公开(公告)号：KR1020020093245A

公开(公告)日：2002-12-16

申请号：KR1020010031705

申请日：2001-06-07

Applicant: 고등기술연구원연구조합 ,  한국지엠 주식회사

Inventor： 조기수 ,  이병렬

IPC: G01B5/14

Abstract: PURPOSE: A method for measuring seam portion of vehicle panel is provided to easily set the measurement path, while shortening time and reducing labors for measurement by automatically measuring distances between measurement points. CONSTITUTION: A method for measuring seam portion of vehicle panel, comprises a first step(S11) of moving a probe to a first position spaced apart from the measurement point in an axial direction; a second step(S12) of moving the probe to a second position near the measurement point; a third step(S13) of measuring seam portions of three different positions based on the measurement point; a fourth step(S14) of detecting the distance between planes of the measured three positions to the central line; a fifth step(S15) of moving the probe to the first position; a sixth step(S16) of moving the probe to a third position in Z-axis direction; a seventh step(S17) of moving the probe to a fourth position near the measurement point; an eighth step(S18) of measuring seam portions of at least three points based on the fourth position; a ninth step(S19) of detecting the distance between the height central line and planes of seam portions of three points measured in the eighth step; and a tenth step(S20) of judging whether there exists further measurement point, ending the process if no further measurement point exists, and returning to the first step if further measurement point exists.

Abstract translation: 目的：提供一种用于测量车辆面板接缝部分的方法，以便通过自动测量测量点之间的距离，缩短测量时间，缩短测量时间。 构成：一种用于测量车辆面板的接缝部分的方法，包括：将探针移动到与测量点沿轴向间隔开的第一位置的第一步骤（S11） 将探针移动到测量点附近的第二位置的第二步骤（S12） 基于测量点测量三个不同位置的接缝部分的第三步骤（S13）; 检测所测量的三个位置的平面与中心线之间的距离的第四步骤（S14） 将探针移动到第一位置的第五步骤（S15） 将探头沿Z轴方向移动到第三位置的第六步骤（S16） 将探头移动到靠近测量点的第四位置的第七步骤（S17） 基于第四位置测量至少三个点的接缝部分的第八步骤（S18）; 第九步骤（S19），检测第八步测量的三点的高度中心线和接缝部分的平面之间的距离; 以及判断是否存在另外的测量点的第十步骤（S20），如果不存在另外的测量点则结束处理，如果存在另外的测量点，则返回到第一步骤。

公开(公告)号：KR1020020093244A

公开(公告)日：2002-12-16

申请号：KR1020010031704

申请日：2001-06-07

Applicant: 고등기술연구원연구조합 ,  한국지엠 주식회사

Inventor： 조기수 ,  이병렬

IPC: G01B7/00

Abstract: PURPOSE: A multi-axis three-dimensional measurement device and method for driving the same is provided to allow ease of program creation and management by dividing the measurement program into programs for migration path and measurement path. CONSTITUTION: A multi-axis three-dimensional measurement device, comprises a driving unit(13) for moving a probe(12); a first memory(15) for storage of programs for migration path and the starting position of measurement path; a second memory(16) for storage of programs for measurement path; a third memory(17) for storage of information obtained from measurement; and a processor(11) for moving the probe in accordance with the programs for migration path stored in the first memory, controlling operation of the driving unit in such a manner that the probe is moved in accordance with the programs for measurement path stored in the second memory and measures an object(14) when the probe is located at the starting position of measurement path, and storing information obtained from the probe into the third memory.

Abstract translation: 目的：提供一种多轴三维测量装置及其驱动方法，以便通过将测量程序划分为用于迁移路径和测量路径的程序来简化程序创建和管理。 构成：多轴三维测量装置，包括用于移动探头（12）的驱动单元（13）。 用于存储用于迁移路径的程序和测量路径的起始位置的第一存储器（15） 用于存储用于测量路径的程序的第二存储器（16） 用于存储从测量获得的信息的第三存储器（17） 以及处理器（11），用于根据存储在第一存储器中的用于迁移路径的程序来移动探针，控制驱动单元的操作，使得探针根据存储在第一存储器中的测量路径的程序移动 第二存储器，并且当探针位于测量路径的起始位置时测量对象（14），并将从探测器获得的信息存储到第三存储器中。

公开(公告)号：KR100262770B1

公开(公告)日：2000-08-01

申请号：KR1019970076838

申请日：1997-12-29

Applicant: 고등기술연구원연구조합

Inventor： 홍석관 ,  조기수

IPC: B23K9/26

Abstract: PURPOSE: A jig for a calibration is provided to enhance the reliability of a corresponding OLP(off-line program) by accurately detecting the central position between tips of a welding gun and an operating error. CONSTITUTION: A jig for a welding gun calibration consists of a reference fixer(1) and a movement checker(2). The reference fixer contains a supporting shaft put on the lower tip of a welding gun, with a screw on the outer circumference; one fixing device and two adjusting devices inserted into the thread portion of the supporting shaft; and a reference plate(15) placed between two adjusting devices. The supporting shaft is accurately kept in an erecting state since forming a groove corresponding to the lower tip, in the lower face. The movement checker fixed three conical probes on a plate material. In this structure, the reference fixer is fixed between both tips of the welding gun and the reference plate is reciprocated three or six times on a test stand(30), on the basis of each for an actual calibration.

Abstract translation: 目的：通过精确检测焊枪尖端与操作错误之间的中心位置，提供校准夹具，以提高对应OLP（离线程序）的可靠性。 构成：用于焊枪校准的夹具由参考固定器（1）和移动检查器（2）组成。 参考固定器包含一个放置在焊枪下端的支撑轴，外周有螺丝; 一个固定装置和两个调节装置插入支承轴的螺纹部分; 和设置在两个调节装置之间的参考板（15）。 由于在下表面形成与下端相对应的槽，所以支撑轴被精确地保持在竖立状态。 运动检查器在板材上固定三个锥形探针。 在这种结构中，参考固定器固定在焊枪的两个尖端之间，并且参考板在试验台（30）上基于每个进行实际校准往复运动三次或六次。

公开(公告)号：KR200169731Y1

公开(公告)日：2000-04-01

申请号：KR2019960066052

申请日：1996-12-31

Applicant: 고등기술연구원연구조합

Inventor： 최재성 ,  임생기 ,  이병렬 ,  조기수 ,  조성호

IPC: B25J19/00

Abstract: 본 고안은 선체 용접용 로봇의 케이블에 관한 것으로서, 본 고안은 케이블을 로봇의 몸체 내부로 연결하여 외부의 간섭을 방지하고, 또한 각 축의 구동모터에 연결되는 케이블을 적당한 위치에 컨넥터(Connector)를 설치하여 로봇을 분해하지 않고 케이블의 유지보수가 가능하도록 한 선체 용접용 로봇의 케이블 배선을 제공함에 그 목적이 있다.
본 고안은 전술한 목적을 달성하기 위해서 베이스, 어깨부, 암 및 손목부로 구성되고, 케이블이 배선되는 6축 다관절 로봇에 있어서, 상기 1, 2축과 3, 4, 5, 6축 케이블은 분리형 배선인 특징이 있다.

公开(公告)号：KR1019990056820A

公开(公告)日：1999-07-15

申请号：KR1019970076838

申请日：1997-12-29

Applicant: 고등기술연구원연구조합

Inventor： 홍석관 ,  조기수

IPC: B23K9/26

Abstract: 본 발명은 용접건 켈리브레이션용 지그에 관한 것으로서,
해당 용접건의 팁간 중심위치 및 작동오차 등의 OLP관련 데이타를 정확히 검출해냄으로써 해당 OLP의 신뢰도를 향상시키기 위한 것인 바,
상기 용접건의 팁간 중심위치를 설정하기 위한 기준고정자와, 기준공정자가 장착된 상태에서의 용접건 작동상태를 확인하기 위한 동작확인자를 한 조로 하여 구성한 것이다.

公开(公告)号：KR2019980052872U

公开(公告)日：1998-10-07

申请号：KR2019960066052

申请日：1996-12-31

Applicant: 고등기술연구원연구조합

Inventor： 최재성 ,  임생기 ,  이병렬 ,  조기수 ,  조성호

IPC: B25J19/00

CPC classification number: B25J19/0075 ,  B25J19/0025 ,  B25J19/0066

Abstract: 본고안은선체용접용로봇의케이블에관한것으로서, 본고안은케이블을로봇의몸체내부로연결하여외부의간섭을방지하고, 또한각 축의구동모터에연결되는케이블을적당한위치에컨넥터(Connector)를설치하여로봇을분해하지않고케이블의유지보수가가능하도록한 선체용접용로봇의케이블배선을제공함에그 목적이있다. 본고안은전술한목적을달성하기위해서베이스, 어깨부, 암및 손목부로구성되고, 케이블이배선되는 6축다관절로봇에있어서, 상기 1, 2축과 3, 4, 5, 6축케이블은분리형배선인특징이있다.

Abstract translation: 纸提案内部涉及一种用于船舶的焊接机器人的电缆，本文通过电缆连接到所述机器人的内部主体，以防止外部干扰，也可以通过在适当的位置安装连接器（连接器）的电缆连接到相应的轴驱动马达 并且本发明的目的是提供一种船体焊接机器人的电缆布线，其能够在不拆卸机器人的情况下维护电缆。 制品内部以实现上述目的的基础上，一肩部和臂和手腕构成的，其中电缆被路由6 chukda多关节型机器人，所述第一，第二轴和三个，四个，五个，六个轴向电缆是可移除的线 有特色。

公开(公告)号：KR2019980052871U

公开(公告)日：1998-10-07

申请号：KR2019960066051

申请日：1996-12-31

Applicant: 고등기술연구원연구조합

Inventor： 임생기 ,  이병렬 ,  조성호 ,  조기수

IPC: B25J19/00

CPC classification number: B25J19/0075 ,  B25J19/0025

Abstract: 본고안은선체용접용다관절로봇의케이블에관한것으로서, 본고안은케이블을 1, 2축과 3, 4, 5, 6축으로나누어복렬로결선함으로서, 내장형다관절로봇의동작중에내장된케이블의꼬임을방지하고, 또한케이블의꼬임으로인한마찰에의하여케이블이손상되어단선되는경우를방지하기위한효율적인케이블결선의다관절로봇을제공함에그 목적이있다. 본고안은전술한목적을달성하기위해서베이스, 어깨부, 암및 손목부로구성되고, 케이블이내부에결선되는 6축다관절로봇에있어서, 상기외부로부터들어온 1, 2, 3, 4, 5, 6축의케이블은하부측의 1, 2축과상부측의 3, 4, 5, 6축케이블을분리하여결선하고, 상기하부측의하부베이스에대해상부베이스가일방향으로의회전시에는겹쳐있던상기케이블이펼쳐지게되며, 타방향으로회전시에는겹쳐지도록한 특징이있다.

Abstract translation: 本文介绍了船体焊接机器人的电缆结构，本文将电缆分为1,2,3,4,5,6轴，并采用双列连接方式，以便内置电缆扭曲 并且本发明的目的是提供一种具有高效电缆连接的多关节机器人，用于防止由于电缆的扭曲和由于电缆破裂而导致的摩擦而损坏电缆。 制品内部以实现上述目的的基础上，肩，臂，并且被配置腕部分，所述电缆是在被有线连接到里面，一个，两个，三个，四个，五个6 chukda多关节型机器人，六个轴从外部来 在第一和第二轴的下侧和上侧电缆3，四，五，六轴分离的电缆连接，并且相对于下侧的下底的所述电缆是由上部基座在一个方向上显示出重叠的议会展开 并且在另一个方向旋转时被叠加。

公开(公告)号：KR2019980052862U

公开(公告)日：1998-10-07

申请号：KR2019960066042

申请日：1996-12-31

Applicant: 고등기술연구원연구조합

Inventor： 이병렬 ,  조성호 ,  조기수

IPC: B25B27/00

CPC classification number: B25B23/0014 ,  B25B13/481 ,  B25B23/0035 ,  B25G3/38

Abstract: 본고안은조임용공구에관한것으로서, 결합용부품의조임에사용하는공구의자루부를굴절이가능하도록자재이음하여결합하고자하는부재의조임부분이작업자의손이들어갈수 없거나경사가있는경우작업을용이하게할 수있도록한 자재이음조임용공구를제공함에그 목적이있다. 본고안은전술한목적을달성하기위해서결합용부품의조임용공구에있어서, 상기공구의자루부에적어도 2 이상의축이동일평면상에있으면서그 중심선이서로어느각도로서교차되도록자재이음된특징이있다.

Abstract translation: 罐内文件涉及一个委托的工具中，两个bujaeui紧固部成联接到万向节，以使用于零件的紧固用于耦合deuleogalsu操作者的手工具的折射部件，或者便于如果倾斜操作 到音高它jajaeyi提供的招聘工具，它允许其目标。 制品内部在用于联接部件罐委托工具为了实现上述目的，而在至少两个或更多个轴李东一平面在所述工具的所述囊形部分有一个万向接头，其特征在于它的中心线相互交叉的任何角度。

公开(公告)号：KR1020000046778A

公开(公告)日：2000-07-25

申请号：KR1019980063501

申请日：1998-12-31

Applicant: 고등기술연구원연구조합

Inventor： 홍석관 ,  조기수

IPC: B62D65/00

Abstract: PURPOSE: A calibration method for applying an off-line program of a robot in a vehicle body production line is provided to increase the reliability of an off-line program method by minimizing the absolute position error generated by errors of several devices. CONSTITUTION: A vehicle body welding work line is composed of a robot(3), a welding gun(2), a vehicle body transferring device(8) and all kinds of jigs. In a calibration method, all measurements are accomplished by measuring and standardizing a reference coordinates on a vehicle body(9) in order to minimize a measurement error. In addition, the measurement error of data for calibration is minimized by measuring the position error of the jig for placing the vehicle body(9) to the vehicle body reference coordinates.

Abstract translation: 目的：提供一种用于将机器人的离线程序应用于车体生产线的校准方法，以通过将由几个装置的误差产生的绝对位置误差最小化来提高离线编程方法的可靠性。 构成：车身焊接作业线由机器人（3），焊枪（2），车身传送装置（8）和各种夹具组成。 在校准方法中，通过测量和标准化车体（9）上的参考坐标来实现所有测量，以便最小化测量误差。 此外，通过测量用于将车体（9）放置在车体参考坐标上的夹具的位置误差，来校正用数据的测量误差被最小化。

公开(公告)号：KR100259884B1

公开(公告)日：2000-06-15

申请号：KR1019970076837

申请日：1997-12-29

Applicant: 고등기술연구원연구조합

Inventor： 홍석관 ,  조기수

IPC: B23K11/24 ,  B23K11/11

Abstract: PURPOSE: A welding robot simple calibration method is provided to improve reliability of a corresponding off-line program by easily and accurately detecting a tool center point and a robot position through a simulation software. CONSTITUTION: A master jig is installed in a three-dimensional position in a working place of a welding robot, and a slave jig is fixed between upper and lower ends of a tip of a welding gun. A corresponding welding robot is mastered to adjust a joint of a robot in zero degree. Respective joint values needed for positioning at probe positions on the slave jig and the master jig are adopted as teach data and applied to a real robot. While detecting the slave jig moved near a present probe position, on-line teaching is performed via a teach pendant. Robot joint data are obtained based on a result of teaching. The joint and probe position data are applied to a machinery kinematics equation to draw up a calibration software. A tool center point is set up based of a robot base position and a system of coordinates. Robot base coordinate and tool center point coordinates are substituted with the robot base position and the tool center point, and an off-line program is drawn up. The program as a job program is actually inputted to a corresponding robot. In setting up of the robot position and the tool position center, a least square fitting method is applied to 3 to 6 teaching results to output an optimal value.

Abstract translation: 目的：提供焊接机器人简单的校准方法，通过仿真软件轻松，准确地检测刀具中心点和机器人位置，提高对应离线程序的可靠性。 构成：主夹具安装在焊接机器人的工作场所的三维位置，并且从动夹具固定在焊枪的尖端的上端和下端之间。 掌握相应的焊接机器人来调整零度的机器人接头。 作为示教数据采用在从属夹具和主夹具上的探头位置定位所需的各个关节值，并应用于真实的机器人。 当检测到副夹具移动到当前探头位置附近时，在线教学通过示教器进行。 基于教学的结果获得机器人联合数据。 关节和探头位置数据应用于机械运动学方程以绘制校准软件。 基于机器人基座位置和坐标系建立刀具中心点。 机器人基座坐标和刀具中心点坐标代替机器人基座位置和刀具中心点，并制定离线程序。 作为作业程序的程序实际上被输入到相应的机器人。 在设置机器人位置和刀具位置中心时，应用最小二乘拟合方法进行3到6个教学结果，以输出最佳值。