KR102391294B1 - A welding assistant apparatus for robot arm - Google Patents

Abstract

The present invention relates to a welding assistant device fastened to a robot arm. The welding assistant device comprises: a connecting part; a base part fastened to the connecting part and moving in a height direction of the welding assistant device with respect to the connecting part; and a welding part arrangement part fastened to the base part, moving in the width direction of the welding assistant device with respect to the base part, and fastened with a welding part. Even if a welding portion of an object to be welded includes a curved section or a bent section, the welding assistant device for a robot arm can simplify a movement path of the robot arm, and can set accurate welding torch position information.

Description

Welding aid for robot arm {A WELDING ASSISTANT APPARATUS FOR ROBOT ARM}

The present invention relates to a welding auxiliary apparatus for a robot arm, and more particularly, to a welding auxiliary apparatus for a robot arm capable of setting accurate welding torch position information while simplifying a movement path of the robot arm.

In general, equipment or structures such as ships and cranes are manufactured through various processes such as a welding process and a machining process.

For example, a large ship is manufactured through a welding process in which a number of types of plates, pipes, and the like to be welded are welded according to the purpose and location of use. A welding robot is used to perform a welding process on these to-be-welded objects.

1 is a schematic perspective view showing a welding torch of a general welding robot.

Referring to FIG. 1 , a general welding robot performs a welding process on an object to be welded, and at this time, the welding robot includes a welding torch 10 that supplies wire and gas and generates an arc toward a base material.

In addition, the welding torch 10 includes a torch body 11 through which wire and gas pass, a tip body 12 mounted on the torch body 11, and a welding wire 13 coupled to the tip body 12. Including, the welding wire 13 is supplied to the base material through the tip (13a) fastened to the tip body (12).

On the other hand, the welding robot further includes a robot arm 14 on which the welding torch 10 is mounted, and the welding robot moves the welding torch 10 by moving the robot arm 14, Accordingly, the welding robot can perform a welding process on the object to be welded.

At this time. In order to move the welding torch to the correct working position, accurate position information of the welding torch must be registered in the welding robot control system.

However, as described above, when the welding portion of the object to be welded is a straight section, the movement path of the robot arm is simple, but when the welding portion of the object to be welded includes a curved section or a bent section, the movement of the robot arm Since the path is complicated, there is a problem in that it is difficult to accurately set the position information of the welding torch.

Korean Patent Registration No. 10-0447923

The problem to be solved by the present invention is a welding auxiliary device for a robot arm that can set accurate position information of a welding torch while simplifying the movement path of the robot arm even when the welding part of the object to be welded includes a curved section or a bent section Its purpose is to provide

Objects of the present invention are not limited to the objects mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve the above-mentioned problems, the present invention provides a welding auxiliary device fastened to a robot arm, the welding auxiliary device comprising: a connecting part; a base part fastened to the connecting part and moving in a height direction of the welding auxiliary device based on the connecting part; and a welding auxiliary device coupled to the base portion, moving in the width direction of the welding auxiliary device based on the base portion, and including a welding portion arranging portion to which the welding portion is fastened.

In another aspect of the present invention, the robot arm includes a connecting portion positioned at one end region of the robot arm, and the connecting portion includes: a tool changer; and a connecting base plate positioned at one side of the tool changer, wherein the other end of the connecting base plate is connected to one side of the tool changer, and the other end of the tool changer is fastened to or separated from the connecting unit. provide auxiliary devices.

In addition, the present invention, the connecting portion, but located in the first area on one side of the connecting base plate, the first 1-1 guide line extending long in the height direction of the welding auxiliary device; Welding further comprising a first-first guideline and a first-second guideline spaced apart from the first guideline by a predetermined distance, located in a second area on one side of the connecting base plate, and extending long in the height direction of the welding auxiliary device provide auxiliary devices.

In addition, the present invention, the base portion, the base portion body portion extending long in the longitudinal direction of the welding auxiliary device; a 1-1 guide block located in a first area on the other side of the base body part, coupled to the 1-1 guide line, and moving along the 1-1 guide line; Doedoe spaced apart from the 1-1 guide block by a predetermined distance, located in the second area of the other side of the base body main body part, is fastened with the 1-2 guide line, and moves along the 1-2 guide line a first 1-2 guide block; a 2-1 guide line located in the first region of the upper portion of the base body and extending long in the width direction of the welding auxiliary device; Welding further comprising a 2-2 guide line disposed to be spaced apart from the 2-1 guide line by a predetermined interval, located in a second region of the upper portion of the base body, and extending long in the width direction of the welding auxiliary device provide auxiliary devices.

In addition, the present invention, the base portion, disposed in the longitudinal direction of the welding auxiliary device, located on one side of the base portion body portion, the first reference body in contact with the bottom surface on which the welding auxiliary device is located; And located in a region corresponding to the 1-1 reference body, disposed in the longitudinal direction of the welding auxiliary device, located on the other side of the base body main body portion, and in contact with the bottom surface on which the welding auxiliary device is located 1-2 It provides a welding auxiliary device further comprising a reference body.

In addition, the present invention, the welding portion arrangement portion, a welding portion seating plate extending long in the longitudinal direction of the welding auxiliary device; a 2-1 guide block located in a first area of a lower surface of the welding part seating plate, coupled to the 2-1 guide line, and moving along the 2-1 guide line; Doedoe arranged spaced apart from the 2-1 guide block by a certain distance, located in the second region of the lower surface of the welding part seating plate, is fastened with the 2-2 guide line, and moves along the 2-2 guide line It provides a welding auxiliary device including a second 2-2 guide block.

In the present invention, the welding part seating plate is disposed in the longitudinal direction of the welding aid device, is located on one side of the welding part seating plate, and is in contact with the front surface on which the welding aid device is located. ; And located in the region corresponding to the 2-1 reference body, disposed in the longitudinal direction of the welding auxiliary device, located on the other side of the welding part seating plate, the first contact with the front surface on which the welding auxiliary device is located It provides a welding auxiliary device further comprising a 2-2 reference body.

In addition, the present invention further comprises a first moving means for moving the base portion in the height direction of the welding auxiliary device, the connecting portion, the base portion, the welding portion arrangement to move the width direction of the welding auxiliary device It provides a welding auxiliary device further comprising a second moving means for.

In addition, the present invention, the welding part, the welding part is disposed on the mounting plate, the guide part is disposed in the width direction of the welding auxiliary device; and a welding torch arrangement part fastened to a predetermined region of the guide part, movable back and forth in the width direction of the welding aid device based on the guide part, and rotatable based on the guide part.

According to the present invention as described above, even when the welding part of the object to be welded includes a curved section or a bent section, the welding auxiliary device for a robot arm can set accurate position information of the welding torch while simplifying the movement path of the robot arm can provide

1 is a schematic perspective view showing a welding torch of a general welding robot.
2 is a schematic view showing a welding apparatus including a robot arm of a general structure.
Figure 3 is a first-direction perspective view for explaining the welding auxiliary device for a robot arm according to the present invention, Figure 4 is a second-direction perspective view for explaining the welding auxiliary device for a robot arm according to the present invention, Figure 5 is in the present invention A third-direction perspective view for explaining a welding auxiliary device for a robot arm according to the present invention, Fig. 6 is a side view for explaining a welding auxiliary device for a robot arm according to the present invention, and Fig. 7 is a welding auxiliary device for a robot arm according to the present invention. is a plan view for, and Figure 8 is a front view for explaining the welding auxiliary device for a robot arm according to the present invention.
9 and 10 are views showing the initial use state of the welding auxiliary device according to the present invention, Figure 11 is a view showing the first stage use state of the welding auxiliary device according to the present invention, Figure 12 is the present invention It is a view showing the second-stage use state of the welding auxiliary device according to, Figure 13 is a view showing the third-stage use state of the welding auxiliary device according to the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments allow the disclosure of the present invention to be complete, and common knowledge in the technical field to which the present invention belongs It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims.

With reference to the accompanying drawings will be described in detail for the implementation of the present invention. Irrespective of the drawings, like reference numbers refer to like elements, and "and/or" includes each and every combination of one or more of the recited items.

Although the first, second, etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present invention.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular.

Spatially relative terms "below", "beneath", "lower", "above", "upper", etc. It can be used to easily describe the correlation between a component and other components. Spatially relative terms should be understood as terms including different directions of components during use or operation in addition to the directions shown in the drawings. For example, when a component shown in the drawing is turned over, a component described as “beneath” or “beneath” of another component may be placed “above” of the other component. can Accordingly, the exemplary term “below” may include both directions below and above. Components may also be oriented in other orientations, and thus spatially relative terms may be interpreted according to orientation.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a schematic view showing a welding apparatus including a robot arm of a general structure.

Referring to FIG. 2 , the welding apparatus 100 including a robot arm having a general structure includes a fixing unit 130 including a base frame 132 ; a body part 110 disposed on the fixing part 130; a robot arm 120 installed on the main body 110; and a connection part 140 positioned at one end region of the robot arm 120 .

At this time, a welding part (not shown) including a known welding torch is fastened to the connection part 140 , so that the welding apparatus 100 including the robot arm can perform various welding processes.

For example, the welding part (not shown) includes a connecting part (not shown), and the connecting part is fastened to the connection part 140 to configure the welding apparatus 100 including the robot arm as described above. can

On the other hand, the welding torch provided in the welding part, as shown in FIG. 1 above, a torch body through which a wire and a gas pass; a tip body mounted on the torch body; It may include a welding wire coupled to the tip body, which is obvious in the art, and thus detailed description will be omitted below, and thus, the configuration of the welding part in the present invention is not limited.

At this time. As described above, in order to move the welding torch to an accurate working position, accurate position information of the welding torch must be registered in the welding robot control system.

However, when the welding part of the object to be welded is a straight section, the movement path of the robot arm is simple, so it is easy to set the position information of the welding torch according to the movement of the robot arm, but the welding part of the object to be welded is a curved section Alternatively, when a bending section is included, the movement path of the robot arm is complicated, and it is difficult to accurately set the position information of the welding torch.

Therefore, in the present invention, even when the welding part of the object to be welded includes a curved section or a curved section, while simplifying the movement path of the robot arm, to provide a welding auxiliary device for a robot arm that can set accurate welding torch position information do.

Hereinafter, the welding auxiliary device for a robot arm according to the present invention will be described in more detail. In the case where a general welding part is fastened, such as a welding process, and the welding part of the object to be welded includes a straight section, a curved section, and a bent section, the welding auxiliary device to be described later is connected to the connection section 140 of FIG. 2 described above. It can be understood that the welding process proceeds by fastening to the .

Of course, even when the welding part of the object to be welded includes only a straight section, it is natural that the welding process can be performed by fastening the welding auxiliary device according to the present invention to the connecting part 140 of FIG. 2 described above.

Figure 3 is a first-direction perspective view for explaining the welding auxiliary device for a robot arm according to the present invention, Figure 4 is a second-direction perspective view for explaining the welding auxiliary device for a robot arm according to the present invention, Figure 5 is in the present invention A third-direction perspective view for explaining a welding auxiliary device for a robot arm according to the present invention, Fig. 6 is a side view for explaining a welding auxiliary device for a robot arm according to the present invention, and Fig. 7 is a welding auxiliary device for a robot arm according to the present invention. is a plan view for, and Figure 8 is a front view for explaining the welding auxiliary device for a robot arm according to the present invention.

First, referring to FIGS. 3 and 6 , the welding auxiliary device for a robot arm according to the present invention may be defined as follows. Hereinafter, for convenience of description, a welding auxiliary device for a robot arm will be referred to as a welding auxiliary device.

That is, the welding auxiliary device 200 according to the present invention, the longitudinal direction of the welding auxiliary device (X direction in FIGS. 3 and 6); a width direction of the welding auxiliary device located on the same plane as the longitudinal direction of the welding auxiliary device (Y direction in FIGS. 3 and 6); and a height direction (Z direction in FIGS. 3 and 6) of the welding auxiliary device positioned on a vertical plane from the longitudinal direction of the welding auxiliary device and the width direction of the welding auxiliary device, wherein the welding auxiliary device is A direction in which the robot arm of FIG. 2 is fastened may be defined as a width direction of the welding auxiliary device.

3 to 8, the welding auxiliary apparatus 200 for a robot arm according to the present invention, the connecting portion 210; The base part 220 is fastened to the connecting part 210 and moves in the height direction of the welding auxiliary device based on the connecting part; and a welding part arrangement part 230 coupled to the base part 220 , moving in the width direction of the welding auxiliary device based on the base part 220 , and to which the welding part 240 is fastened.

That is, the welding part 240 is fastened to the welding part arranging part 230, and at this time, the welding part arranging part 230 moves in the width direction of the welding auxiliary device based on the base part, and the base part Since the connecting part moves in the height direction of the welding auxiliary device, it can be defined that the welding part 240 is movable in the height direction and the width direction based on the welding auxiliary device.

More specifically, the connecting portion 210 may include a tool changer 211; and a connecting base plate 212 positioned at one side of the tool changer 211 , that is, the other side of the connecting base plate 212 is connected to one side of the tool changer 211 , in this case, the tool The other side of the changer 211 may be coupled to or separated from the connection part 140 of the robot arm of FIG. 2 described above.

That is, since the tool changer 211 is fastened to the connecting portion 140 of FIG. 2 , the welding auxiliary device according to the present invention may be fastened to the robot arm 120 of FIG. 2 .

In addition, the connecting part 210, but located in the first area on one side of the connecting base plate 212, the first-1-1 guide line (213a) extending long in the height direction of the welding auxiliary device; The first-first guide line 213a and the first-second guide line 213a are spaced apart from each other, are located in the second area on one side of the connecting base plate 212, and extend long in the height direction of the welding auxiliary device. line 213b.

That is, along the 1-1 guide line 213a and the 1-2 guide line 213b, the base part 220 may move in the height direction of the welding auxiliary device based on the connecting part.

Subsequently, referring to FIGS. 3 to 8 , the base part 220 includes a base part body part 221 extending long in the longitudinal direction of the welding auxiliary device; Located in the first area of the other side of the base body body part 221, the first-first guide line 213a is fastened to move along the first-first guide line 213a. 1 guide block 222a; The first-first guide block 222a is spaced apart from each other by a predetermined distance, and it is located in the second area of the other side of the base body part 221 and is fastened with the 1-2 guide line 213b, and a 1-2 th guide block 222b that moves along the 1-2 th guide line 213b.

That is, in the base part 220, the 1-1 guide block 222a and the 1-2 guide block 222b are the 1-1 guide line 213a and the 1-th guide block 222b, respectively. 2 By moving vertically along the guide line 213b, the base 220 may move in the height direction of the welding auxiliary device with respect to the connecting part.

In addition, the base portion 220, but located in the first region of the upper portion of the base portion body portion 221, the second guide line (223a) extending long in the width direction of the welding auxiliary device; The second-second guide line 223a and the second-second guide line 223a are spaced apart from each other, are located in the second region of the upper portion of the base body 221, and extend long in the width direction of the welding auxiliary device. guideline 223b.

That is, as will be described later, the welding part arrangement part 230 has a width of the welding auxiliary device based on the base part along the 2-1 guide line 223a and the 2-2 guide line 223b. direction can be moved.

In addition, the base part 220 is disposed in the longitudinal direction of the welding auxiliary device, is located on one side of the base body body part 221, and is in contact with the bottom surface on which the welding auxiliary device is located. 1 reference body (224a); and the first-1-1 reference body (224a) and located in the corresponding region, disposed in the longitudinal direction of the welding auxiliary device, located on the other side of the base body body part 221, and the welding auxiliary device is located and a 1-2 reference body (224b) in contact with the bottom surface.

At this time, in the drawings, the 1-1 reference body 224a and the 1-2 reference body 224b are shown as rotating bodies configured in the form of wheels, but in the present invention, the 1-1 reference body 224b The shapes of the sieve 224a and the 1-2 reference body 224b are not limited.

More specifically, when the 1-1 reference body 224a and the 1-2 reference body 224b perform a welding process through the welding auxiliary device, the 1-1 reference body 224a And by contacting the first-second reference body 224b with the ground or the bottom surface, which is the top surface of the object to be welded, it is possible to present a reference for the welding auxiliary device to contact the bottom surface.

For example, as will be described later, referring to FIGS. 11 and 12 , in FIG. 11 , the 1-1 reference body 224a and the 1-2 reference body 224b are positioned on the ground. Although spaced apart from the upper surface of the first object to be welded, in FIG. 12 , the first object to be welded (A) in which the 1-1 reference body 224a and the 1-2 reference body 224b are located on the ground It is disposed in contact with the upper surface of the, and through this, it is possible to present a standard for the welding auxiliary device to contact the bottom surface.

On the other hand, in FIGS. 11 and 12 , when the width of the first object to be welded (A) is wide and the width of the first object to be welded (A) is narrow, the welding auxiliary device is welded in a state located on the ground (G) The process can be performed, and in this case, the 1-1 reference body 224a and the 1-2 reference body 224b are disposed in contact with the ground G, so that the welding auxiliary device is in contact with the floor surface criteria can be presented.

For this reason, that is, the 1-1 reference body 224a and the 1-2 reference body 224b mainly serve to provide a reference for the welding auxiliary device to contact the bottom surface, so that the first The -1 reference body 224a and the 1-2 reference body 224b do not need to be rotating bodies such as wheels, but for smooth movement of the welding auxiliary device, the 1-1 reference body 224a and The 1-2 reference body 224b is preferably composed of a rotating body such as a wheel.

That is, in the drawing, the 1-1 reference body (224a) and the 1-2 reference body (224b) are composed of wheels rotating with respect to each rotational axis disposed in the longitudinal direction of the welding auxiliary device, , in this case, by the rotation of the 1-1 reference body 224a and the 1-2 reference body 224b, the movement of the welding auxiliary device in the width direction may be smooth.

However, unlike this, the 1-1 reference body 224a and the 1-2 reference body 224b may be configured as wheels rotating with respect to respective rotation axes disposed in the width direction of the welding auxiliary device. In this case, by the rotation of the 1-1 reference body 224a and the 1-2 reference body 224b, the longitudinal movement of the welding auxiliary device may be smooth.

Continuingly, referring to FIGS. 3 to 8 , the welding part arranging part 230 includes a welding part seating plate 231 extending long in the longitudinal direction of the welding auxiliary device; A 2-1 guide located in the first region of the lower surface of the welding part seating plate 231, coupled to the 2-1 guide line 223a, and moving along the 2-1 guide line 223a. block 232a; The second-first guide block 232a is spaced apart from each other by a predetermined distance, and is located in the second region of the lower surface of the welding part seating plate 231 and is fastened to the second-second guide line 223b, and the second and a 2-2 guide block 232b moving along the 2-2 guide line 223b.

That is, in the welding part seating plate 231 , the second-first guide block 232a and the second-second guide block 232b are respectively the second-first guide line 223a and the second -2 By moving back and forth along the guide line 223b, the welding part arrangement part 230 may move in the width direction of the welding auxiliary device with respect to the base part 220 .

In addition, the welding part seating plate 231 is disposed in the longitudinal direction of the welding auxiliary device, is located on one side of the welding part seating plate 231, and is in contact with the front surface where the welding auxiliary device is located. 1 reference body (234a); and the 2-1 reference body 234a and located in the region corresponding to the region, disposed in the longitudinal direction of the welding auxiliary device, located on the other side of the welding part seating plate 231, and the welding auxiliary device is located and a 2-2 reference body 234b in contact with the front surface.

At this time, in the drawings, the 2-1 reference body 234a and the 2-2 reference body 234b are illustrated as rotating bodies configured in the form of wheels, but in the present invention, the 2-1 reference body 234b The shapes of the sieve 234a and the second-second reference body 234b are not limited.

More specifically, the 2-1 reference body 234a and the 2-2 reference body 234b are the 2-1 reference body 234a in the welding process through the welding auxiliary device. and the 2-2 reference body 234b is in contact with the front surface, which is the surface of the object to be welded, thereby providing a reference for the welding auxiliary device to contact the front surface.

For example, as will be described later, referring to FIGS. 11 and 13 , in FIG. 11 , the 2-1 reference body 234a and the 2-2 reference body 234b are the first to-be-welded objects. Although spaced apart from the surface of the second to-be-welded object (B) to be welded with (A), in FIG. 13, the 2-1 reference body 234a and the 2-2 reference body 234b are the second It is disposed in contact with the surface of the weld (B), and through this, it is possible to present a standard for the welding auxiliary device to contact the front surface.

For this reason, that is, the 2-1 reference body 234a and the 2-2 reference body 234b mainly serve to provide a reference for the welding auxiliary device to contact the front surface, so that the second The -1 reference body 234a and the 2-2 reference body 234b do not need to be rotating bodies such as wheels, but for smooth movement of the welding auxiliary device, the 2-1 reference body 234a and the 2-2 reference body 234b The 2-2 reference body 234b is preferably formed of a rotating body such as a wheel.

That is, as shown in the drawing, the 2-1 reference body 234a and the 2-2 reference body 234b are wheels rotating based on respective rotational axes disposed in the height direction of the welding auxiliary device. In this case, by the rotation of the 2-1 reference body (234a) and the 2-2 reference body (234b), the movement in the width direction of the welding auxiliary device can be smooth.

On the other hand, as described above, in the present invention, the base part 220 moves in the height direction of the welding auxiliary device based on the connecting part, and the welding part arrangement part 230 includes the base part 220 . ) in the width direction of the welding auxiliary device.

In order to move the base part and the welding part arrangement part, each moving means is required in the present invention.

More specifically, referring to FIGS. 3 to 8 , the connecting part 210 includes a first moving means 215 for moving the base part 220 in the height direction of the welding auxiliary device, in this case , The first moving means 215, the first cylinder (215a); and a first piston rod 215b that moves vertically from the first cylinder 215a.

That is, the base part 220 can be moved in the height direction of the welding auxiliary device based on the connecting part by vertical movement of the first piston rod 215b. However, in the present invention, the first moving means It does not limit the type of

On the other hand, in order to fix the first moving means, more specifically, the first cylinder 215a, the connecting part 210 is disposed on the connecting base plate 212, the welding auxiliary device. It may further include a first moving means fixed body 216 positioned in the height direction, that is, the first cylinder 215a may be fixed to the first moving means fixed body 216 .

However, the shape of the first moving means fixing body 216 is not limited in the present invention.

In addition, referring to FIGS. 3 to 8 , the base part 220 includes a second moving means 225 for moving the welding part arranging part 230 in the width direction of the welding auxiliary device, in this case, The second moving means 225, a second cylinder (225a); and a second piston rod 225b moving back and forth from the second cylinder 225a.

That is, the welding part arranging part 230 can be moved in the width direction of the welding auxiliary device with respect to the base part 220 by the forward and backward movement of the second piston rod 225b. However, in the present invention, The type of the second moving means is not limited.

At this time, as shown in the drawing, the second moving means 225 , more specifically, the second cylinder 225a may be disposed in an upper portion of the base body part 221 .

In addition, in the drawings, the end region of the first piston rod 215b is illustrated as being connected to the second cylinder 225a, but the connection position of the end region of the first piston rod 215b is limited. It goes without saying that the end region of the first piston rod 215b may be connected to any region of the upper portion of the base body 221 .

3 to 8, as described above, the welding part 240 is fastened to the welding part arranging part 230, for example, the welding part 240 is the welding part seating plate ( 231) can be placed.

At this time, the configuration of the welding part 240 is not limited in the present invention, but in the present invention, it is preferable to configure the welding part as follows.

More specifically, the welding portion 240 is disposed on the welding portion seating plate 231, the guide portion 241 disposed in the width direction of the welding auxiliary device; Arrangement of a welding torch fastened to a certain area of the guide part 241 , movable back and forth in the width direction of the welding auxiliary device based on the guide part 241 , and rotatable based on the guide part 241 . part 242 .

That is, in the present invention, in the state in which the welding torch is fastened to the welding torch arrangement part 242 , the welding torch arrangement part 242 is the width direction of the welding auxiliary device with respect to the guide part 241 . to move back and forth, and to be rotatable based on the guide part 241, it is possible to more precisely control the position of the welding torch.

On the other hand, in the present invention, the welding torch fastened to the welding torch arrangement part 242 of the welding part 242 is, as in FIG. 1 described above, a torch body through which a wire and a gas pass; a tip body mounted on the torch body; It may include a welding wire coupled to the tip body, which is obvious in the art, and thus detailed description will be omitted below, and thus, the configuration of the welding part in the present invention is not limited.

Hereinafter, a method of using the welding auxiliary device according to the present invention will be described in more detail.

That is, as described above, when the welding part of the object to be welded includes only a straight section, the general welding part as in FIG. 1 is fastened to the connection part 140 of FIG. 2 described above, and the welding process proceeds, When the welding part of the object to be welded includes a straight section, a curved section, and a bent section, the welding process is performed by fastening the welding auxiliary device of FIGS. 3 to 8 to the connecting part 140 of FIG. 2 described above. can be understood

The method of using the welding auxiliary device to be described below can be understood as that the welding auxiliary device is fastened to the above-described connection part 140 of FIG. 2 to perform a welding process.

9 and 10 are views showing the initial use state of the welding auxiliary device according to the present invention, Figure 11 is a view showing the first stage use state of the welding auxiliary device according to the present invention, Figure 12 is the present invention It is a view showing the second-stage use state of the welding auxiliary device according to, Figure 13 is a view showing the third-stage use state of the welding auxiliary device according to the present invention.

First, as shown in FIGS. 9 and 10, the object to be welded is a first object to be welded (A) positioned on the ground (G) and a second object to be welded (A) disposed on top of the first object to be welded (A) B) is included, and it is assumed that the welding process is performed on their contact surfaces.

In addition, although not shown in the drawings, the contact surface of the first object to be welded (A) and the second object to be welded (B) includes a curved section or a curved section, and the upper surface of the first object to be welded (A) Alternatively, it is assumed that the surface (the inner surface of FIG. 10 ) of the second object to be welded includes a curved section or a predetermined groove or a predetermined hole.

More specifically, as shown in FIG. 10 , in the initial use state of the welding auxiliary device according to the present invention, the welding auxiliary device 200 according to the present invention is fastened to the connecting part 140 of FIG. The welding auxiliary device 200 is disposed in the welding area of the object to be welded.

At this time, the upper surface and the first height of the first object to be welded (A) in which the 1-1 reference body 224a and the 1-2 reference body 224b of the welding auxiliary device according to the present invention are located on the ground (h1) may be spaced apart, and the 2-1 reference body 234a and the 2-2 reference body 234b have a first length d1 from the surface of the second object to be welded (B). may be spaced apart from each other.

Next, referring to FIG. 11 , the first-stage use state of the welding auxiliary apparatus according to the present invention is the 1-1 reference body 224a and the 1-2 reference body of the welding auxiliary apparatus according to the present invention. (224b) may be disposed to be spaced apart from the upper surface of the first object to be welded (A) positioned on the ground by a second height (h2), the 2-1 reference body (234a) and the 2-2 reference The sieve 234b may be disposed to be spaced apart from the surface of the second object to be welded B by a second length d2.

The state at this time may be defined as an arrangement state in which the robot arm moves in a straight section.

That is, in the present invention, even when the welding part of the object to be welded includes a curved section or a bent section, the 1-1 reference body 224a and the 1-2 reference body 224b are on the ground. The upper surface of the first object to be welded (A) and the second height (h2) are spaced apart from each other, and the 2-1 reference body (234a) and the 2-2 reference body (234b) are the second surface Since the robot arm can be moved in a straight line while being spaced apart from the surface of the weldment B by the second length d2, the movement path of the robot arm can be simplified.

Next, referring to FIG. 12 , in the second stage use state of the welding auxiliary device according to the present invention, the first moving means, more specifically, the first piston rod 215b as described above is moved in the downward direction. , by moving the base in the downward direction, the 1-1 reference body 224a and the 1-2 reference body 224b are disposed in contact with the upper surface of the first object to be welded (A) positioned on the ground and, through this, it is possible to present a standard for the welding auxiliary device to contact the floor surface.

Next, referring to FIG. 13 , in the third stage use state of the welding auxiliary device according to the present invention, the second moving means, more specifically, the second piston rod 225b as described above is moved in the forward direction. , By moving the welding portion arrangement 230 in the forward direction, the 2-1 reference body 234a and the 2-2 reference body 234b come into contact with the front surface, which is the surface of the second object to be welded, The welding auxiliary device may present a standard in contact with the front surface.

At this time, the steps of FIGS. 12 and 13 may be performed simultaneously, and the step of FIG. 13 may be performed first, and the step of FIG. 12 may be performed later. Therefore, in the present invention, the first moving means and The order of operation of the second moving means is not limited.

On the other hand, the 1-1 reference body 224a and the 1-2 reference body 224b are disposed in contact with the upper surface of the first object to be welded (A) positioned on the ground, and the welding auxiliary device is disposed on the floor Presenting the standard in contact with the surface means that during the welding process according to the present invention, the 1-1 reference body 224a and the 1-2 reference body 224b are continuously positioned on the ground. It means that it is arranged in contact with the upper surface of the first object to be welded (A).

In addition, the 2-1 reference body 234a and the 2-2 reference body 234b contact the front surface, which is the surface of the second object to be welded, so that the welding auxiliary device is in contact with the front surface. This means that, while the welding process according to the present invention is in progress, the 2-1 reference body 234a and the 2-2 reference body 234b continuously come into contact with the front surface, which is the surface of the second object to be welded. means to be placed.

That is, as described above, in the present invention, when the welding portion of the object to be welded includes a curved section or a bent section, the 1-1 reference body 224a and the 1-2 reference body 224b ) is spaced apart from the upper surface of the first object to be welded (A) positioned on the ground by a second height (h2), and the 2-1 reference body (234a) and the 2-2 reference body (234b) Since the robot arm can be moved in a straight line while being spaced apart from the surface of the second object to be welded by a second length d2, the movement path of the robot arm can be simplified.

At this time, in the present invention, during the welding process, through the movement of the first moving means in the upper or lower direction, the welding auxiliary device is in contact with the upper surface of the first object to be welded (A) located on the ground In addition, through the movement of the second moving means in the forward or rearward direction, the welding auxiliary device can be disposed in contact with the front surface, which is the surface of the second object to be welded, so that accurate welding is performed. Torch location information can be set.

That is, the macroscopic position information of the welding torch is determined by the above-described robot arm, and at this time, as described above, the robot arm can move in a straight line, so that the movement path of the robot arm is simple, and the welding Detailed position information of the torch, by the operation of the first moving means and the second moving means, the welding auxiliary device can be arranged in contact with the upper surface of the first object to be welded (A) located on the ground, and Also, since the welding auxiliary device can be disposed in contact with the front surface, which is the surface of the second object to be welded, it is possible to set accurate position information of the welding torch.

As described above, in the conventional case, when the welding part of the object to be welded includes a curved section or a bent section, the movement path of the robot arm is complicated, and it is difficult to set accurate position information of the welding torch.

However, in the present invention, since detailed position information of the welding torch can be set through the above-described welding auxiliary device, the movement path of the robot arm is simplified even when the welding part of the object to be welded includes a curved section or a bent section. While doing so, it is possible to provide a welding auxiliary device for a robot arm that can set accurate position information of a welding torch.

Although embodiments of the present invention have been described with reference to the above and the accompanying drawings, those of ordinary skill in the art to which the present invention pertains can practice the present invention in other specific forms without changing its technical spirit or essential features. You will understand that there is Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

Claims (9)

In the welding auxiliary device fastened to the robot arm,
The welding auxiliary device, the connecting portion; a base part fastened to the connecting part and moving in a height direction of the welding auxiliary device based on the connecting part; And it is fastened to the base portion, moving in the width direction of the welding auxiliary device based on the base portion, comprising a welding portion arrangement to which the welding portion is fastened,
The base part further includes a base part body part extending long in the longitudinal direction of the welding auxiliary device,
The base part is disposed in the longitudinal direction of the welding auxiliary device, is located on one side of the base part main body part, the first reference body in contact with the bottom surface on which the welding auxiliary device is located; And located in a region corresponding to the 1-1 reference body, disposed in the longitudinal direction of the welding auxiliary device, located on the other side of the base body main body portion, and in contact with the bottom surface on which the welding auxiliary device is located 1-2 Welding auxiliary device further comprising a reference body. The method of claim 1,
The robot arm includes a connection part located at one end area of the robot arm,
The connecting portion may include: a tool changer; and a connecting base plate positioned on one side of the tool changer,
The other side of the connecting base plate is connected to one side of the tool changer, and the other side of the tool changer is coupled to or separated from the connection part. 3. The method of claim 2,
The connecting part, but located in the first area on one side of the connecting base plate, the first 1-1 guide line extending long in the height direction of the welding auxiliary device; Welding further comprising a first-first guideline and a first-second guideline spaced apart from the first guideline by a predetermined distance, located in a second area on one side of the connecting base plate, and extending long in the height direction of the welding auxiliary device auxiliary device. 4. The method of claim 3,
The base part may include: a 1-1 guide block located in a first area on the other side of the base part body part, coupled to the 1-1 guide line, and moving along the 1-1 guide line; Doedoe spaced apart from the 1-1 guide block by a predetermined distance, located in the second area of the other side of the base body main body part, is fastened with the 1-2 guide line, and moves along the 1-2 guide line a first 1-2 guide block; a 2-1 guide line located in the first region of the upper portion of the base body and extending long in the width direction of the welding auxiliary device; Welding further comprising a 2-2 guide line disposed to be spaced apart from the 2-1 guide line by a predetermined interval, located in a second region of the upper portion of the base body, and extending long in the width direction of the welding auxiliary device auxiliary device. delete 5. The method of claim 4,
The welding part arrangement part, a welding part seating plate extending long in the longitudinal direction of the welding auxiliary device; a 2-1 guide block located in a first area of a lower surface of the welding part seating plate, coupled to the 2-1 guide line, and moving along the 2-1 guide line; Doedoe arranged spaced apart from the 2-1 guide block by a certain distance, located in the second region of the lower surface of the welding part seating plate, is fastened with the 2-2 guide line, and moves along the 2-2 guide line Welding aid including a second 2-2 guide block. 7. The method of claim 6,
The welding part seating plate is disposed in the longitudinal direction of the welding auxiliary device, is located on one side of the welding part seating plate, a 2-1 reference body in contact with the front surface on which the welding auxiliary device is located; And located in the region corresponding to the 2-1 reference body, disposed in the longitudinal direction of the welding auxiliary device, located on the other side of the welding part seating plate, the second contact with the front surface on which the welding auxiliary device is located 2-2 Welding aid further comprising a reference body. The method of claim 1,
The connecting portion further comprises a first moving means for moving the base portion in the height direction of the welding auxiliary device,
The base unit further comprises a second moving means for moving the welding unit arrangement in the width direction of the welding auxiliary device. 7. The method of claim 6,
The welding part may include: a guide part disposed on the welding part seating plate and disposed in a width direction of the welding auxiliary device; and a welding torch arrangement part fastened to a predetermined region of the guide part, movable back and forth in the width direction of the welding aid device based on the guide part, and rotatable based on the guide part.

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