KR100241848B1 - Genturi welding device - Google Patents

Abstract

Disclosed is a technical object to provide an automatic welding device for enabling a continuous welding for a long time while varying the position of a welding member, such as a large steel plate structure, the side longitudinal structure consisting of a single guide rail installed on the pier; A central longitudinal axis structure disposed between the side longitudinal axis structure and a plurality of guide rails installed in a longitudinal direction on a pier; a horizontal axis structure installed to be moved back and forth in the guide rails of the side and center longitudinal axis structures; And a welding device which moves up and down by itself and moves horizontally along the transverse structure.

The present invention allows a plurality of welding members to be automatically controlled primarily along the Cartesian coordinates of front, rear, left, right, up and down, and horizontal rotation. To provide a large structure automatic welding device made of a multi-joint robot.

Description

Genturi welding device

The present invention relates to a gentry (Gentry) welding device, the gentry to which the multi-joint welding robot installed on the gantry is applied to the multi-joint welding robot by enabling the front, rear, left, rear, up, down and horizontal rotation. The present invention relates to a gantry welding device that allows the welding device to be effectively applied to the welding device of a large structure.

In general, welding of steel plate structures required for large vessels, etc. In most cases, many workers are welding while moving the auxiliary materials according to the welding. In order to compensate for the problem of welding work using such a large number of manpower, in recent years, it is possible to move back and forth as shown in FIG. A gantry welding device equipped with a structured articulated robot is used.

That is, by constructing a movable structure that is movable along the rail installed on the ground and by combining a plurality of articulated welding robot to move left and right on the movable structure.

1 of the accompanying drawings schematically shows this, the driving means 100 is provided with wheels so as to be movable along the guide rail 104 installed on the ground, the guide beam 102 provided in the transverse direction on the driving means 100, It consists of two lifting shafts 200 which are moved left and right separately along the guide beam 102, and each of the articulated robot welding 201 is configured so that the lifting shaft of vertical movement toward the member to be welded ( 200 is moved at the same time.

As a welding device of a similar structure consisting of such a gentry and a multi-joint welding robot coupled thereto, a Japanese Patent Application Laid-Open No. 6-71433 is also known.

This welding device is also a combination of gantry and multi-joint welding robot. The gantry welding device also moves the bridge structure forward and backward along the floor rail. By installing several articulated welding robots in this bridge structure, welding of the to-be-welded member located in the bottom part is attained.

However, the coupling structure of the gantry and the articulated robot has some problems as follows.

First, the gantry system for moving rails on the floor is inadequate for large ship structures and should be appropriately enlarged for large structures. However, in the case of moving the large-sized structure on the rail as it is, the weight of the wheel on the rail installed on the floor becomes large, it is not easy to apply driving power, and the stability of the driving shaft part is secured. To this end, there is a disadvantage in that the width of the driving direction is increased, and there is a considerable difficulty in manufacturing a vertical structure, a horizontal structure, installation, and operation, as well as a roller load for rolling a rail.

Therefore, it was not possible to apply the known genture device to the welding device of the ship structure as it is.

Second, in the known conventional centrifugal welding device, since the articulated welding robot operates as a separate moving device, it is not easy to accurately correspond to both ratios of the members, and the two moving means face each other with the members between them. At the same time, welding was performed on each articulated robot, and the overall control system was complicated and the failure rate was high.

Third, in addition to the 6-axis welding posture of the multi-joint welding robot, only position control in the front, rear, left, and right directions could be performed, and thus, it was impossible to have an accurate welding posture for large structures.

In other words, if several multi-joint welding robots are installed in one gantry, the associated control equipment is required, and even if the multi-joint welding robots are installed, there is a risk that expensive multi-joint welding robot equipment may be damaged due to malfunctions. In case of fabrication, it is possible to increase the cost of Genchuri facility and control management cost. Even if multiple articulated welding robots are operated, various postures could not be provided due to the simple two-dimensional positioning structure in Genchuri facility.

Therefore, it is necessary to use a centuri welding device capable of implementing an accurate welding posture of the front, rear, left, right, top, bottom, and horizontal directions of the articulated robot for welding members such as ship structures.

The present invention is to build an automatic welding system that can change the position of the articulated welding robot in the centuries front, back, left, right, top, bottom and horizontal rotation position, and the front, It is an object of the present invention to provide a gantry welding device in which large facilities such as a controller, a passage, a driving device, and a cable bare are provided in addition to a series of welding position control such as left, right, lifting and horizontal rotation.

More specifically, in addition to the welding position of the articulated welding robot, forward and backward movements are possible, and the left and right movement directions are made secondly, and at the same time, up and down movements are made in correspondence with the welding height. By controlling a series of welding positions where horizontal positioning is performed, effective welding control is possible by operating an articulated welding robot, and the linear movement section is reduced to reduce the space occupied by the structure of the up, down, left, and right moving devices. Even if the position of the member to be welded is not parallel, welding can be performed, and the object of enabling the positioning structure to be rotated up, down, left, right, up and down by a single moving means is corresponding to each other.

1 is a schematic diagram of a conventional gantry welding apparatus.

2 is a schematic diagram of a multi-row installation plane in which the present invention's genturi welding device is applied.

3 is a front schematic view of FIG.

4 is a partially enlarged perspective view of a gantry welding device applied to the first row of the present invention.

5 is a front main view of the longitudinal moving structure of the present invention gantry welding apparatus.

6 is a side view of FIG.

7 is an enlarged side view of the lateral movement of the gantry welding apparatus of the present invention.

8 is an enlarged view of the main part of a lift apparatus of the present invention gantry welding apparatus.

9 is a sectional view of a horizontal rotating device of the present invention gantry welding device.

10 is an exploded perspective view of a horizontal rotating apparatus having a multi-joint welding robot according to the present invention.

* Explanation of symbols for main parts of the drawings

1: side longitudinal structure 2: central longitudinal structure

3: transverse axis structure 4: transverse movement device

5: lifting device 6: horizontal rotating device

12: fixed beam 14: pier

16: guide rail 22: piers

24: fixed beam 26: guide rail

30: running shaft 31: rolling member

32: Cam Followers 33: Drive Motor

34: guide beam 35: pinion gear

36: rack gear 40: vertical plate

41: sliding member 42: rack gear

43: pinion gear 44: drive motor

45: connection part 51: fixed frame

52: moving frame 53: rack gear

54: pinion gear 55: drive motor

60: rotating member 61: drive motor

62: rotation axis 63: belt

64,65: pulley

A feature of the present invention for achieving the above object comprises an operator hatch, a longitudinal fixed beam having an upper surface of the passageway, several piers supporting the fixed beam, and a single guide rail installed on the upper surface of the fixed beam. Side longitudinal structures; A central longitudinal axis structure provided in correspondence with said side longitudinal structure comprising a plurality of piers, a fixed beam installed in a longitudinal direction on the piers, and a plurality of guide rails arranged in parallel on said fixed beam; A plurality of pairs of traveling shafts provided to be slidably movable on the guide rails of the side and center longitudinal axis structures, a guide beam installed horizontally between the traveling shafts and movable together by the traveling shafts, Parallel to and along the passageway communicated with the hatch of the traveling structure, the controller installed on the guide beam and the guide beam of the transverse structure to move up and down while being parallel to the operator. A centrifugal welding device including a multi-joint welding robot having a horizontally rotating lift and horizontal rotating device.

That is, the lateral longitudinal structure is provided with a single guide rail with a passage and a longitudinal fixed beam installed on a plurality of piers, which are eccentrically installed on the upper surface of the fixed beam, and the corresponding central longitudinal structure also includes several piers, It consists of a fixed beam installed in the longitudinal direction on the pier and a plurality of guide rails installed in parallel on the fixed beam to form a parallel ground running line together with the side longitudinal structure.

On the ground running line, the horizontal axis structure is positioned between the driving shafts while respectively installing the traveling shafts that are slidably moved to achieve a movable horizontal axis structure consisting of two traveling shafts.

In such a transverse structure, there is a passage communicating with a hatch for enabling a worker to move, and a controller and a welding device for controlling the entire apparatus are mounted.

In addition, the horizontal axis structure includes a transverse mover capable of transverse movement, a lifting device, a multi-joint welding device that is horizontally rotated while being fixed to the lifting device, and is moved forward, backward, up, down, left, by a single moving means. Four-axis position adjustment of horizontal movement is preceded and welding is performed in a posture required for an articulated robot.

That is, the present invention improves the orthogonal coordinate control device of the conventional system of narrowing or spreading the plurality of transverse moving devices as described above, so that the forward, backward, transverse, elevating, and horizontal rotations are possible as one transverse moving device. After the 4th position before welding, the articulated robot welding can be welded plurally or independently.

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

2 is a top schematic view of the present invention's gantry welding device, and FIG. 3 is a stationary schematic view of the present invention's gantry welding device, and FIG. 4 is a part of the gantry robot automatic welding device applied to the first row of the present invention of FIG. An enlarged perspective view.

According to these drawings, the present invention is a longitudinal axis structure (1) largely installed on both sides, a longitudinal axis structure (2) located in the center of the longitudinal structure (1), and a horizontal axis structure installed between them to move forward and backward (3) and the multi-joint welding robot A which can move a predetermined | prescribed four-axis in this horizontal axis structure 3 is comprised.

First, the side longitudinal axis structure 1 is biased at the operator hatch, a longitudinal fixed beam 12 having an upper surface as a passageway, several piers 14 supporting the fixed beam 12 and an upper surface of the fixed beam 12. It consists of a single guide rail 16 is installed so as to be installed on both sides with a central longitudinal axis structure to be described later.

The central longitudinal structure 2 consists of several piers 22, fixed beams 24 provided longitudinally on the piers 22, and a plurality of guide rails 26 arranged in parallel on the fixed beams 24. It is made in the center of the side longitudinal structure (1).

The lateral longitudinal structure 1 is thus embodied in multiple rows on both sides or continuously with the central longitudinal structure 2 interposed therebetween.

5 is a front main view of the longitudinal moving structure of the present invention, FIG. 6 is a side view of FIG. 5, and FIG. 7 is an enlarged side view showing the structure of the transverse movement device of the present invention.

The horizontal axis structure 3 for the forward and backward positioning of the present invention according to this figure is a pair of oppositely installed so as to be slidable on the guide rails 16, 26 of the longitudinal and central longitudinal structures 1, 2; A driving shaft 30 of the; A guide beam 34 installed horizontally between the travel shafts 30 and movable together by the travel shafts 30, and arranged on the guide beams 34 so that the worker's movement is possible. It consists of a passage 37 in communication with the hatch of the traveling structure.

In particular, the traveling shaft 30 is installed on the side longitudinal axis structure (1), forward and backward propulsion control, the rolling member 31 that rolls along the upper surface of the flange flange of the guide rail (16) of the side longitudinal axis structure (1), The cam follower 32 for sliding contact with the rail 16, the drive motor 33 installed in the substantially middle of the front and rear of the rolling member 31, and transmits the rotational force of the drive motor 33 It consists of a pinion gear 35 abutting the rack gear 36 to generate a propulsion force, which is connected at the bottom of the guide beam 34 of the transverse structure 3.

In other words, the guide beam 34 is provided with a transverse moving device 4 which is transversely moved along the transverse structure 3, and a lifting device which is provided on the transverse moving device 4 to perform a predetermined lifting operation. (5) and a pivoting device (6) installed at the lower end of the elevating device (5) to rotate horizontally at a predetermined angle about the elevating device after the transverse movement and elevating operation, and a welding soil on the pivoting device (6). A plurality of multi-joint robot apparatuses A having a cut may be provided.

8 is an enlarged view illustrating main parts of the lifting device of the present invention, FIG. 9 is a cross-sectional view of the horizontal rotating device of the present invention, and FIG. 10 is an excerpt perspective view of the horizontal rotating device having the multi-joint welding robot of the present invention.

In the present invention, the transverse moving device according to the drawing, the transverse moving device 4 having the traveling shafts 30 installed on both the left and right sides thereof, has a guide beam 34 extending from both ends of the saddle of the left and right traveling shafts 30 to both sides. Sliding member 41 is installed along the front of the long and the rack gear 42 formed on the upper surface along the guide beam 34, the vertical plate body 40 is transversely moved to the guide beam 34 It is installed to be movable. That is, the pinion gear 43 connected to the rack gear 42, the drive motor 44 for driving the pinion gear 43, and the sliding member 41 of the guide beam 34 are connected to each other. The connecting portion 45 in sliding contact is provided in the vertical plate body 40.

Therefore, the rack gear 42 is moved by the drive of the drive motor 44, and thus the sliding member 41 sets the left and right positions while sliding in the guide beam 34.

The lifting device 5 supported by the transverse moving device 4 may be provided with a moving frame 52 inside the fixed frame 51. A rack gear 53 is formed in the moving frame 52, and the pinion gear 54 connected thereto is installed in the fixed frame 51 and driven by the driving motor 55.

The driving member 61 is positioned at the lower end of the moving frame 52 of the elevating device 5 in the rotating member 60 assembled with the lower portion of the moving frame 52 of the elevating device 5, and the rotating member 60 is disposed. At the bottom, a pair of articulated robot welding is installed on the rotating shaft while being driven by the belt 63 and the pulleys 64 and 65 between the driving motor 61 and the rotating shaft 62 along the rotating shaft 62. do. The articulated welding robot installed on the pivot member 60 has a welding torch at its tip.

The present invention thus achieved has a side structure 1 having a single guide rail which is installed on the upper surface of several piers supporting the fixed beam, and a central longitudinal structure 2 having a plurality of guide rails installed in parallel in the longitudinal direction on the piers. ) And the horizontal axis structure (3) is installed in a row between the primary and the forward and backward operation.

As described above, the horizontal axis structure 3 operated forward and backward is provided with a Cartesian coordinate setting device that is moved up and down while moving left and right along the horizontal axis structure 3 and simultaneously rotated left and right in a horizontal state. Here, a pair of multi-joint welding robots are installed to perform welding while posing in opposite directions toward the position to be welded.

Specifically, the rolling member 31 is formed on the upper surface of the rail flange of the side longitudinal structure 1 and the central longitudinal axis structure 2 in which the rails 16 are installed along the pier level raised from the ground to the ground so as to face left and right. The traveling shaft 30 is installed to move the cloud.

The traveling shaft 30 is a portion that receives the total load of the transverse moving apparatus 4 which is slid by the transverse shaft structure 3, the sliding member 41, and the connecting portion 45, according to the position of the member to be welded. Set the reverse position.

As the horizontal axis structure (3) installed between the side longitudinal axis structure (1) and the central longitudinal axis structure (2), when the front and rear position setting is completed, the horizontal moving device (4) is transversely moved, while sliding member (41) and It slides by the connection part 45, and sets a left-right position.

When the left and right positions are set, the height of the member to be welded is set by the elevating device 5 provided on the vertical plate 40 of the transverse moving device 4.

When the height is set, the rotating device 6 rotates horizontally to match the position of the member to be welded at the lower end of the elevating device 5 to set the final position of the articulated welding robot.

That is, the driving force 61 is driven by the drive motor 61 installed on the fixed frame 51 side of the elevating device 5 and the rotational force transmitted as the belt 63 is built up in the center of the fixed frame 51. It is transmitted to the driven pulley 65, the rotating shaft 62 is to set the horizontally rotated position by the forward and backward rotation of the rotating member 60 in the horizontal state.

Of course, all of the above position setting is performed by a plurality of drive motors by a separate control circuit means to perform a predetermined control operation, a controller and a power supply line for controlling them are installed.

According to the present invention, a multi-joint welding robot installed in the rotating device 6 and having a torch at the tip end thereof can weld the welded member on both sides.

According to the present invention which performs the welding operation in this way, in order to weld both sides of the member to be welded, the driving shaft 30 is horizontally moved simultaneously with the first position in the horizontal direction by the predetermined forward and backward operation after positioning the center portion of the guide beam. The moving device 4 is moved horizontally left and right to set the second position, and the vertical state is obtained by holding the height of the rotating member which rotates the articulated welding robot fixed to the lower part of the member to be welded by the elevating device. Set the third position of the welding member and again rotate the rotating member horizontally from the horizontal position at the third position of the member to be welded to set the fourth position in the direction corresponding to the member to be welded. Two vertical articulated welding robots attached to the rotating device operate the welding torch to weld the welded portion of the member to be welded in a precise and stable position.

As described above, the present invention improves the pre-positioning structure of the multi-disc welding robot of the conventional gantry welding apparatus in which two up, down, left and right moving shafts move and set the position simultaneously toward the member to be welded to precisely control the four axis positions. It is possible to reduce the additional control equipment according to the installation of several articulated welding robots in a single centuries, to prevent the malfunction of expensive articulated welding robots by preventing malfunction, etc. It is effective in reducing the cost and providing various postures in the gantry facility.

Therefore, in the present invention, the gantry welding apparatus sets the 4 axis position in advance toward the to-be-welded member, such as a large ship structure, and performs welding by a multi-joint welding robot, thereby achieving an accurate welding posture.

Claims (3)

In the gantry welding apparatus, a longitudinal fixed beam 12, 24 and several piers 14 supporting the fixed beam 12, 24 and a guide rail on the upper surface of the fixed beam 12, 24 are provided. Longitudinal structure (1) (2) consisting of (16) (26); Traveling shafts 30 installed so as to be movable in the guide rails 16 and 26 of the longitudinal axis structure 1 and 2 and horizontally installed between the traveling shafts 30 and the traveling shaft 30. A horizontal axis structure (3) provided with guide beams (34) movable forward and backward by means of (); A rack gear 42 and a sliding member 41 are formed in the guide beam 34, and the pinion gear 43 driven by the drive motor 44 is brought into contact with the rack gear 42. In the sliding member 41, the connecting portion 45 is brought into sliding contact so that the vertical plate 40 mounted with the drive motor 44 of the pinion gear 43 is moved left and right on the guide beam. Moving device 4; The fixed frame 51 is installed on the vertical plate body 40, and the movable frame 52 is mounted in the fixed frame 51 so as to be movable up and down, and the rack frame 55 is mounted on the movable frame 52. An elevating device (5) formed by driving the rack gear (55) with a drive motor (44) and a pinion gear (56) installed on the fixed frame (51) and moving the frame (52) vertically up and down; A driving pulley 64 driven as a driving motor 61 is installed below the fixed frame 51 of the elevating device 5, and the driving force of the driving pulley 64 is driven through the belt 63 by a driven pulley 65. Rotation force transmitted to the Middle pulley (65) rotates the rotating shaft (62) installed at the lower end of the fixed frame (51) to rotate the rotating member (60) in a horizontal state, the rotating device (6) ; And installed in the lower end of the rotating member 60 of the rotating device 6, according to the welding position of the front, rear, left, right, up, down and horizontal rotation of the to-be-welded member set through the rotating member 60. A centrifugal welding device comprising a multi-joint welding robot device (A) in which welding in a six-axis direction is performed in a detailed welding posture. The gantry welding device according to claim 1, wherein the multi-joint welding robot is installed on the pivoting device (6). The horizontal axis structure (3) having the multi-joint welding robot (A) is installed between several longitudinal axis structures (1) and (2) to form a multi-row welding device. Genthurium welding device made with.

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