KR100494026B1 - Auto Welding M/C - Google Patents

Abstract

The present invention provides a welding method using a four-axis mechanism robot welding device improved to enable automatic welding for the parts that cannot be accessed by the general welding carriage.

The present invention is composed of the X-axis mechanism portion 20, Y-axis mechanism portion 40, Z-axis mechanism portion 50, T-axis mechanism portion 60, the torch 30 to the T-axis mechanism portion 60 by welding In the robot welding method of the four-axis mechanism, characterized in that the rotational motion at both ends of the welding field, the speed, the weaving pattern, the height and arc length, and including a drive motor, a limit switch, a remote control 70,

Rotational speed of the T-axis mechanism 60 which rotates the torch during the welding of the base material with one or both ends blocked by the 4-axis mechanism robot welding device is maintained at the same as the welding speed of the X-axis mechanism 20 of the straight section. To maintain the arc length during torch rotation, Z-axis mechanism unit 50 is used, and weaving pattern is used to reduce the weaving width at the starting section a so as to be the same as the weld bead of the straight section b. A base metal welding method in which one or both ends are blocked using a four-axis mechanical robot welding device.

Description

Base metal welding method with one or both ends blocked using 4 axis robot welding device {Auto Welding M / C}

The present invention relates to an automatic welding machine, and more specifically, multi-layer automatic welding is also possible for parts that cannot be accessed by a general welding carriage in an instantaneous response to changes in welding conditions such as weaving width, welding speed, and height of the torch. It is to provide a method for welding a base material with one or both ends blocked using an improved robot welding apparatus for four-axis mechanism parts that can greatly contribute to improved workability and productivity.

Blocks assembled when the ship is built in the shipyard is different depending on the shape of the various manufacturing method and its working method.

For example, in the factory, welding was performed by using a welding robot or automatic welding device having various functions. However, in the case of welding work in the block assembly and mounting process in the yard, depending on the working conditions, Manual welding by a welding thread is mainly performed.

It is difficult to apply portable welding robot in working environment, working condition and design method in block manufacturing process, and multi-layer welding is required for the part where one or both ends of the welding site is blocked. When used, the welding start portion and the end of the welding holding portion (about 100mm) originates from the problem that occurs.

Therefore, in the conventional work environment having a welding holding part, welding holding is added by adding a separate device so that the torch can be mechanically rotated when welding the main deck of the container ship (welding table about 2 to 3M, thickness 45t) using the automatic welding carriage. It also tried to suppress the occurrence of side effects.

However, the simple small carriage which simply added the torch rotation function could not obtain satisfactory welding quality, and the welding bead pattern (welding quality) at the start point of welding (reverse angle) and the bead pattern at the straight line were not equal to each other. There is a problem, and there is a inconvenience that the welder has to continuously monitor the arc because there is no weld line tracking function when using a normal carriage.

In addition, both ends of the welding residual portion is left, so that a significant welding time is required due to the heavy plate during manual welding by the welder for the correction / finishing, there is a problem such as a high fatigue of the worker, resulting in a decrease in productivity .

Accordingly, the present invention is intended to solve the conventional problems as described above, and to provide an automatic welding method that can greatly contribute to productivity improvement by minimizing worker fatigue.

It is also an object of the present invention to provide a multi-layer welding without welding residual portions at both ends, and to provide an automatic welding method excellent in instantaneous adaptation according to changes in welding conditions during welding.

In addition, the present invention re-teach the initial position of the torch at the end of each welding pass to enable the welding of the end to the end of the cut member to enable the multi-layer automatic welding of the parts that cannot be accessed by the normal welding carriage It is to provide an improved automatic welding method.

In order to achieve the above object, the present invention is characterized by providing an automatic welding method using a portable robot consisting of a small four-axis mechanism and a controller (DSP board).

The automatic welding device allows the operator to easily set the torch or input welding conditions by using a small remote control panel composed of an LCD and a keypad, and the 4, such as the X, Y, Z and T axes during the horizontal bottom view welding. By moving the torch in real time through each mechanism configured to move in the axial direction, the weaving width, welding speed, and torch height can be adjusted to enable instant response to changes in welding conditions. It provides a welding method that can obtain satisfactory welding quality when welding both ends by using an automatic welding device using a four-axis mechanism robot that generates the same welding bead pattern as a bead pattern in a vertical straight section. have.

Hereinafter, with reference to the accompanying drawings, the configuration and effect according to a specific embodiment of the present invention in more detail as follows.

1 is an exemplary view showing a four-axis mechanism robot welding apparatus to which the present invention is applied, in the present invention, the X-axis mechanism unit 20 is horizontally conveyed along the traveling rail 22 disposed in the welding line A direction (X axis). The Y-axis mechanism part 40 is mounted on the X-axis mechanism part 20 and is transported in a plane direction (Y-axis) perpendicular to the travel rail 22, and the Y-axis mechanism part 40 is mounted on the X-axis mechanism part 40. Z-axis mechanism part 50, which is conveyed in a direction perpendicular to a plane (Z-axis), T-axis mechanism part 60 mounted on the Z-axis mechanism part 50 to rotate in place, and the T-axis mechanism part 60 The torch 30 of the CO2 welding machine is fixedly installed, and the four-axis mechanism unit rotates the torch 30 at the speed (welding degree), the weaving pattern, the height (arc length) and the arc length, and both ends of the welding field. It is comprised so that welding may be performed.

And the drive motor (AC Servo motor, reducer incremental encoder type) for operating the four-axis mechanism, the limit switch, drive & limit to detect the absolute position is installed at both ends of the movable displacement in each axial direction In the motor box, a connector for connecting the control signal and the motor power, and a small and light remote controller 70 (controller) capable of monitoring and adjusting the position and welding speed of the torch 30 are provided.

The remote control 70 inputs the position of the initial torch, welding speed, weaving width so that the torch can be arbitrarily adjusted in real time during welding, and an input / output device keypad (16 key) and LCD (240 × 64 dot) And a feeder 84 for adjusting the voltage current in the middle of the cable 82 connecting the welder 80 and the torch 30.

 Figure 2 is a working state showing the welding of the base material is blocked at both ends by using a welding device according to the present invention, one or both ends of the torch 30 during the welding operation of the base material 10 is blocked kinematically It provides a control algorithm that can achieve the same welding quality as when both ends are straight sections.

To this end, the rotational speed of the T-axis mechanism unit 60 for rotating the torch 30 is kept the same as the welding speed of the X-axis mechanism unit 20 in a straight section, and to maintain a constant arc length when the torch 30 rotates. The Z-axis mechanism 50 is used, and a weaving pattern is used in which the weaving width is reduced in the starting section a so as to be the same as the weld bead of the straight section b.

In addition, the torch position in the section (a) where the torch 30 starts welding while the torch 30 rotates, corresponds to a backward angle, and the section for welding in a posture perpendicular to the base material after the torch rotates is a straight section (b), the torch The torch posture of the section (c) where the welding ends while rotating corresponds to the forward angle.

The weaving width of the starting section (a) is ± W1, and in the straight section (b), the weaving width is ± W2 at the center.

As such, the interval (arc length) between the torch 30 and the base material 10 becomes narrow while the torch rotates in the start section a so that the Z axis is relatively raised to maintain this gap.

In contrast to when the torch rises in the starting section (a), when the torch 30 rotates, the gap (arc length) between the torch 30 and the base material 10 is widened, so that the gap is kept constant. The Z axis is lowered relatively.

In addition, since the width of the welding bead is narrowed due to the backward angle characteristic while the torch rotates in the start section (a), it is possible to perform such a change in the weaving width.

In order to perform welding, the torch is always rotated by the rotation angle after the initial posture and the teaching function of the torch, and when the welding is completed, the torch is rotated symmetrically.

According to the present invention configured as described above, the traveling rail 22 of the X-axis mechanism part 20 is installed in the welding line A direction so that the torch 30 can move along the welding line A direction, and thus the worker at the initial welding start position. After the rotary motion of the T-axis mechanism unit 60 by a predetermined angle using the remote controller 70, the torch 30 has a constant height (Arc) with respect to the base material 10 by the vertical movement of the Z-axis mechanism unit 50. Length).

In this state, when the welding operation is performed, the Z-axis mechanism part 50 and the T-axis mechanism part 60 are driven by the drive of the X-axis mechanism part 20 and the Y-axis mechanism part 40 while maintaining a constant height in the straight welding section. The operation of forming a constant weaving pattern is implemented.

When the torch 30 is moved by the rotational motion by the T-axis mechanism part 60 and the vertical movement of the Z-axis mechanism part 50 when the welding position is reached while performing the welding operation as described above, a constant height (Arc) is observed with respect to the base material 10. Length) so that no welding residue remains.

As described above, the present invention moves in the plane direction perpendicular to the X-axis mechanism part 20 and the traveling rail 22 to adjust the speed (welding degree) of the torch 30 in the welding line A direction, and the weaving pattern of the torch 30. Y-axis mechanism part 40, which forms a shape, Z-axis mechanism part 50 for instantaneously adjusting the height (arc length) of the torch 30 and arc length during welding while moving in a direction perpendicular to the plane of the X-axis and the Y-axis. ), The torch 30 is a four-axis forward (X, Y, Z-axis direction, as well as T-axis by the T-axis mechanism 60 to induce the torch 30 to rotate mechanically at both ends of the welding field. Freely move in the axial direction and can effectively perform welding work.

Therefore, the operator can operate the remote control 70 in real time even during the horizontal bottom view welding to move the torch 30 in real time and adjust the weaving width, welding speed, torch height, etc. All the bead patterns in the straight section can maintain the same weld bead characteristics.

In addition, in the present invention, the torch 30 is mechanically rotated while the one or both ends are blocked while the torch 30 is kinematically rotated so that both ends thereof have the same welding quality as that of the straight section b. The rotational speed of the T-axis mechanism part 60 for rotating) is maintained at the same as the welding speed of the X-axis mechanism part 20 of the straight section b, and the Z-axis mechanism part 50 is maintained to maintain a constant arc length when the torch rotates. Weaving pattern is used to reduce the weaving width in the starting section (a) to be the same as the weld bead of the straight section (b).

According to the present invention configured as described above, the traveling rail 22 of the X-axis mechanism part 20 is installed in the welding line A direction so that the torch 30 can move along the welding line A direction, and thus the worker at the initial welding start position. After the rotary motion of the T-axis mechanism unit 60 by a predetermined angle using the remote controller 70, the torch 30 has a constant height (Arc) with respect to the base material 10 by the vertical movement of the Z-axis mechanism unit 50. Length).

In this state, when the welding operation is performed, the Z-axis mechanism part 50 and the T-axis mechanism part 60 are driven by the drive of the X-axis mechanism part 20 and the Y-axis mechanism part 40 while maintaining a constant height in the straight welding section. The operation of forming a constant weaving pattern is implemented.

As described above, according to the present invention, the welding width, the welding speed, the torch height, and the like can be adjusted while moving the torch 30 according to the welding condition change during the welding operation as well as the multi-layer welding without welding residual portions at both ends. It is very adaptable, and it is a very useful invention having the effect that the operator can adjust the welding conditions and welding patterns in real time by using the remote control, thus ensuring the safety of the worker, minimizing the fatigue, and greatly improving the productivity.

1 is an exemplary view showing the configuration of a four-axis mechanism robot welding apparatus according to the present invention,

2 is an exemplary view showing a base material welding method using a welding device according to the present invention;

3 is a front view showing an operating state of the torch of the welding apparatus according to the present invention;

4 is a front view and a plan view showing a change in the weaving width by the torch of the welding apparatus of the present invention;

<Explanation of symbols for the main parts of the drawings>

20: X-axis mechanism 22: running rail

30: torch 40: Y-axis mechanism

50: Z-axis mechanism 60: T-axis mechanism

70: remote control 80: welding machine

82: cable 84: feeder

 A: welding line

Claims (3)

delete The X-axis mechanism part 20 horizontally conveyed along the traveling rails 22 arranged in the welding line A direction (X axis), and the planar direction mounted to the X-axis mechanism part 20 and perpendicular to the traveling rails 22 ( Y-axis mechanism part 40 to be transferred to the Y axis), Z-axis mechanism part 50 to be mounted to the Y-axis mechanism part 40 and transferred in the direction (Z axis) perpendicular to the plane of the X axis and the Y axis, and the Z axis The T-shaft mechanism 60 is mounted on the mechanism 50 and rotates in place, and the torch 30 of the CO2 welding machine is fixedly installed on the T-axis mechanism 60 so that the torch 30 is fixed by the four-axis mechanism. Welding speed, weaving pattern, height and arc length, the drive motor configured to rotate at both ends of the welding field, the four-axis mechanism to operate the limit switch for sensing the absolute position of the mechanism moving in each axial direction, 4, characterized in that it comprises a remote control 70 for monitoring and adjusting the position, the welding speed of the torch 30 In the welding robot mechanism unit, Rotational speed of the T-axis mechanism 60 for rotating the torch during the welding of the base material with one or both ends blocked by the 4-axis mechanism robot welding device is the same as the welding speed of the X-axis mechanism 20 of the straight section b. To maintain the arc length during torch rotation, and to use the weaving pattern of reducing the weaving width in the starting section (a) to be the same as the welding bead of the straight section (b). A base metal welding method in which one or both ends are blocked using a four-axis mechanical robot welding device. The method of claim 2, wherein when the distance between the torch 30 and the base material 10 becomes narrow while the torch 30 rotates in the start section (a), the Z axis is raised, and the torch rises in the start section (a). In contrast, when the torch rotates, the Z axis is lowered when the distance between the torch and the base material is widened, and when the width of the weld bead is narrowed while the torch rotates in the starting section (a), the weaving width is changed. A method of welding a base material with one or both ends blocked using a robotic welding device.