KR100684620B1 - Welding carriage operating method that can weld remnant - Google Patents

Abstract

A method for operating a reserved part welding carriage is provided to reduce welding time, improve productivity and operation efficiency of a welding process, and obtain the same welding quality in the reserved part as in the straight line section by carrying out a welding operation on a reserved part using an automatic welding carriage. As a method for operating a reserved part welding carriage comprising a traveling motor, a rotating motor and a motor for torch in/out, the method comprises the steps of: initializing a system of the reserved part welding carriage; receiving a signal of whether or not to weld a reserved part through a reserved part welding on/off switch; performing the calibration to rotate the reserved part welding carriage and carry out a torch in/out process smoothly; determining whether a welding starting signal is inputted or not; and performing a reserved part welding or a straight line welding according to whether or not to weld the reserved part when the welding starting signal is inputted. The step of initializing the system of the reserved part welding carriage is performed by initializing a user interface, an input/output, a timer, a PWM(Plus Width Modulation), a counter, an ADC(Analog Digital Converter) and a step motor.

Description

Welding carriage operating method that can weld remnant}

1 is a perspective view showing a conventional welding carriage.

Figure 2 is an exploded perspective view showing one embodiment of a retention welding carriage in accordance with the present invention.

3 is a view illustrating a process in which a retainer welding carriage performs a hold welding according to the present invention.

4 is a flowchart for explaining a method of operating a holding part welding carriage according to the inventive concept.

5 is a flowchart illustrating a calibration process according to the spirit of the present invention.

Figure 6 is a flow chart illustrating a process of adjusting the operation of the end of the welding torch according to the spirit of the present invention.

<Description of main parts of drawing>

202: guide roller 210: Y-axis drive means

212: rotating mechanism part support plate 216: rotating plate

240: Z-axis screw 242: support plate

248: X-axis screw 250: Reciprocating block

252: torch holder 254: reciprocating block guider

The present invention relates to a holding part welding carriage operating algorithm for performing welding by using a carriage in which the holding part which has been manually welded because it cannot be accessed by a general welding carriage.

In general, a variety of manufacturing methods are used according to the shape of the blocks are assembled when the ship is built in the shipyard, the working method of each process is different from each other. For example, in the factory, welding work is performed through a welding robot or automatic welding device having various functions, but 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. This is because there are many difficulties in applying the portable welding robot under the working environment and working conditions of the block fabrication process.

In the case of carriage welding, which is mainly used for conventional fillet welding, an algorithm for controlling only one motor required for driving is sufficient. In other words, if the start button is pressed, ARC is turned on and driving starts. If the stop button is pressed or a member is detected by the stop sensor, ARC is turned off and the driving stops. And when using a drive motor equipped with an encoder, only an additional speed control algorithm is required for constant speed travel. Of course, if additional data is added for example, such as ARC ON cumulative time, driving cumulative distance collection, etc., it becomes somewhat complicated, but algorithms for other basic functions are simply implemented. In other words, all the functions can be implemented as long as the stop button, start button, speed value by variable resistor, and stop sensor state as input.

However, when a small carriage is used for a portion in which one or both ends of the welding site are blocked, as in the related art, there is a problem in that a welding holding part is generated at a welding start part and an end part.

Hereinafter, the prior art will be described with reference to the drawings.

1 is a perspective view showing a conventional welding carriage.

A pair of guide rollers 102 for guiding the welding carriage along the welding line is positioned at the tip of the conventional welding carriage, and the welding torch 104 is positioned therebetween to perform welding. However, when performing welding with such a conventional welding carriage, there is a portion that cannot be welded at the source due to the guide roller required for driving.

That is, assuming that welding is performed from the left side to the right side of the welding member, as shown in FIG. 1, the conventional welding is performed between the guide roller 102 and the torch at the starting point of the driving, and the guide roller and the torch at the end of the driving. There is a holding portion C which cannot be welded to the carriage. Therefore, the holding unit (C) has the inconvenience that the operator must manually weld again after the carriage operation. When welding is performed manually on the holding unit C, a considerable welding time is required, resulting in high work fatigue, low productivity, and low work efficiency. In addition, there is a problem in that the bead pattern (welding quality) in the holding portion C and the bead pattern in the straight section are not the same.

The present invention has been made to solve the above problems by performing the welding using the automatic welding carriage in the same way as the straight section, the welding was performed manually conventionally, shortening the welding time, the productivity and work efficiency of the welding process It is aimed at increasing the speed and making the straight section and the retention portion have the same welding quality.

More specifically, algorithms for controlling the driving motor, the rotating motor, the torch in-out motor, the end and stop recognition sensors, the home sensor, the encoder attached to the rotating motor, various switches, etc. It aims to implement a linear motion of the end of the torch through.

The present invention for achieving the object as described above is a method of operating a holding part welding carriage using a holding part welding carriage including a driving motor, a rotating motor, a torch in / out motor, the system of the holding part welding carriage Initializing the step, receiving a signal indicating whether or not the holding part welding is performed through the holding part welding on / off switch, and performing a calibration to smoothly rotate and torch in / out the holding part welding carriage. And a holding part welding carriage operating method including determining whether a welding start signal is input and performing holding part welding or straight welding according to whether the holding part welding is performed when the welding start signal is input. .

In more detail, the process of welding the holding part may include: driving the step motor and the rotating motor to rotate the welding torch to one side, receiving a moving position of the welding torch through an encoder, and the welding torch Starting welding with ARC ON as soon as it is rotated by a predetermined distance, performing welding while the welding torch maintains a straight track, and the position of the welding torch through a home sensor Determining whether to reach the position of the groove, ending the welding of the holding part at the moment when the welding torch reaches the position of the groove, and determining whether to perform the straight welding, and a signal for performing the straight welding Performing straight welding, calibrating to control the rotation of the torch and torch in / out during the straight welding process; If the stage is recognized, performing the other side holding part welding, arcing off after performing the other holding part welding, and the step of returning the welding torch rotated to the other side to the position of the groove.

The welding may be performed while the welding torch maintains a straight track, determining an in / out value of the welding torch through a data table function, and a value stored in the data table function. Determining an X-axis movement distance of the retainer welding carriage by using a signal; and determining a rotation angle of the retainer welding carriage based on a position signal of the welding torch transmitted through an encoder. do.

In addition, the calibration may be performed by performing a step in operation of the welding torch when a STEP IN signal is input through a torch in switch, and inputting a STEP OUT signal through a torch out switch. The step of performing the step out operation of the welding torch, the step of performing the left turn operation of the welding torch when the left turn signal is input through the Rotate Left switch and the right of the turn signal input through the Rotate Right switch. It characterized in that it comprises a step of performing a right rotation operation of the welding torch.

In addition, the torch in / out operation may be performed through a stepper motor.

According to another embodiment of the present invention, the initializing the system of the welding part of the holding part may include a user interface, an input / output (I / O), a timer (timer), pulse width modulation (PWM), a counter ( COUNTER), ADC (Analog Digital Converter), and STEP motors.

Here, at least one of the presence or absence of the welding of the holding part, the velocity (Velocity), the mode, and the state of the holding part welding carriage may be output on the user interface.

In order to fully understand the present invention, the advantages of the operability of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings which illustrate preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference numerals in the drawings denote like elements.

Figure 2 is an exploded perspective view showing an embodiment of a retention weld carriage according to the present invention.

Referring to FIG. 2, the welding carriage includes a base frame 201, a rotation mechanism part 215, a Z axis mechanism part 225, and an X axis mechanism part 241. The configuration of the base frame 201 is as follows.

Guide rollers 202 are coupled to both sides of the base frame 201. The guide roller 202 has a roller attached to the end portion of the welding portion. Since the guide roller 202 is movable in the direction perpendicular to the welding direction (hereinafter referred to as 'Y axis') (hereinafter referred to as 'X axis'), the distance between the welding carriage and the welding part may be adjusted. The base frame 201 is provided with a Y-axis drive device, the Y-axis drive device includes a wheel 204, a shaft 206, a drive chain 208, Y-axis drive means 210. Wheels 204 for moving the carriage in the Y-axis direction are located at each corner of the base frame 201. Two wheels located at both corners of the welded portion are connected to the corresponding two wheels along the X axis by the shaft 206, respectively. A driving chain 208 is coupled to both ends of the shaft 206, and the chain 208 is coupled to the Y-axis driving means 210. Thus, when the Y-axis drive means 210 is operated, the chain 208 rotates, the chain 208 rotates the shaft 206, and the wheels 204 together with the shaft 206. The base frame 201 is moved in the Y-axis direction by rotation. Rotating mechanism part support plate 212 is formed at one side of the base frame 201.

The rotating mechanism part 215 is mounted to the base frame. The rotating mechanism part 215 includes a rotating plate 216. The rotary plate 216 has a protrusion 218 (hereinafter referred to as a 'rotator plate end protrusion') coupled to an arc-shaped groove 214 formed on an upper surface of the base frame support plate at one end thereof. The rotary plate end protrusion 218 has a cylindrical shape and a ball bearing is coupled to one end thereof. A protrusion 224 having a gear 220 formed at a free end thereof is formed on a lower surface opposite to the place where the rotary plate end protrusion 218 is formed. Rotating plate driving means 222 for rotating the rotating plate 216 is coupled to the gear 220. A step motor for precisely controlling the rotation angle by the rotating plate driving means 222 is used.

The rotating mechanism portion is equipped with a Z-axis mechanism portion. The Z-axis mechanism part includes a 'c' shaped first screw support plate 226 attached to one end of an upper surface of the rotating plate 216 of the rotary mechanism part. The Z-axis driving means support plate 228 is attached to one side of the upper portion of the opening of the first screw support plate 226, and the Z-axis driving means 230 is positioned on the upper surface thereof. A second screw support plate 232 having a square pillar shape is attached to one side of the Z-axis driving means support plate 228. A lower surface of the second screw support plate 232 is attached to the rotating plate 216 of the rotary mechanism part, and a groove in which a gear formed at one end of the Z-axis drive water end 230 is inserted is formed at an upper portion thereof. A third screw support plate 234 is positioned on an upper side of one side of the second screw support plate 232, and one end of the third screw support plate 234 is opposite to one side of the Z-axis driving means support plate 228. An end portion is attached to an upper side of the opening of the first screw support plate 226. The fourth screw support plate 236 is attached to the second screw support plate 232 and the third screw support plate 234. A hollow is formed in the fourth screw support plate 236, and a Z-axis screw 240 having a gear forming a bevel gear and a gear of the Z-axis driving means 230 is inserted in one end of the hollow. . Since the Z-axis screw 240 is coupled to the X-axis mechanism 241, it must support the load of the X-axis mechanism, and the first to fourth screw support plates support the load applied to the Z-axis screw 240. Give it. When the Z-axis driving means 230 operates, the Z-axis screw 240 rotates and the X-axis mechanism 241 coupled to the Z-axis screw 240 moves in the Z-axis direction.

The X-axis mechanism 241 is coupled to the Z-axis screw 240. The X-axis mechanism part 241 includes a support plate 242 having a hollow protrusion formed therein for coupling with the Z-axis screw 240 inserted into the fourth screw support plate 236 on one side thereof. Hollow protrusions 244 are formed at both ends of one side central portion of the support plate 242. The outer ring of the bearing is located in the hollow of the protrusion 244, and the X-axis screw 248 having a gear forming the bevel gear and the gear of the X-axis driving means 246 is inserted at one end of the bearing. . The step motor is used to precisely control the movement of the welding torch in the X axis direction by the X axis driving means 246. The X-axis screw 248 is coupled to the reciprocating block 250. The reciprocating block 250 is in the shape of a rectangular plate formed in the center of the hollow rectangular shape. Both ends of one side central portion of the reciprocating block 250 is formed with a hollow thread formed therein for coupling with the X-axis screw 248. Torch holder 252 is attached to one side end of the reciprocating block 250. Hollows (hereinafter referred to as 'hollower for reciprocating block guiders') are formed at both ends of one side of the X-axis reciprocating block, and the X-axis reciprocating block guider 254 is inserted into the hollow for the reciprocating block guider. The X-axis reciprocating block guider 254 is positioned to extend in the X-axis direction on both sides of the X-axis screw 248. When the X-axis driving means 246 is operated, the X-axis screw 248 is rotated and the reciprocating block 250 by the X-axis screw 248 along the reciprocating block guider 254 in the X-axis direction Will move.

3 is a view illustrating a process of performing the welding of the holding part of the holding part welding carriage according to the present invention.

Referring to FIG. 3, when the torch 256 performs welding in the holding part, the torch 256 rotates. The torch 256 rotates and the torch 256 starts to weld while the torch 256 rotates. 256) The posture corresponds to the backward angle, the torch 256 posture in the section (b) during the welding performed after the torch 256 rotates corresponds to a right angle, the torch 256 rotates to terminate the welding The position of the torch 256 in the section c corresponds to the forward angle.

When the torch 256 rotates as described above, since the distance between the torch 256 and the base material becomes narrow in the start corner, the reciprocating block 250 of the X-axis mechanism part moves backward in the X-axis direction. Further, in the end corner, the distance between the torch 256 and the base material becomes wider, so that the reciprocating block 250 of the X-axis mechanism part is advanced in the X-axis direction.

4 is a flowchart for explaining a method of operating a retaining part welding carriage according to the inventive concept.

Referring to Figure 4, When the power supply of the holding part welding carriage is turned on, system initialization is performed by the program in the system memory (S100). Typical examples of the initialization process include LCD, I / O, timer (TIMER), PWM, counter (COUNTER), ADC (Analog Digital Converter), STEP motor (Motor). In addition, the largest classification of the holding part welding carriage operation is input through the holding part welding on / off switch whether to perform holding part welding or only straight welding without holding part welding (S110). After determining whether the holding part is welded, the presence or absence of the holding part welding may be displayed on a user interface, for example, an LCD. Velocity, mode, state, etc. of the reserved welding carriage can be checked through the user interface, which can be usefully used in the development process. Thereafter, a calibration process is performed to smoothly rotate and hold the torch in / out process of the holding part welding carriage (S120). In order to enter the full-scale welding process, it is necessary to check whether the welding start button is pressed (S130). If the start welding button is not pressed, the display or calibration process of the user interface is repeated. If the welding start button is pressed, the holding part welding or the straight welding is performed according to the determination of whether the holding part welding has been previously set. First of all, the process of welding the holding part is prepared to start the welding operation. Hereinafter, it is assumed that the welding process is performed from left to right for convenience. First, the welding torch is rotated to the left (S140). The step S140 is performed by driving the step motor of the X-axis mechanism unit 241. In operation S150, it is determined whether the torch is rotated by a desired value by counting a signal input from the encoder. As a result, the torch is rotated by a desired value, and the torch in starts welding. The start of welding starts from signaling the welder to arc on (ARC ON) (S160). In the initial stage of welding when the arc starts to splash, a lot of beads occur, but it is difficult to obtain the desired welding quality only by rotation, so it is solved through the rotation correction driving (S170). At the same time, the step motor and the rotary motor of the X-axis mechanism part 241 are controlled to make a linear motion of the welding torch and the holding part welding is performed (S180). Then, the home sensor determines whether the position of the welding torch is the position of the groove (the position where the welding torch perpendicularly meets the welding line) and finishes the welding of the left hold part and performs the straight welding. Determine (S190). If the position of the welding torch is not the groove, the rotation correction driving and the linear operation are repeatedly performed. When the welding torch reaches the position of the groove, linear driving is started to perform straight welding (S200). In the straight welding process, a calibration operation is performed once more because a new adjustment is required for the rotation of the torch and the torch in / out (S210). A stop signal is input during the process to determine whether to stop the welding operation or to continue the welding operation (S220). When the end of the welding line is recognized by the end recognition sensor without input of the stop signal (S230), the welding of the right side is performed (S240). The welding process is performed in the same manner as the left holding part welding process and the welding torch is stopped after the welding torch is rotated by a specified value (S250). After performing the crate operation by adjusting the arc on / off is to arc off (S260). Then, the welding torch is returned to its original position. First, the welding torch comes to the position of the groove by rotating the rotary motor to the left (S270). We then display the weld status in the user interface and recalibrate and wait for the next signal.

If a signal is input in step S110 that only simple straight welding is performed, the following process is performed. Arc on is first performed to start welding (S300). Thereafter, the driving motor is driven to perform the driving operation according to the straight welding (S310). During the process, a calibration process for adjusting the rotation of the welding torch and the in / out of the welding torch is performed (S320). Thereafter, when the stop signal is input through the stop sensor or the stop button is pressed (S330), the driving motor is stopped (S340). According to an embodiment, in the holding part welding process, the proximity sensor used as the end recognition sensor may be used as the stop sensor in the straight welding process. If the driving motor is stopped through the step S340 is performed the arc off (S350). The arc off process also performs a crate operation. Thereafter, in the welding of the holding part, the standby state is maintained in the same manner as in step S270.

The above process is described under the assumption that the reserved welding carriage proceeds from the left to the right, and if the driving is performed in the opposite direction, the welding operation is also performed in the opposite operation to the left and the right.

5 is a flowchart illustrating a calibration process according to the spirit of the present invention.

Referring to FIG. 5, the calibration process refers to a process in which a user adjusts the position of the welding torch through rotation of the welding torch or in / out of the welding torch. First, when a step in signal is input through the torch in switch (S400), the step in operation of the welding torch is performed (S410). It is determined whether the welding torch has moved by the designated value through the step-in operation (S420), and if it moves by the designated value, the process proceeds to the next step. In step S400, if the step-in switch is off, the operation proceeds to the next step without any operation. Next, it is determined whether a step out signal is received through the torch out switch (S430). When the step out switch is turned on, the step out operation of the welding torch is performed (S440). It is determined whether the welding torch moves by the designated value through the step-out operation (S450). When the welding torch moves by the designated value, the process proceeds to the next step. In step S430, if the step-out switch is off, the operation proceeds to the next step without any operation. Next, it is determined whether a left turn signal is input through a left turn switch (S460). When the left turn switch is turned on, the left turn operation of the welding torch is performed (S470). It is determined whether the welding torch is rotated by the designated value through the left turning operation (S480), and when it is rotated by the designated value, the process proceeds to the next step. If the left turn switch is turned off in step S460 proceeds to the next step without any operation. Finally, it is determined whether a right turn signal is input through a right turn switch (S490). When the right turn switch is turned on, a right turn operation of the welding torch is performed (S500). It is determined whether the welding torch is rotated by the designated value through the right rotation operation (S510). When the welding is rotated by the specified value, the calibration process is completed. If the right turn switch is turned off in step S490 the calibration process is terminated without any operation.

6 is a flowchart illustrating a process of adjusting the driving of the end of the welding torch according to the spirit of the present invention.

Referring to Figure 6, it can be seen that the process of generating a linear motion through the operation of the welding torch end. Since the in / out value of the welding torch is changed according to the position at which the welding torch rotates (S600), the in / out value of the welding torch is determined through a data table function. The step motor of the holding part welding carriage is driven using the value stored in the data table function (S610). The amount of X-axis movement of the welding torch is determined by the step motor. Thereafter, the welding torch determines whether it moves by a desired distance (S620), and after moving the desired distance, a rotary motion is performed through a rotating motor (S630). It is determined whether the welding torch is rotated by a desired value based on the value transmitted from the encoder (S640). After the welding torch is rotated by the desired value, the process is temporarily terminated. The linear and rotary motion processes are repeated during the retention welds so that the welding torch draws a straight trajectory.

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. . Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

According to the present invention, welding is performed by using the automatic welding carriage as in the straight section, as in the straight section, the welding time can be shortened, productivity and working efficiency can be increased, and the straight section and the retaining section can be welded. Has the effect of obtaining the same welding quality.

More specifically, algorithms for controlling the driving motor, the rotating motor, the torch in-out motor, the end and stop recognition sensors, the home sensor, the encoder attached to the rotating motor, various switches, etc. Through this, it is effective to realize the linear motion of the torch tip.

Claims (7)

A method of operating a retention welding carriage using a retention welding carriage including a traveling motor, a rotating motor, and a torch in / out motor, Initializing the system of the retention weld carriage; Receiving a signal whether or not to perform the welding of the holding part through the holding part welding on / off switch; Performing calibration so that the holding part welding carriage rotates and the torch in / out process can be performed smoothly; Determining whether a welding start signal is input; And When the welding start signal is input, the welding of the holding part or the straight welding is performed according to whether the holding part welding is performed; Hold part welding carriage operating method comprising a. The method of claim 1, The process of welding the holding portion is performed, Driving the step motor and the rotating motor to rotate the welding torch to one side; Receiving a moving position of the welding torch through an encoder; Starting welding with arc on when the welding torch is rotated by a specified distance; Performing a welding while the welding torch maintains a straight track; Determining whether a position of the welding torch reaches a position of a groove through a home sensor; At the moment the welding torch reaches the position of the groove, terminating the welding of the holding part and determining whether to perform the straight welding; Performing a straight line welding in which a straight line welding signal is input; Calibration is performed to control the rotation of the torch and torch in / out during the straight welding process; Performing welding of the other side holding part when the weld line end is recognized; Arcing off after performing the other side welding part; Returning the welding torch rotated to the other side to the position of the groove. The method of claim 2, The welding torch is to perform a welding while maintaining a straight track, Determining an in / out value of the welding torch by using a created data table function; Determining an X-axis movement distance of the reserved weld carriage using the value stored in the data table function; and And determining a rotation angle of the retention weld carriage based on a position signal of the welding torch transmitted through an encoder. The method of claim 2, The calibration is performed, Performing a step in operation of the welding torch when a step in signal is input through a torch in switch; Performing a step out operation of the welding torch when a step out signal is input through a torch out switch; Performing a left turn operation of the welding torch when a left turn signal is input through a left turn switch; and And a right turning operation of the welding torch when a right turning signal is input through a right rotating switch. The method of claim 2, The torch welding carriage operating method, characterized in that the torch in / out operation is performed via a stepper motor. The method of claim 1, Initializing the system of the holding part welding carriage may include a user interface, an input / output (I / O), a timer, a pulse width modulation (PWM), a counter (COUNTER), and an analog digital converter (ADC). ), The method of operating a holding welding carriage, characterized in that for initializing the STEP motor. The method of claim 6, Retention part welding, characterized in that any one or more of the presence or absence of the welding the holding portion, the velocity (Velocity), the mode (Mode), the state of the holding portion welding carriage is output on the user interface (User Interface) How to operate the carriage.

Images