KR100600262B1 - 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 body 10 having a rectangular parallelepiped shape in which a robot is suspended and supported through a wire 110, and the front and side surfaces of the welder are in contact with the to-be-joined objects 2, 3, and 4 during a welding operation. Rotating the support frame 20 is formed to protrude downward in the rear of the bottom of the body 10, the welding torch 30 rotatably installed left and right in front of the bottom of the body 10, and the welding torch 30 It includes a motor 70 for driving. On the front and side of the body 10 and the bottom of the support frame 20, a ball caster 41 or a roller 42 is provided for rolling contact with the joined objects 2, 3 and 4. According to such a welder, the body 10 and the support frame 20 are always in contact with the to-be-joined parts during the welding operation, so that the gap between the welding torch 30 and the junction of the to-be-joined parts can be kept constant, so that a 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;

Figure 4 is a side view showing the welding operation by the welder of Figure 3;

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: body 20: support frame

30: welding torch 41: ball caster

42: roller 51, 52: electromagnet

60: rotating body 63: driven gear

70: motor 71: drive gear

100: welding machine 110: wire

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 installed vertically on the lower plate 3, thereby completing an 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 gap 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.

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, a welding machine for welding a pair of the workpiece to be bonded to each other while moving by a robot, which is supported by hanging on the robot through a wire, the front and side when A body having a rectangular parallelepiped shape in contact with the to-be-joined object, a support frame protruding downward from the rear of the bottom of the body, a welding torch rotatably installed left and right in front of the bottom of the body, and the welding torch It is achieved by providing a welder comprising a motor for rotating the motor.

Here, it is preferable that a ball caster or a roller is installed on the front and side surfaces of the body in contact with the objects to be joined, and the bottom surface of the support frame for rolling contact with the materials to be joined.

In addition, an electromagnet is installed on the front and side surfaces of the body, respectively, so that the body is in close contact with the objects to be joined by the magnetic force of the electromagnet during the welding operation.

Meanwhile, in order to rotate the welding torch, a driving gear connected to the output shaft of the motor and a driven gear meshing with the driving gear are provided, and the welding torch is rotatably installed on the bottom of the body. It is connected to the driven 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 according to the present invention includes a body 10 having a rectangular parallelepiped shape, and a support frame 20 having a substantially U-shape, which is formed to protrude downwardly behind the bottom of the body 10. , The welding torch 30 is rotatably installed in front of the bottom of the body 10. The tip of the welding torch 30 protrudes downward at an angle of approximately 45 degrees from the bottom of the body 10.

The welder is connected to a robot that moves across the longage 2 via a pair of wires 110 fixed to the top of the body 10 (see FIG. 6). In accordance with the operation of the robot, the welding machine performs welding while moving up, down, left, and right.

The front and both sides of the body 10 and the bottom and both sides of the support frame 20 should be joined vertically to each other, such as the longage 2, the bottom plate 3 and the web floor 4 in FIG. 2. When welding the objects to be welded, by contacting the surfaces of these parts 2, 3 and 4, the welding torch 30 is not shaken, and the tip of the welding torch 30 and the objects 2, 3 are welded. , 4) keep the gap between them constant.

A plurality of ball casters 41 are installed on the front surface of the body 10 in contact with the to-be-joined objects 2, 3, and 4, and both sides of the body 10 and the support frame 20 of the support frame 20 are provided. A plurality of rollers 42 are installed on the bottom surface. As shown in FIG. 4, the body 10 and the support frame 20 are brought into contact with the surfaces of the objects 3 and 4 by the ball caster 41 and the rollers 42, thereby welding work. The seam welder can move smoothly while in contact with the objects 3 and 4 to be joined.

In addition, electromagnets 51 and 52 are installed on the front and both side surfaces of the body 10, respectively. When the electromagnets 51 and 52 are driven during welding, the body 10 is brought into close contact with the to-be-joined objects 3 and 4 by magnetic force, so that shaking does not occur when the welding machine moves.

Meanwhile, FIG. 4 illustrates that the ball caster 41 and the roller 42 are installed together for rolling contact between the body 10 and the support frame 20 and the objects 3 and 4. , If only one of the ball caster 41 and the roller 42 to the body 10 and the support frame 20 will be provided the same effect.

4 illustrates a case of welding the horizontal joint 7, which is a joint between the lower plate 3 and the web floor 4. In this state, when welding the vertical joint portion 6 between the longage 2 and the web floor 4, the welding torch 30 is rotated 45 degrees to the left or the right, and then the whole welding machine is lifted up and down by the robot. Welding is performed.

As shown in FIG. 5, for the left and right rotation of the welding torch 30, a cylindrical rotor 60 is rotatably supported by the bearing 61 on the bottom of the body 10. The welding torch 30 is coupled to the front lower edge of the rotating body 60. In addition, a driven gear 63 integrally coupled to the upper end of the rotating body 60 and a drive gear 71 engaged with the driven gear 63 are disposed in the body 10. The drive gear 71 is coupled to the output shaft of the motor 70. Therefore, when the drive gear 71 rotates by driving the motor 70, the driven gear 63 and the rotating body 60 rotate, so that the welding torch 30 rotates left and right.

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 rail 120 seated transversely on the hull 2 of the hull and having a stretchable structure, and a movable body installed to run transversely on the rail 120. 130 and a crane unit 140 rotatably installed on the movable body 130.

The welder 100 according to the present invention is connected to and supported by a pair of wires 110 extending downward from the crane portion 140 of the robot. The wire 110 is wound around a bobbin (not shown) installed in the crane unit 140, and the bobbin is rotationally driven by the winding motor 150. Therefore, the length of the wire 110 is changed by driving the winding motor 150, so that the welder 100 is moved up and down.

In the state in which the welder 100 descends to the maximum as in FIG. 6, as shown in FIG. 4, the bottom surface of the support frame 20 is brought into contact with the lower plate 3 of the hull through the roller 42. , The front surface of the body 10 is in contact with the web floor (4) of the hull through the ball caster (41). At this time, the welding torch 30 is spaced apart from the horizontal joint 7, which is a joint between the lower plate 3 and the web floor 4, by a distance necessary for welding.

In this state, as the moving body 130 of the robot moves in the lateral direction, the welding machine 100 moves left and right to weld the horizontal joint 7 between the lower plate 3 and the web floor 4. On the other hand, after the welding of the horizontal joint portion 7 is completed, the welding torch 30 is rotated 90 degrees by the driving of the motor 70 installed in the body 10, the winding motor 150 of the robot As a result, the whole welder 100 is moved up and down to weld the vertical joint portion 6 (FIG. 2) between the longage 2 and the web floor 4.

At this time, as described above, the welder 100 contacts the surfaces of the objects 2, 3, and 4 by the ball caster 41 and the roller 42, so that the movement is performed smoothly. In addition, since the welder 100 moves in a state in which the welder 100 is in close contact with the to-be-joined objects 2, 3, and 4 by the electromagnets 51 and 52 installed in the body 10, the weld torch 30 is to-be-joined. The vertical and horizontal joints 6 and 7 can be welded while moving at regular intervals with the joints 6 and 7 of (2, 3, 4).

 As described above, according to the welding machine according to the present invention, since the body of the welder and the support frame contact the to-be-welded materials during the welding operation, the distance between the weld torch and the joint of the to-be-joined materials is kept constant, so that a good welding Quality can be obtained.

In addition, according to the welding machine according to the present invention, while the body and the support frame is in close contact with the object to be joined by an electromagnet, the roller and the ball caster in contact with the object to be joined by the roller, the movement during welding can be made stable. .

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 (4)

A welding machine for welding a pair of workpieces to be joined perpendicularly to each other while being moved by a robot, A body (10) supported by the robot through a wire (110) and having a rectangular parallelepiped shape in which front and side surfaces are in contact with the joined objects during a welding operation; A support frame 20 protruding downward from the rear of the bottom of the body 10; A welding torch 30 rotatably installed from side to side in front of the bottom of the body 10; And It includes a motor 70 for rotating the welding torch 30, The ball caster 41 or the roller 42 is installed on the front and both sides of the body 10 in contact with the to-be-joined objects, and the bottom of the support frame 20 for rolling contact with the to-be-joined objects. Become, Welder for hull welding, characterized in that the electromagnet (51, 52) is installed on the front and both sides of the body (10), respectively. delete delete The method of claim 1, Further comprising a drive gear 71 connected to the output shaft of the motor 70, and a driven gear 63 meshed with the drive gear 71, The welding torch (30) is a hull welding welder, characterized in that connected to the driven gear (63) via a rotating body (60) rotatably installed on the bottom of the body (10).

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