KR102614957B1 - Welding point position inspection tool and robot for automobile assembly line including the same - Google Patents

Abstract

The welding point position inspection tool according to the present invention is mounted on a robot on an automobile assembly line and is used to inspect the welding area of a work object mounted on an unmanned guided vehicle at a preset position, and is an inspection area where an inspection hole is formed. a main body unit that corresponds to the welding area and inspects the welding state and position of the welding point formed in the welding area; and a matching unit provided in the main body to align the inspection area and the welding area by correcting the position of the unmanned guided vehicle that has entered the preset position.

Description

Welding point position inspection tool and robot for automobile assembly line including the same {WELDING POINT POSITION INSPECTION TOOL AND ROBOT FOR AUTOMOBILE ASSEMBLY LINE INCLUDING THE SAME}

The present invention relates to a welding point position inspection tool and a robot for an automobile assembly line including the same, and more specifically, to a welding area of a work object mounted on a robot of an automobile assembly line and seated on an unmanned guided vehicle at a preset position. This relates to a welding point location inspection tool that can inspect and align the inspection area and welding area by correcting the position of the unmanned guided vehicle that has entered the preset position, and a robot for an automobile assembly line including the same.

In general, the production of a car by an automobile manufacturer is accomplished by assembling it through various assembly processes and welding processes within all mass production processes. In the mass production process of these vehicles, the welding process in particular plays a large part in the assembly work of the car body. When the welding process is completed, quality is efficiently managed by checking whether the weld point is formed at a preset location on the work object.

However, due to external conditions such as the weight of the above-mentioned work object or ground conditions including the slope of the ground, stopping errors occur frequently in which the above-mentioned work object fails to stop at the designated position and stops within a radius of 10 mm based on the preset position. As a result, the inspection area formed at the welding point location inspection port and the welding area worked on the work object are misaligned, and to compensate for this, the worker directly manipulates the unmanned guided vehicle externally, which prolongs the inspection process. There is.

The present invention is intended to solve the above problems. When inspecting the welding area of a work object mounted on an unmanned guided vehicle at a preset position, the position of the unmanned guided vehicle that has entered the preset position is corrected to determine the inspection area. The task is to provide a welding point location inspection tool that can match the welding area and a robot for automobile assembly lines that includes the same.

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

In order to solve the above problem, the welding point position inspection tool according to one form of the present invention is mounted on a robot on an automobile assembly line and is used to inspect the welding area of a work object mounted on an unmanned guided vehicle at a preset position. A point position inspection tool, comprising: a main body portion that corresponds an inspection area where an inspection hole is formed to the welding area to inspect the welding state and position of a welding point formed in the welding area; and a matching unit provided in the main body to align the inspection area and the welding area by correcting the position of the unmanned guided vehicle that has entered the preset position.

Additionally, the alignment unit may correct the position of the unmanned guided vehicle by guiding the edge of the work object that has entered the preset position.

Additionally, the main body portion and the matching portion may be laminated as one piece through 3D printing.

Additionally, the main body portion and the matching portion may be stacked in a gradient manner in a ratio of the first material of the main body portion and the second material of the matching portion so that a boundary layer is not formed.

Here, the second material may be softer than the first material.

At this time, the main body may include at least one mount disposed on the upper surface and connected to the robot so as not to interfere with the inspection area.

Additionally, the mount may include at least one submount connected to the main body to assist the coupling force of the robot in response to the load of the main body.

Furthermore, the mount may be equipped with a photographing module capable of photographing the welding point in the inspection area.

In order to solve the above problems, a robot for an automobile assembly line according to one form of the present invention includes the welding point position inspection tool of any one of claims 1 to 7; And it may include a robot arm on which the welding point position inspection tool is mounted.

Here, the robot arm can vertically lower the welding point position inspection tool to inspect the welding area on the work object mounted on the unmanned guided vehicle at a preset position.

According to the welding point position inspection tool of the present invention and the automobile assembly line robot including the same, the work object is always moved to a designated position regardless of external conditions such as the weight of the work object described above or the ground condition including the slope of the ground. This has the effect of improving inspection quality by matching the inspection area and the welding area.

In addition, in order to compensate for the discrepancy between the inspection area and the welding area worked on the work object, the process of externally manipulating the unmanned guided vehicle directly by the operator can be omitted, which has the effect of shortening the inspection process.

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

The above-described summary as well as the detailed description of the preferred embodiments of the present application described below may be better understood when read in conjunction with the accompanying drawings. Preferred embodiments are shown in the drawings for the purpose of illustrating the invention. However, it should be understood that the present application is not limited to the exact arrangement and means shown.
1 is a diagram showing a robot for an automobile assembly line according to an embodiment of the present invention;
Figure 2 is a diagram showing a welding point location inspection tool of a robot for an automobile assembly line according to an embodiment of the present invention;
Figure 3 is a view for explaining a modified example of a welding point position inspection tool of a robot for an automobile assembly line according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating an unmanned guided vehicle stopped at a location deviating from a preset position at the bottom of a robot for an automobile assembly line according to an embodiment of the present invention;
Figure 5 is a diagram illustrating correcting the position of an unmanned guided vehicle that has stopped deviating from a preset position through a matching unit of a robot for an automobile assembly line according to an embodiment of the present invention;
FIG. 6 is a view illustrating a plurality of matching portions formed in a welding point position inspection port of a robot for an automobile assembly line according to an embodiment of the present invention;
Figure 7 is a view for explaining the first material of the main body portion and the second material of the matching portion in the welding point position inspection hole of the robot for automobile assembly line according to an embodiment of the present invention;
Figure 8 is a view for explaining the gradation of the first material of the main body portion and the second material of the matching portion in the welding point position inspection port of the robot for automobile assembly line according to an embodiment of the present invention;
Figure 9 is a view for explaining a modified example of the mount of the main body portion in the welding point position inspection port of the robot for automobile assembly line according to an embodiment of the present invention;
Figure 10 is a view for explaining another modified example of the mount of the main body portion in the welding point position inspection port of the robot for automobile assembly line according to an embodiment of the present invention;
FIG. 11 is a diagram illustrating a marking member in a welding point location inspection port of a robot for an automobile assembly line according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention, in which the object of the present invention can be realized in detail, will be described with reference to the attached drawings. In describing this embodiment, the same names and the same symbols are used for the same components, and additional description accordingly will be omitted.

Figure 1 is a diagram showing a robot for an automobile assembly line according to an embodiment of the present invention, Figure 2 is a diagram showing a welding point location inspection tool of a robot for an automobile assembly line according to an embodiment of the present invention, and Figure 3 is a diagram for explaining a modified example of a welding point location inspection tool of a robot for an automobile assembly line according to an embodiment of the present invention, and FIG. 4 shows an unmanned transport at the bottom of a robot for an automobile assembly line according to an embodiment of the present invention. It is a drawing to explain how a car has stopped deviating from a preset position, and FIG. 5 is a diagram showing correction of the position of an unmanned guided vehicle stopped deviating from a preset position through a matching unit of a robot for an automobile assembly line according to an embodiment of the present invention. Figure 6 is a diagram for explaining how a plurality of matching parts are formed in the welding point position inspection port of a robot for an automobile assembly line according to an embodiment of the present invention, and Figure 7 is a diagram for explaining the invention. It is a drawing for explaining the first material of the main body part and the second material of the matching part in the welding point location inspection hole of the robot for automobile assembly line according to an embodiment of the present invention, and Figure 8 is a diagram for explaining the automobile assembly line according to an embodiment of the present invention. It is a diagram to explain the gradation of the first material of the main body portion and the second material of the matching portion in the welding point position inspection port of the robot, and Figure 9 is a welding point of a robot for an automobile assembly line according to an embodiment of the present invention. It is a drawing for explaining a modified example of the mount of the main body portion in the position inspection port, and FIG. 10 illustrates another modified example of the mount of the main body portion in the welding point position inspection port of the automobile assembly line robot according to an embodiment of the present invention. This is a drawing for

As shown in FIG. 1, the robot 10 for an automobile assembly line according to an embodiment of the present invention may largely include a welding point location inspection tool 100 and a robot arm 200.

First, the welding point position inspection port 100 is mounted on the robot arm 200, which will be described later, and can inspect the welding area of the work object (W) mounted on the unmanned guided vehicle (A) at a preset position (PO). there is.

The welding point location inspection port 100 may largely include a main body portion 120 and a matching portion 140, and the main body portion 120 is used to weld the inspection area where the inspection hole (IN) is formed to the work object (W). It is possible to perform an inspection that compares the welding state and position of the welding point formed in the welding area with the determined state in correspondence to the area.

At this time, the method of comparing the welding state and position with the determined state may vary, and this does not limit the scope of the present invention. However, for more detailed explanation, if we take an example, the inspection method may be an inspection method that compares welding point data photographed through the imaging module 122c, which will be described later, with a preset reference point to determine good or bad.

In addition, in some cases, it may be carried out through a visual inspection method. When the inspection is conducted through a visual inspection method, the status information of the welding point on the work object (W) can be confirmed through a marking member (101) such as a SCRIBING TOOL. .

For example, the marking member 101 may be provided to have a diameter corresponding to the diameter of the inspection hole formed in the welding point location inspection hole 100, and is inserted into the inspection hole and detects the work object (W) through a sensor formed at the bottom. The position coordinates of the weld point formed in can be obtained.

At this time, the marking member 101 transmits the acquired location coordinate data to the server based on the Internet of Things (IoT), and the server checks the distance between different welding points on the work object (W) or sends the location coordinate data to the preset location coordinate data. By comparing with the standard data, it is possible to confirm not only what process the corresponding welding point is formed through and where it is located on the work object (W), but also to check the extent to which the corresponding welding point deviates from the standard position to notify the operator or manager. It can be delivered.

Furthermore, the welding point location inspection tool 10 of the present invention explains the function of checking the welding point in the welding process through one embodiment, but through the configuration of the present invention, not only the welding point, but also CO2, sealer, stud bolts, nuts, and bolts It would be self-evident that it is possible to check the location and number of hardware including.

Meanwhile, the main body 120 can be provided in various shapes corresponding to the shape of the work object (W), and as shown in FIG. 2, the main body 120 is a mount 122 connected to the robot arm 200. may include, and an inspection area may be formed corresponding to a welding area including at least one welding point worked on the work object (W).

At this time, the mount 122 may be placed on the upper surface of the main body 120 so as not to interfere with the inspection area, and one mount 122 may be provided to be connected to the robot. If it does not interfere with the inspection area, Accordingly, a plurality of mounts 122 may be provided.

The case where a plurality of mounts 122 are provided will be described later, and the inspection area is explained as follows.

For example, in the inspection area, as shown in the drawing, a number of inspection holes (IN) with a predetermined radius are arranged based on the welding point, so that the operator can Arrangements may be made to visually inspect only the worked weld points.

At this time, as described above, photographing data inside the inspection hole (IN) is secured through the photographing module 122c to compare the photographing data of the reference point, which is the center point of the inspection hole (IN), with the welding point, and determine whether it is good or bad. It could be.

In addition, if an inspection area corresponding to the shape of the work object W and the welding area including the weld point is provided, even if it is modified to the form shown in FIG. 3, it will be said to belong to the present invention.

For example, when the main body 120 has the shape shown in Figures 2 and 3, the work object (W) described above is a tunnel area that curves and protrudes in an inverted 'U' shape along the center line from the center side. may be formed, and at this time, an inclined area (S) may be formed in the upper part of the above-described tunnel area (T). Specifically, the above-described work object (W) may be a car body panel on which the tunnel area is formed and may be attached to the car body structure. Therefore, it may be a center floor that supports the rear seat of the vehicle body.

In addition, if a welding area including at least one welding point is formed, the work object (W) is a pillar that supports the car body without a tunnel area (T) and connects the body and the roof, and a car body panel with a window frame formed around the pillar ( In the case of the upper part of the rear tire (P), that is, the quarter panel, which is the outer panel between the C filter or D pillar and the trunk, the main body 120 may be transformed into a form not shown in the drawing. will be.

At this time, as shown in FIGS. 4 and 5, the matching unit 140 stops the unmanned guided vehicle (A), which has entered the preset position (PO), within a radius of 10 mm based on the preset position (PO). Even when an error occurs, inspection quality can be improved by correcting the position of the unmanned guided vehicle (A) and matching the inspection area and the welding area.

The matching unit 140 may be provided in the main body 120 adjacent to the main body 120 seated on the unmanned guided vehicle (A) according to the movement of the robot arm 200, which will be described later. Specifically, the main body 140 may be provided in the main body 120. It is provided to be in contact with the lower part of 120, so that the position of the unmanned guided vehicle (A) can be corrected by contacting the work object (W) according to the movement of the main body 120.

In more detail, the matching unit 140 guides the edge of the work object (W) where the inclined surface 142, which is provided to protrude toward the work object (W), has entered the preset position (PO), thereby guiding the unmanned guided vehicle ( The position of A) can be corrected.

For example, the inclined surface 142 of the matching part 140 may be provided in a form with a downward slope from the outer side to the center of the matching part 140, and the inclined surface 142 may change according to the movement of the main body 120. An inspection area formed in the main body 120 by moving the unmanned guided vehicle (A), which is in contact with the work object (W) and deviates from the preset position (PO) due to a stopping error as shown in FIG. 4, as shown in FIG. The welding area worked on can be matched to the work object (W).

As shown in FIG. 6, assuming that the work object (W) is a square and explaining the inclined surface 142 of the matching part 140, the inclined surface 142 corresponds to the four sides of the work object (W). By arranging the inclined surface 142, which is in contact with the four sides of the work object (W) based on the virtual X-Y plane parallel to the floor, the unmanned guided vehicle (A) is moved to the can be corrected.

At this time, the matching part 140 is formed at the lower part of the main body 120, and in order to avoid interference between the inspection area and the welding area, a hole (not shown in the drawing) corresponding to the location of the inspection hole (IN) in the inspection area is formed. It would be natural that it is arranged and prepared to correspond to the shape of the upper surface of the work object (W).

The main body portion 120 and the matching portion 140 as described above may be laminated as one piece through 3D printing.

For example, as shown in FIG. 7, they may be stacked from the upper side of the main body 120 toward the lower side of the matching portion 140 (direction from E2 to E1), and on the contrary, the lower portion of the matching portion 140 They may be stacked from the side toward the top of the main body 120 (direction E1 to E3).

Here, the first material 121 is used to form the main body 120, and a second material 141 different from the first material 121 may be used to form the matching part 140.

The above-described first material 121 and second material 141 may vary, so it is natural that the scope of the present invention is not limited. However, to give an example for more detailed explanation, the first material 121 is a material that has rigidity because the inspection area must not be deformed due to the location of the mount 122 coupled to the robot arm 200. Since the second material 141 is in direct contact with the upper part of the work object W and applies pressure, it may be made of a softer material than the first material 121.

Furthermore, the main body 120 and the matching part 140 have a gradient ratio of the first material 121 of the main body 120 and the second material 141 of the matching part 140, as shown in FIG. It can be stacked in this way.

For example, when the E3 layer shown in the drawing is stacked from the top to the bottom, the proportion of the second material 141 gradually increases in the direction of lamination, and conversely, the proportion of the first material 121 increases with the second material ( 141) can be arranged to be small corresponding to the ratio.

In the opposite case, when the E3 layer is laminated from the bottom to the top, the proportion of the second material 141 gradually decreases in the direction of lamination, and on the contrary, the proportion of the first material 121 is that of the second material 141. It could be arranged to grow in proportion to the ratio.

In other words, the main body portion 120 and the matching portion 140 may be formed as an integrated layer using a 3D printing method, but may be prepared so that a boundary layer between them is not formed.

Therefore, after the welding work is completed, heat is transferred to the upper surface of the work object (W) due to the welding point having a high temperature, and the soft matching portion 140 in direct contact with the upper surface of the work object (W) is formed as described above. It is possible to prevent a situation in which the inspection process is delayed in order to recover the matching part 140 and the main body 120, which are partially joined to one upper surface and are made of different materials, and are separated from each other.

Meanwhile, the plurality of mounts 122 of the main body 120, which will be described later, will be described in detail with reference to FIG. 9 as follows.

The mount 122 may include a main mount 122a as described above, and further includes at least one submount 122b connected to the main body 120, thereby reducing the load of the main body 120. In response, the bonding force of the robot can be assisted.

Here, the submount 122b may be coupled to the outer peripheral surface of the main mount 122a and bent toward the upper surface of the main body 120, as shown in the drawing. In some cases, the submount 122b may be placed in the inspection area. If there is no interference, a plurality of them may be arranged at a predetermined distance apart from each other on the outer peripheral surface of the main mount 122a.

At this time, although not shown in the drawing, the submount 122b may be coupled to move around the main mount 122a, and a plurality of submounts 122b may be arranged on the outer peripheral surface of the main mount 122a at a predetermined distance apart from each other. , Even if it is provided in the form of a link with at least one hinge so that it can be selectively combined with the main body 120 in response to the situation, it will be said that it all falls within the scope of the present invention.

Furthermore, the mount 122 may be equipped with an imaging module 122c capable of photographing the welding point in the inspection area.

For example, the photographing module 122c may be rotatably connected to one side of the submount 122b to photograph the inspection area, and may be connected to an image sensor module for acquiring an image signal and connected to the image sensor module to capture an image. It controls the sensor module and may include an image processing module that processes image signals. In this case, the image sensor module may be one of a CCD (Charge Coupled Device) and CMOS (Complementary Metal Oxide Semiconductor) sensor.

Next, the robot arm 200 on which the above-described welding point position inspection tool is mounted is made of at least one joint, and its material, shape, and form can vary as long as the mount 122 of the above-described main body 120 can be connected. It can be done, and it is natural that the scope of rights is not limited due to this.

However, for more detailed explanation, as an example, the robot arm 200 may be prepared in a way that performs work through a preset program, and at this time, for improved precision and safety, the robot arm 200 is precise enough to thread a needle. In addition, it can be arranged to automatically stop operation when it comes into direct contact with a person through a soft pad or an attached sensor.

In addition, contrary to the programming method, it can be prepared in a way that accurately reproduces the work sequence, trajectory, and even the intensity of force through direct teaching in which the worker directly moves the robot arm 200.

At this time, the robot arm 200 is provided to inspect the welding area on the work object (W) seated on the unmanned guided vehicle (A) at a preset position (PO) by vertically lowering the welding point position inspection port (100). You can.

Here, as described above, the robot arm 200 can vertically lower the inspection sphere to a preset constant position even when the unmanned guided vehicle A deviates from the preset position PO.

That is, even if the unmanned guided vehicle (A) deviates from the preset position (PO), the position of the unmanned guided vehicle (A) can be changed only by the inclined surface 142 of the matching part 140 without the need to change the work instruction of the robot arm 200. It can be arranged to be corrected.

The robot 10 for an automobile assembly line according to an embodiment of the present invention having the configuration described above may further include a control unit.

The control unit may be connected to the welding point location inspection port 100 described above through wired or wireless communication methods.

Here, the control unit may be connected to the welding point location inspection tool 100 through at least one of wired and wireless communication, and it is natural that the scope of the present invention is not limited due to this. However, for more detailed explanation, as an example, as shown in FIG. 11, the control unit receives the position coordinates from the marking member 101 in conjunction with the IoT-based marking member 101 and determines the location of the weld point, Welding point status information, including the number and process sequence, can be transmitted to the worker or manager's terminal.

Here, the worker terminal may be any one of a computer, smartphone, personal computer, laptop, or PDA.

As described above, the welding point position inspection tool of the present invention and the automobile assembly line robot including the same always keep the work object in a predetermined position regardless of external conditions such as the weight of the work object or ground conditions including the slope of the ground. By moving the inspection area and the welding area to match, the inspection quality can be improved. In order to compensate for the discrepancy between the inspection area and the welding area worked on the work object, the worker directly manipulates the unmanned guided vehicle externally. can be omitted, allowing the inspection process to be shortened.

As described above, the preferred embodiments according to the present invention have been examined, and the fact that the present invention can be embodied in other specific forms in addition to the embodiments described above without departing from the spirit or scope thereof is recognized by those skilled in the art. It is self-evident to them. Therefore, the above-described embodiments are to be regarded as illustrative and not restrictive, and thus the present invention is not limited to the above description but may be modified within the scope of the appended claims and their equivalents.

10: Robot for automobile assembly line
PO: Preset location
W: Work object
A: Unmanned guided vehicle
100: Welding point location inspection hole
120: main body
IN: inspection hall
121: first material
122: Mount
122a: Main mount
122b: submount
122c: Shooting module
140: matching part
141: Second material
142: slope
200: Robot arm

Claims (10)

As a welding point location inspection tool for inspecting the welding area of a work object mounted on an unmanned guided vehicle at a preset position,
a main body unit that corresponds an inspection area where an inspection hole is formed to the welding area and inspects the welding state and position of a weld point formed in the welding area; and
A matching unit provided in the main body to align the inspection area and the welding area by correcting the position of the unmanned guided vehicle that has entered the preset position,
The matching part,
Characterized in correcting the position of the unmanned guided vehicle by guiding the edge of the work object that has entered the preset position,
Welding point location inspection hole.
delete According to paragraph 1,
The main body portion and matching portion,
Characterized by being laminated in one piece through 3D printing,
Welding point location inspection hole.
According to paragraph 3,
The main body portion and matching portion,
Characterized in that the ratio of the first material of the main body portion and the second material of the matching portion is laminated in a gradient manner so that a boundary layer is not formed.
Welding point location inspection hole.
According to paragraph 4,
The second material is,
Characterized in that the material is softer than the first material,
Welding point location inspection hole.
delete delete delete Welding point location inspection tool according to any one of claims 1, 3 to 5; and
Including a robot arm on which the welding point location inspection port is mounted,
The robot arm is,
Characterized in vertically lowering the welding point position inspection port to inspect the welding area on the work object mounted on the unmanned guided vehicle at a preset position,
Robots for automobile assembly lines.
According to clause 9,
Further comprising a control unit that transmits status information of the welding point, including the location, number, and process sequence of the welding point, to the operator in conjunction with the welding point location inspection port,
Robots for automobile assembly lines.

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