KR100588942B1 - Welder for Hull - Google Patents

Abstract

The present invention relates to a welder for welding a pair of workpieces to be joined perpendicularly to each other while being moved by a robot. The welding machine according to the present invention includes a horizontal bar 20 coupled to the front end of the manipulator 110 of the robot so as to be linearly movable, and rotatably coupled to the front end of the horizontal bar 20. A guide block 30 having a pair of supports 31 and 32 in contact with the objects to be joined, a welding torch 10 protruding between the supports 31 and 32, and a guide block 30. It includes a motor 40 for driving the rotation. According to such a welding machine, the support portions 31 and 32 of the guide block 30 are always in contact with the to-be-joined objects during the welding operation, so that the distance between the welding torch 10 and the junction of the to-be-joined parts can be kept constant. Good welding quality can be obtained.

Hull, welding, robot

Description

Welder for Hull Welding {Welder for Hull}             

1 is a perspective view of an inner bottom block constituting a double hull structure;

FIG. 2 is an enlarged view of a portion A in FIG. 1. FIG.

3 is a perspective view of a welder according to the present invention;

4 is a plan view showing a welding operation by the welding machine of FIG.

Fig. 5 is a side cross-sectional view of the welding machine of Fig. 3 coupled to the manipulator of the robot.

6 is a perspective view illustrating a state in which the welding machine of FIG. 3 is mounted on a robot.

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

10: welding torch 20: horizontal bar

21: rack gear 30: guide block

31, 32: support 40: motor

110: manipulator 112: pinion gear

113: motor

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welder used for welding a hull during ship construction, and more particularly, to a welder installed in a manipulator of a robot to automatically fillet weld steel plates constituting the hull.

In ships, the double hull structure prevents submersion into the bottom of the ship, in case of failure of the ship's bottom or side, not only increases the strength of the ship's bottom, but also makes good use of space and the center of the ship. This lowers the ship's hull stability.

Due to the advantages of such a double hull structure, the quantity of ships having a double hull structure has increased recently. However, since the bottom of the double hull has a complicated skeleton structure, there are various difficulties in automating the manufacturing process.

1 is a perspective view of an inner bottom block constituting a double hull structure.

As shown in FIG. 1, the inner bottom block 1 constituting the double hull structure has a plurality of longies having a T-shaped cross-sectional shape on a bottom plate 3 made of a wide iron plate. (2) has a structure in which welding is provided in parallel with each other at predetermined intervals. Here, a web floor 4 and a girder 5 made of iron plates are vertically installed on the lower plate 3, thereby completing the inner bottom block 1 as shown in FIG. do.

In manufacturing the inner bottom block 1, first, the lower plate 3, the longage 2, the web floor 4 and the girders 5 are welded to each other to form an overall shape, and then the main welding is performed. It is common to manufacture with.

That is, after completing the shape of the inner bottom block 1 by tack welding, as shown in Fig. 2, as the main welding, the vertical joint 6 between the longage 2 and the web floor 4, and The inner bottom block 1 is completed by fillet welding the horizontal joint 7 between the lower plate 3 and the web floor 4.

For this main welding, in the open-type block (open-type block) with the ceiling open, the welding operation was performed after positioning the automatic welding device closer to the welding position (A) using a crane. Then, when a part of the welding work is finished, using the crane again to move the automatic welding device to the other welding position beyond the longage (2) and then performed the welding work. In the open type block, it is possible to work using a crane as described above, but in the case of a closed block, there is a problem in that the crane cannot be used because the ceiling is blocked.

Due to this problem, in recent years, a welding machine is installed in a manipulator of a robot that can move beyond the longage 2, and the necessity of a method in which a welding operation is performed while the welder moves along the joint portion of the workpieces by the operation of the robot is required. It is rising.

However, when the conventional welder is mounted on the manipulator of the robot, the welding machine moves while being spaced apart from the joined objects during the welding operation, so that the distance between the joints of the joined parts and the tip of the welding torch cannot be constantly adjusted. , If the shaking occurs during the operation of the manipulator of the robot, there is a problem that the welding is not made stable because the welding torch shakes.

In addition, since the conventional welding machine is installed in a fixed form only at the tip of the manipulator of the robot, it is cumbersome to adjust several axes of the robot in order to constantly adjust the gap between the joints of the workpieces and the tip of the welding torch. have.

The present invention was developed to solve the conventional problems as described above, an object of the present invention is to maintain a constant distance between the welding torch and the joint of the to-be-joined, welder that can be made stable during the welding movement To provide.

An object of the present invention as described above is a welding machine for welding a pair of to-be-joined objects to be joined perpendicularly to each other while being moved by a robot, a horizontal bar coupled to the manipulator tip of the robot, the tip of the horizontal bar Rotatably coupled to the guide block having a pair of support portions respectively contacting the to-be-joined objects at a predetermined angle to each other, a welding torch protruding between the support portions, and rotating the guide block. It is achieved by providing a welder comprising a motor to drive.

In order to enable the welder to move smoothly along the joints of the workpieces during welding, it is preferable that a plurality of rollers are provided at the tip of the supports for rolling contact with the workpieces.

On the other hand, in order to adjust the distance between the welding torch and the workpiece, the horizontal bar is preferably coupled to the linear movement of the manipulator front end of the robot.

In order to linearly move the horizontal bar, a rack gear is formed on one surface of the horizontal bar along the longitudinal direction, and the manipulator is provided with a pinion gear engaged with the rack gear and a motor for rotating the pinion gear. .

Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention.

As shown in FIG. 3, the welder includes a horizontal bar 20 linearly coupled to the front end of the manipulator 110 of the robot and a guide block 30 rotatably coupled to the front end of the horizontal bar 20. And a welding torch 10 protruding from the guide block 30.

The guide block 30 includes a pair of support parts 31 and 32 protruding at an angle of 90 degrees to each other, and a connection part 33 connecting the support parts 31 and 32 to be inclined. The welding torch 10 is mounted to the connection part 33 while forming an angle of 45 degrees with each support part 31 and 32.

One support portion 31 of the pair of support portions 31 and 32 is rotatably coupled to the tip of the horizontal bar 20. The motor 40 is connected to the support part 31 coupled to the horizontal bar 20. Therefore, the guide block 30 is rotated about the support part 31 by the driving of the motor 40.

As shown in FIG. 4, the tip of each support 31, 32 is a pair of to-be-joined joints, ie the longage 2 and the web floor 4 (or, to be joined perpendicularly to each other during the welding operation). By contacting each of the lower plate 3 and the web floor 4 (refer to FIG. 2), the distance between the welding torch 10 and the joint 6 of the joined objects 2 and 4 is kept constant.

A plurality of rollers 50 are installed at the tips of the respective support parts 31 and 32 so that the support parts 31 and 32 can move smoothly in contact with the joined objects 2 and 4. By this roller 50 the support parts 31, 32 are brought into rolling contact with the surface of the joined objects 2, 4. On the other hand, it may be possible to use a ball caster instead of the roller 50 for rolling contact between the supports 31, 32 and the joined objects 2, 4.

As shown in FIG. 5, for the linear movement of the horizontal bar 20, the rack gear 21 is formed on the upper surface of the horizontal bar 20 along its length direction, and the rack gear is disposed at the lower end of the manipulator 110. The pinion gear 112 which meshes with the 21 is rotatably installed. The pinion gear 112 is rotationally driven by the motor 113 (FIG. 3). As the pinion gear 112 rotates on the rack gear 21 by the driving of the motor 113, the horizontal bar 20 moves relatively linearly.

When the horizontal bar 20 is linearly moved, the welding torch 10 approaches or moves away from the joint 6, so that the welding torch 10 can be moved forward and backward even without the operation of the robot. .

Hereinafter, an operation in which welding is performed by the welding machine according to the present invention will be described with reference to FIG. 6. Figure 6 is a perspective view showing a state in which the welding machine according to the invention mounted on the robot.

As illustrated in FIG. 6, the illustrated robot includes a base 120 horizontally seated on a pair of longines 2 and 2, and a movable body 130 installed on the base 120 so as to be movable in a horizontal direction. And a manipulator 110 mounted on the movable body 130 so as to be movable upward and downward in a vertical direction. The welding machine according to the present invention is installed at the lower end of the manipulator 110.

As the motor 113 of the manipulator 110 is driven to move the horizontal bar 20 linearly, the welding torch 10 has the support portions 31 and 32 of the guide block 30 being joined to each other (2, 3, 4). The junctions 6, 7 (FIG. 2) are approached. The linear movement of the horizontal bar 20 is made until the support portions 31 and 32 of the guide block 30 come into contact with the joined objects 2, 3 and 4, wherein the welding torch 10 is joined to the joint portion. It becomes a state spaced apart from (6, 7) by the space | interval necessary for welding.

In this state, according to the vertical movement of the manipulator 110 and the lateral movement of the movable body 130, the entire welder moves along the joints 6, 7 between the joined objects 2, 3, 4. The welding work can be performed by the welding torch 10. At this time, the support portions 31 and 32 of the guide block 30 are brought into contact with the surface of the object to be joined 2, 3, 4 by the roller 50, so that the welding torch 10 is joined to the object 2 It is possible to weld the joints 6 and 7 while moving at a constant distance from the joints 6 and 7 of the parts 3 and 4 at all times.

On the other hand, when the welding at the vertical joint 6 between the long 2 and the web floor 4 as shown in FIG. 4 is completed, the motor 40 is driven to move to the horizontal joint 7 (FIG. 2). By rotating the guide block 30 by 90 degrees, the support portions 31 and 32 of the guide block 30 can be turned so as to contact the lower plate 3 and the web floor 4, respectively.

As described above, according to the welding machine according to the present invention, the support portions of the guide block are always in contact with the to-be-welded materials during the welding operation, so that the spacing between the welding torch and the junction of the to-be-joined materials is kept constant, so that the welding quality is good. Can be obtained.

In addition, according to the welding machine according to the present invention, the movement of the welding can be made stable because the support portion of the guide block in contact with the to-be-joined objects by the roller.

In addition, according to the welding machine according to the present invention, the welding torch may be moved closer or farther from the joints of the workpieces by linear movement of the horizontal bar. Thus, the gap between the tip and the joint of the welder may be adjusted without operating each axis of the robot. It can be done easily.

In the above, certain preferred embodiments of the present invention have been illustrated and described. However, the present invention is not limited to the above-described embodiments, and various modifications can be made by those skilled in the art without departing from the gist of the present invention as claimed in the claims. will be.

Claims (5)

A welding machine for hull welding, which welds a pair of workpieces to be joined perpendicularly to each other while being moved by a robot, A horizontal bar 20 coupled to the tip of the manipulator 110 of the robot; A guide block (30) rotatably coupled to the front end of the horizontal bar (20) and having a pair of support portions (31, 32) that respectively contact the to-be-joined objects at welding while forming a predetermined angle with each other; A welding torch 10 protruding between the support parts 31 and 32; And Welder for hull welding, characterized in that it comprises a motor (40) for rotationally driving the guide block (30). The method of claim 1, Welder for hull welding, characterized in that a plurality of rollers (50) are installed at the tip of the support (31, 32) for the rolling contact with the to-be-joined objects. The method according to claim 1 or 2, The support parts (31, 32) to form an angle of 90 degrees to each other, the welding torch (10) is a hull welding welder, characterized in that to form an angle of 45 degrees with each of the support (31, 32), respectively. The method according to claim 1 or 2, The horizontal bar 20 is welder for hull welding, characterized in that coupled to the linear movement of the front end of the manipulator 110 of the robot. The method of claim 4, wherein Rack gear 21 is formed on one surface of the horizontal bar 20 along its longitudinal direction, The manipulator (110) is a welder for hull welding, characterized in that it comprises a pinion gear (112) engaged with the rack gear (21), and a motor (113) for rotating the pinion gear (112).

Images