KR0142259B1 - Thick plate automatic welding - Google Patents

Thick plate automatic welding

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Publication number
KR0142259B1
KR0142259B1 KR1019950005942A KR19950005942A KR0142259B1 KR 0142259 B1 KR0142259 B1 KR 0142259B1 KR 1019950005942 A KR1019950005942 A KR 1019950005942A KR 19950005942 A KR19950005942 A KR 19950005942A KR 0142259 B1 KR0142259 B1 KR 0142259B1
Authority
KR
South Korea
Prior art keywords
welding
board
thick plate
torch
control device
Prior art date
Application number
KR1019950005942A
Other languages
Korean (ko)
Other versions
KR960033633A (en
Inventor
문현준
김종희
최주호
Original Assignee
김정국
현대중공업주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 김정국, 현대중공업주식회사 filed Critical 김정국
Priority to KR1019950005942A priority Critical patent/KR0142259B1/en
Publication of KR960033633A publication Critical patent/KR960033633A/en
Application granted granted Critical
Publication of KR0142259B1 publication Critical patent/KR0142259B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0282—Carriages forming part of a welding unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
    • B23K9/1006—Power supply
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/124—Circuits or methods for feeding welding wire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126—Controlling the spatial relationship between the work and the gas torch
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes

Abstract

본 발명은 두꺼운 부재인 후판을 용접시작에서 부터 용접완료까지 전 자동으로 다층 용접하는 장치에 관한 것이다. 실제 작업조건에서 용접부재의 가공오차나 취부오차에 따른 용접선의 변화와 개선폭의 변화에도 대응하여 자동용접이 가능하고 아-크센서에 의한 실시간으로 용접선을 추적하면서 다층으로 자동용접이 가능한 지능화된 장치를 개발하였다. 제어장치로는 컴퓨터(C)로 제어되는 주 제어기(1)와 내부에 ADC보드(9), DAC보드(10), 입출력보드(11), 모션컨트롤러보드(12)가 있으며 신호처리를 위하여 저역통과필터 회로부(14)와 용접조건제어 회로부(15)의 구성과, 주 제어기와 떨어져서 용접주행장치(3) 및 용접기(6)를 제어할 수 있는 원격제어장치(2)로 되어있다.The present invention relates to a device for automatically multi-layer welding the thick plate of the thick member from the start of welding to the completion of welding. An intelligent device capable of automatic welding in response to changes in welding line and improvement width due to machining error or mounting error of the welding member under actual working conditions, and automatic welding in multiple layers while tracking the welding line in real time by the arc sensor. Developed. The control device includes a main controller (1) controlled by a computer (C), an ADC board (9), a DAC board (10), an input / output board (11), and a motion controller board (12). The configuration of the pass filter circuit section 14 and the welding condition control circuit section 15, and the remote control device 2 which can control the welding running device 3 and the welding machine 6 apart from the main controller.

용접장치는 인버터 용접기(6)를 중심으로 와이어 송급기(17) 및 수냉식 냉각토치(5)와 냉각펌프(7)를 포함하며, 용접주행장치(3)는 토치지지부(4)가 있고 5축을 제어할 수 있는 주행장치와 모터드라이브(16) 및 레일(18)로 구성되어 있는 후판용접을 위한 다층 자동용접장치이다.The welding apparatus includes a wire feeder 17, a water-cooled cooling torch 5, and a cooling pump 7 around the inverter welding machine 6. The welding driving apparatus 3 includes a torch support 4 and a 5-axis shaft. It is a multi-layer automatic welding device for thick plate welding, which is composed of a driving device that can be controlled and a motor drive 16 and a rail 18.

Description

후판용접을 위한 다층 자동용접장치Multi-layer Automatic Welding Device for Plate Welding

제1도는 본 발명의 전체 장치 구성을 나타낸 사시도1 is a perspective view showing the overall configuration of the device of the present invention

제2도는 본 발명의 제어장치 구성도2 is a block diagram of the control device of the present invention.

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

C:컴퓨터 1:주제어기C: Computer 1: Main Controller

2:원격제어장치 3:용접주행장치2: remote control device 3: welding driving device

4:토치지지부 5:용접토치4: torch support part 5: welding torch

6:인버터용접기 7:수냉식 냉각펌프6: Inverter welder 7: Water-cooled cooling pump

8:중앙제어장치 9:ADC보드8: Central control unit 9: ADC board

10:DAC보드 11:입출력보드10: DAC board 11: I / O board

12:모션콘트롤러 보드 13:션트12: Motion controller board 13: Shunt

14:저역통과 필터 회로부 15:용접조건제어 회로부14: low pass filter circuit 15: welding condition control circuit

16:모터 드라이브 17:와이어 송급기16: Motor Drive 17: Wire Feeder

18:레일 19:모니터18: Rail 19: monitor

20:키보드 21:입출력장치20: Keyboard 21: I / O device

22:롬(ROM) 23:램(RAM)22: ROM 23: RAM

24:부재24: absence

본 발명은 두꺼운 부재인 후판을 용접시작에서 부터 용접완료까지 전 자동으로 다층 용접하는 장치에 관한 것이다.The present invention relates to a device for automatically multi-layer welding the thick plate of the thick member from the start of welding to the completion of welding.

현재 후판의 용접작업은 대부분 단순작업에 의존하는 수작업이나 한번에 1층씩 적층하는 반자동에 의존하고 있으며, 일부 극히 제한된 단순 개선형상의 부재에 대하여 자동장비로 다층용접하고 있는 실정이다.Currently, welding of thick plates is mostly done by manual work or semi-automatic lamination of one layer at a time, and it is a situation that multi-layer welding is performed by automatic equipment for some extremely limited simple improved members.

일반적으로 후판을 용접하는데 있어서 사용되는 센서로는 현재 접촉식 센서를 많이 사용하고 있으며 반자동용접에 주로 이용되고 있다.In general, as a sensor used in welding a thick plate, a lot of contact sensors are currently used and are mainly used for semi-automatic welding.

그러나 접촉식 센서는 가공오차와 취부오차가 있는 부재의 개선폭이 변화하는 곳에서 갭 변화에 대응하여 용접속도의 제어가 되지않아 아-크에 의한 용융풀의 불완전한 용입으로 용접결함을 가져오는 것 뿐만 아니라, 다층용접시 개선내 접촉오차에 의해 용접선을 정확하게 추적할 수 없는 문제점이 있다.However, the contact sensor does not control the welding speed in response to the gap change where the improvement range of the member with the machining error and the mounting error changes, resulting in welding defects due to incomplete penetration of the molten pool by arc. However, there is a problem in that the welding line cannot be accurately tracked due to the contact error in the improvement during multilayer welding.

또한 전자동으로 후판을 용접하는 장치는 개선부가 직선인 부재에 주로 적용되어 왔다.In addition, the apparatus for welding the thick plate with the full automatic has been mainly applied to the member whose straight part is straight.

사용되는 센서는 와이어 끝단과 모재의 접촉에 의한 터치센서로 양단의 개선폭을 검출하여 정해진 순서에 따라 자동으로 다층용접을 하는 것이며, 이 방법도 부재의 개선폭이 변하고 용접선이 곡선인 경우에는 적용이 불가능한 문제점과 실시간 제어가 아니라는 제한요소를 가지고 있다.The sensor used is a touch sensor by the contact of the wire end with the base metal, which detects the improvement of both ends and performs multi-layer welding automatically according to the prescribed order.This method is also not applicable when the improvement of the member is changed and the welding line is curved. It has limitations such as problems and not real time control.

본 발명은 상기한 기존의 문제점을 개선하고 원활한 후판용접을 위하여 실제 작업조건에서 용접부재의 가공오차나 취부오차에 따른 용접선의 변화와 개선폭의 변화에도 대응하여 자동용접이 가능하고, 아-크센서에 의하여 실시간으로 용접선을 추적하면서 다층으로 자동용접이 가능한 지능화된 장치를 창출한 것이다.The present invention is capable of automatic welding in response to the change of the welding line and the change in the width of the welding line according to the machining error or the mounting error of the welding member under the actual working conditions in order to improve the existing problems and smooth plate welding. By creating a smart device capable of automatic welding in multiple layers while tracking the weld line in real time.

이하 발명의 요지를 첨부된 도면에 연계시켜 그 구성과 작용효과를 상세히 설명하면 다음과 같다.Hereinafter, the configuration and the effect of the present invention will be described in detail with reference to the accompanying drawings.

제1도는 본 발명의 전체 장치 구성을 나타낸 사시도이며, 크게 제어장치, 용접장치, 주행장치부로 구분할 수 있다.1 is a perspective view showing the overall configuration of the apparatus of the present invention, which can be roughly divided into a control apparatus, a welding apparatus, and a traveling apparatus unit.

제어장치로는 컴퓨터(C)로 제어되는 주 제어기(1)와 내부에 ADC보드(9), DAC보드(10), 입출력 보드(11), 모션컨트롤러 보드(12)가 있으며, 신호처리를 위하여 저역통과필터 회로부(14)와 용접조건제어 회로부(15)의 구성과, 주 제어기와 떨어져서 용접주행장치(3) 및 용접기(6)를 제어할 수 있는 원격제어장치(2)로 되어있다.The control device includes a main controller (1) controlled by a computer (C) and an ADC board (9), a DAC board (10), an input / output board (11), and a motion controller board (12). The low pass filter circuit section 14 and the welding condition control circuit section 15 are constructed, and the remote control apparatus 2 capable of controlling the welding running apparatus 3 and the welding machine 6 apart from the main controller.

용접장치는 인버터 용접기(6)를 중심으로 와이어 송급기(17) 및 수냉식 냉각토치(5)와 냉각펌프(7)를 포함하며, 용접주행장치(3)는 토치 지지부(4)가 있고 5축을 제어할 수 있는 주행제어장치와 모터 드라이브(16) 및 레일(18)로 구성되어 있다.The welding apparatus includes a wire feeder 17, a water-cooled cooling torch 5, and a cooling pump 7 around the inverter welding machine 6, and the welding driving apparatus 3 includes a torch support 4 and a 5-axis shaft. It consists of a travel control device which can be controlled, the motor drive 16, and the rail 18.

그리고 용접장치의 용접기(6)는 안정된 아-크로 스패터의 발생량을 최소화시킬 수 있는 정격사용율 100%인 인버터 용접기를 사용하였으며 최고 600A의 용접 전류를 출력한다.The welding machine 6 of the welding apparatus uses an inverter welding machine having a rated use rate of 100% to minimize the generation of stable arc spatter and outputs a welding current of up to 600A.

또한 수냉식 냉각펌프(7)로 용접토치(5)를 냉각시키고 와이어 송급기(17)로 와이어를 송급하도록 하였다.In addition, the welding torch 5 was cooled by the water-cooled cooling pump 7 and the wire was fed to the wire feeder 17.

용접주행장치(3)는 장치의 전후, 좌우, 상하 구동외에도 용접시공 조건상 요구되는 용접토치(5)의 자세를 설정하기 위하여 5축 제어가 가능하도록 구성하였으며, 레일(18)을 따라 움직이도록 되어 있다.The welding running apparatus 3 is configured to allow 5-axis control to set the posture of the welding torch 5 required for welding construction conditions in addition to the front, rear, left and right driving of the apparatus, and to move along the rail 18. have.

용접시 개선형상과 용접자세에 따른 토치자세 변경요구는 보호개스에 의한 용융풀을 보호하고 스패터 발생량을 감소시켜 용접결함을 줄이고 자동화에 대응하기 위한 것이며, 토치 지지부(9)의 구성은 소형이면서 요구되는 토치자세인 이송각도의 작업각도를 전부 설정할 수 있도록 구성하였다.The change of the torch posture according to the improved shape and the welding posture during welding is to protect the molten pool by the protection gas and to reduce the spatter generated to reduce welding defects and to cope with the automation.The configuration of the torch support 9 is small and It was configured to set the working angle of the feed angle, which is the required torch position.

제2도는 제어장치 구성도를 나타내며 중앙제어장치(8)는 80386 CPU를 가지는 컴퓨터를 중심으로 아날로그에서 디지털로 변환하는 ADC 보드(9), 디지털에서 아날로그로 변환하는 DAC보드(10), 외부의 입출력을 담당하는 입출력보드(11), 모터의 구동을 담당하는 모션 컨트롤러 보드(12)로 구성되어 있다.2 shows a block diagram of a control device. The central control device 8 includes an ADC board 9 for converting from analog to digital, a DAC board 10 for converting from digital to analog, and a computer having an 80386 CPU. The input / output board 11 which performs input / output and the motion controller board 12 which drives a motor are comprised.

그리고 용접시에 아-크센싱을 위한 용접전류의 검출을 위하여 하드웨어적으로 증폭회로와 저역통과 필터회로, 보호회로를 포함하는 저역통과필터 회로부(14)를 구성하였으며, 이것은 용접기(6)의 션트(13)에서 보내온 신호를 차동증폭기를 통하여 증폭시키고 저역통과필터 회로를 통하여 고주파 노이즈 성분을 제거하며 컴퓨터(C)에서 처리할 수 있도록 하였다.In order to detect the welding current for arc-sensing during welding, a low-pass filter circuit portion 14 including an amplification circuit, a low pass filter circuit, and a protection circuit is constructed in hardware, which is a shunt of the welder 6. The signal from (13) was amplified by the differential amplifier, and the low pass filter circuit was used to remove high frequency noise components and to process it in the computer (C).

다층 자동용접에 따른 각 층마다 용접전압과 전류의 설정은 주 제어기(1)에서 직접 용접기(6)를 제어해야할 필요성이 있으며, 전기한 목적을 위하여 용접조건제어 회로부(15)를 구성하였고, 다층용접을 위하여 최초에 설정한 용접조건들이 용접중에 주 제어기(1)에 의하여 용접기(6)에 자동으로 설정되어 제어될 수 있도록 하였다.It is necessary to control the welding machine 6 directly from the main controller 1 to set the welding voltage and current for each layer according to the multilayer automatic welding. For the above purpose, the welding condition control circuit unit 15 is configured. The welding conditions initially set for welding can be automatically set and controlled in the welding machine 6 by the main controller 1 during welding.

그밖에 레일(18)을 따라 주행하는 용접주행장치(3)의 구동시키기 위하여 서보모터와 드라이브(16)를 사용하였다.In addition, the servo motor and the drive 16 were used to drive the welding running apparatus 3 traveling along the rail 18.

그러므로 본 발명에서 토치 지지부를 포함하는 용접주행장치의 구성과 컴퓨터를 주 제어기로 하는 후판용 다층 자동화 장비의 발명은 용접부재의 가공오차와 취부오차에도 용접선을 추적하고 다층으로 자동용접하는데 적용되었으며, 이러한 장비를 운용함으로서 기존의 수작업이나 반자동에 의존하던 작업환경을 개선하고 후판 용접공정을 자동화하여 생산성을 대폭 향상시킬 수 있는 효과가 있는 것이다.Therefore, in the present invention, the configuration of the welding driving apparatus including the torch support and the invention of the multi-layer automation equipment for the back plate using the computer as the main controller have been applied to the welding line and the automatic welding of the multilayer in the machining error and the mounting error of the welding member. By operating such equipment, it is possible to improve the work environment, which was dependent on the existing manual or semi-automatic, and to automate the plate welding process to greatly improve the productivity.

Claims (1)

제어장치, 용접장치, 주행장치로 구성된 중앙의 자동용접장치에 있어서, 제어장치는 컴퓨터(C)로 제어되는 주 제어기(1)와 내부에 ADC보드(9), DAC보드(10), 입출력 보드(11), 모션컨트롤러 보드(12)가 설치되고 분류기(13)에서 연결된 저역통과필터 회로부(14)를 상기 DAC보드(10)에, 인버터용접기(6)에서 연결된 용접조건제어 회로부(15)를 상기 ADC보드(9)에 연결한 것이며, 용접장치는 인버터 용접기(6)를 중심으로 와이어 송급기(17) 및 수냉식 냉각토치(5)와 냉각펌프(7)를 포함하며, 용접주행장치(3)는 토치지지 및 5축을 제어할 수 있는 주행제어장치와 모터 드라이브(16)와 레일(18)이 설치된 것을 특징으로 하는 후판용접을 위한 다층 자동용접장치In the central automatic welding device composed of a control device, a welding device and a traveling device, the control device includes a main controller 1 controlled by a computer C, an ADC board 9, a DAC board 10, and an input / output board therein. (11), the low-pass filter circuit unit 14, which is provided with the motion controller board 12 and connected by the classifier 13, to the DAC board 10, and the welding condition control circuit unit 15 connected by the inverter welding machine 6; Connected to the ADC board (9), the welding device includes a wire feeder (17), a water-cooled cooling torch (5) and a cooling pump (7) around the inverter welding machine (6), the welding running device (3) ) Is a multi-layer automatic welding device for thick plate welding, characterized in that the torch support and driving control device capable of controlling five axes and the motor drive 16 and the rail 18 are installed.
KR1019950005942A 1995-03-21 1995-03-21 Thick plate automatic welding KR0142259B1 (en)

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KR1019950005942A KR0142259B1 (en) 1995-03-21 1995-03-21 Thick plate automatic welding

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KR1019950005942A KR0142259B1 (en) 1995-03-21 1995-03-21 Thick plate automatic welding

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KR0142259B1 true KR0142259B1 (en) 1998-07-15

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