rail 110. In addition, unlike the first row rail 110, the additional workpiece 52 is loaded at the loading position L of the second row rail 120, and a representative example of the additional workpiece may include a sound insulation plate. The second row rail 120 does not necessarily need to be symmetrical with the first row rail 110 and may increase or decrease the number of standby positions, stacking positions, and work positions as necessary regardless of the first row rails.

The first transport cart 500 and the second transport cart 510 respectively move the standby position, the loading position, and the working position along the first row rail 110 and the second row rail 120, respectively. In particular, each of the first transport cart 500 and the second transport cart 510 is provided with a spot welder (600, 610) for welding the respective workpieces (50, 51, 52).

The takeout and transfer device 300 is installed between the first row rail 110 and the second row rail 120. In addition, the take-out and transport apparatus 300 extracts the workpieces 50 and 51 from the first transport trolley 500 located at the work position W of the first row rail 110 to thereby work on the second row rail 120. Transfer to the second transfer cart (510) located in (W). The takeout and transfer device 300 is preferably a conventional articulated robot.

The intermediate welding device 400 is installed between the first row rail 110 and the second row rail 120. The takeout and transfer apparatus 300 is for welding the workpiece during the transfer of the workpieces 50 and 51, and is preferably a spot welder that is left in place. In other words, the intermediate welding device 400 does not have to be a complex device having multiple joints, such as a welding robot. This is because the take-out and transfer apparatus 300, which is a multi-joint robot, can transfer the workpiece while placing the point on the workpiece in front of the welding tip of the intermediate welding apparatus 400. As described above, the takeout and transfer apparatus 300 and the intermediate welding apparatus 400 may be provided in plural as necessary.

 Referring to FIG. 4, which shows an operation flowchart of another embodiment of a method for controlling an automated system for a welding process, the operation of the automation system for a welding process according to the present invention is described first. 1 moves the transfer cart 500 from the standby position (S) to the stacking position (L) (S21). At the loading position L of the first row rail 110, the worker 30 selectively loads the workpieces 50 and 51 to be welded onto the transport cart 500 (S22). When the workpieces 50 and 51 are loaded, the first transport cart 500 is moved from the loading position L to the working position W (S23). When the first transport cart 500 stops at the work position W, the spot welder 600 installed in the first transport cart 500 performs welding to a predetermined point of the workpiece (S24). When the welding is completed in the first transport cart 500, the takeout and transfer apparatus 300 approaches the first transport cart, takes out the workpiece, and then transfers it for the subsequent process (S26a to S26c). At this time, the take-out and transfer device 300 is preferably a multi-joint robot. In addition, it is preferable that the intermediate welding device 400 such as a spot welding machine, which is settled in the process of the take-out and transfer device 300 transferring the workpiece for subsequent processing, performs welding again on the workpiece. Therefore, the take-out and transfer apparatus 300 first takes out the workpiece from the first transfer bogie (S26a), and then places the predetermined point of the workpiece in front of the welding tip of the stationary spot welder so that the stationary spot welder performs welding on the workpiece. When the welding is completed (S26b), the workpiece is loaded into the second transfer cart 510 of the second row rail 120 (S26c). The position at which the second transport cart 510 receives the workpiece is the working position W of the second row rail 120. When the workpiece is loaded, the spot welder 610 installed in the second transport cart 510 performs welding on the workpiece once again (S27). When the welding is completed, the second transfer cart 510 moves to the loading position L of the second row rail 120 (S28). At the loading position L of the second row rail 120, the additional work 52, for example, a sound insulation plate, is further loaded on the second transport cart 510 (S29). Then, the second transport cart 510 is moved back to the working position (W) (S30). The spot welder 610 installed in the second feed cart 510 at the work position W performs welding on the workpieces 50 and 51 and the additional workpiece 52 (S31). Finally, the take-out and transfer apparatus 300 removes the workpiece and the additional workpiece from the second transfer cart 510 and transfers it for the subsequent process (S32). In order to take out the workpiece and the additional workpiece, it is also possible to use a separate take-out and transfer device in addition to the take-out and transfer device 300. It is preferable that the other take-out and transfer device at this time is also a conventional articulated robot.

By controlling the welding system for the welding process according to the present invention to go through the operation procedure as described above is to perform the welding three times automatically. The number of welding operations can be adjusted to two or more times, depending on the presence of the workpiece or additional workpiece to be welded. That is, the step S26b of welding the workpiece taken out from the first transfer cart 500 during the transfer of the take-out and transfer apparatus 300 may be omitted. In addition, when four or more welding is required, a method of increasing the number of working positions, increasing the number of intermediate welding apparatuses 400, or increasing the number of rails is possible.

An embodiment of the present invention described above and illustrated in the drawings should not be construed as limiting the technical idea of the present invention. The protection scope of the present invention is limited only by the matters described in the claims, and those skilled in the art can change and change the technical idea of the present invention in various forms. Therefore, such improvements and modifications will fall within the protection scope of the present invention, as will be apparent to those skilled in the art.

As described above, the welding process automation system according to the present invention is because the spot welding machine is installed on the transport cart itself, significantly reducing the number of welding robots required for welding. Therefore, it is possible to construct a system that can reduce the initial capital investment cost and minimize maintenance costs by minimizing the robot calibration requirements. In addition, only welding to the spot welder assigned to the feed cart needs to be carried out. Therefore, welding robots installed outside the feed cart need to be welded many times. Can be improved. In addition, the movement path of the conveyance bogie for the transfer of the workpiece is simple and the installation area can be minimized. Furthermore, even when a plurality of rails are installed, the conveyance of the workpiece is performed not only with the conveyance bogie, but also with the takeout and transfer device, thereby reducing unnecessary repetitive movement of the conveyance bogie, and in particular, welding is carried out while the takeout and transfer device transfers the workpiece. As a result, the time required for the welding process can be significantly shortened.

Claims (10)

A standby position at which a transfer bogie is waiting, a loading position for loading a workpiece in the transfer bogie, and a working position arranged between the standby position and the loading position, and transferring the standby position between the loading position and the working position. In the automated process for welding process including a rail for guiding the bogie move, And a spot welder for welding the workpiece when the feed cart is installed in the feed cart and the feed cart is in the working position of the rail. The method of claim 1, And a take-out and transfer device which takes out the workpiece from the transfer bogie and transfers it to a subsequent process when the transfer bogie is in the working position. The method of claim 2, And an intermediate welding device for welding the workpiece while the takeout and transfer device transfers the workpiece. The method of claim 3, The take-out and transfer device is a multi-joint robot, And said intermediate welding device is a spot welding machine set in place. A standby position where the transport trolley on which the spot welder is installed waits, a loading position for loading the workpiece on the transport trolley, and a working position arranged between the standby position and the loading position, the standby position, the loading position and the working position In the automation device for a welding process including a rail for guiding the transport cart to move between, Moving the transfer cart from the standby position to a loading position; Loading a workpiece on the transport cart located at a loading position of the rail; Moving the feed cart on which the workpiece is loaded to a working position of the rail; Welding the workpiece by a spot welder installed in the transport cart when the transport cart is stopped at a work position; And taking out the welded workpiece from the feed cart by a takeout and transfer device. A waiting position for waiting for the transport cart, a loading position for loading the workpiece in the transport cart, and a working position disposed between the waiting position and the loading position, respectively; A first row rail and a second row rail arranged to be spaced apart from each other to guide the transfer cart; A spot welder installed in the transport trolley of each of the first and second row rails and for welding a workpiece; A take-out and transfer device installed between the first row and second row rails and taking out the workpiece from the transfer bogie of the first row rail and transferring the workpiece to the transfer bogie of the second row rail; And an intermediate welding device installed between the pair of rails and welding the workpiece while the takeout and transfer device transfers the workpiece. The method of claim 6, The take-out and transfer device is a multi-joint robot, And said intermediate welding device is a spot welding machine set in place. A standby position at which the first transfer bogie on which the spot welder is installed waits, a loading position for loading the workpiece on the first transfer bogie, and a working position arranged between the standby position and the loading position, Moving the first transport bogie of the first row rail to guide the movement of the first transport bogie between a position and a work position from the standby position to a stowed position; Loading the workpiece in the first transfer bogie located at the loading position of the rail; Moving the first transport cart on which the workpiece is loaded to a work position of the rail; Welding the workpiece by a spot welder installed in the first transport cart when the first transport cart is stopped at a work position; A standby position at which the second transfer bogie on which the spot welder is installed waits; a loading position for loading additional workpieces on the second transfer bogie; and a work position arranged between the standby position and the loading position; Moving the second transport bogie of the second row rail to guide the second transfer bogie to move between a loading position and a work position from the standby position to a work position; Taking out the welded workpiece from the first transfer cart by the first takeout and transfer device and loading the welded workpiece in the second transfer cart; Moving the second transport cart from the working position to a loading position; Stacking additional workpieces on the second transfer bogie moved to the loading position; Moving the second transport cart on which the additional workpiece is loaded to a working position; Spot welder installed in the second feed cart for welding the workpiece and the additional workpiece; And a second takeout and transfer device for taking out the welded workpieces from the second transfer cart. The method of claim 8, And an intermediate welding device provided between the first row and the second row rails to weld the workpiece while the first takeout and transfer device takes out and transports the workpiece. Control method. The method according to claim 8 or 9, And spot welding the workpiece by the spot welder installed in the second transport cart when the second transport cart is stopped at the work position prior to moving the second transport cart from the work position to the stowed position. Control method of the automation system for a welding process, characterized in that.

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