KR100777049B1 - Robot for welding membrane sheet - Google Patents

Robot for welding membrane sheet Download PDF

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Publication number
KR100777049B1
KR100777049B1 KR1020060111008A KR20060111008A KR100777049B1 KR 100777049 B1 KR100777049 B1 KR 100777049B1 KR 1020060111008 A KR1020060111008 A KR 1020060111008A KR 20060111008 A KR20060111008 A KR 20060111008A KR 100777049 B1 KR100777049 B1 KR 100777049B1
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South Korea
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welding
moving
robot
moving part
section
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KR1020060111008A
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Korean (ko)
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광 호 옥
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(주)청송산업기계
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0252—Steering means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K10/00—Welding or cutting by means of a plasma
    • B23K10/02—Plasma welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0247—Driving means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0282—Carriages forming part of a welding unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/16—Arc welding or cutting making use of shielding gas
    • B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
    • B63B73/40—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by joining methods
    • B63B73/43—Welding, e.g. laser welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/18—Sheet panels

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Robotics (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

A robot for welding a membrane sheet is provided to weld a flat section and an overlapped section of the membrane sheet and obtain a uniform welding result. A robot for welding a membrane sheet comprises: a traveling part(10) moved along rails(6) fixed onto a membrane sheet of a flat section; a horizontal moving part(20) connected to the rails formed on an upper part of the traveling part such that the horizontal moving part is movable side to side; a micro-moving part(30) connected to rails formed on an upper part of the horizontal moving part and moved in a moving direction of the traveling part; a rotation part(40) rotated and connected to the micro-moving part; a vertical moving part(50) connected to rails formed on a side face of the rotation part such that the vertical moving part is movable up and down; an angle adjusting part(60) that is capable of adjusting a welding angle of the welding torch by fixing a welding torch(5) to an end portion of the rotation part; and a controller for controlling operations of the traveling part, the horizontal moving part, the micro-moving part, the rotation part, the vertical moving part, and the angle adjusting part.

Description

멤브레인 시공용 판재를 용접하기 위한 로봇{Robot for welding membrane sheet}Robot for welding membrane sheet {Robot for welding membrane sheet}

도 1은 종래의 멤브레인 시공용 판재를 도시하는 사시도.1 is a perspective view showing a conventional membrane construction plate.

도 2는 본 발명의 바람직한 일실시예에 따른 멤브레인 시공용 판재를 용접하기 위한 로봇을 도시하는 사시도.Figure 2 is a perspective view showing a robot for welding the membrane construction plate according to an embodiment of the present invention.

〈도면의 주요부분에 대한 부호의 설명〉<Explanation of symbols for main parts of drawing>

1: 멤브레인 시공용 판재 2: 고로게이션1: Membrane plate 2: Blast furnace

3: 오브랩 피스 10: 주행부3: Oblap Piece 10: Drive

20: 좌우이동부 30: 미세이동부20: left and right moving part 30: fine moving part

40: 회전부 50: 상하이동부40: rotation part 50: east of Shanghai

60: 각도조절부 70:제어기60: angle adjuster 70: controller

본 발명은 멤브레인 시공용 판재를 용접하기 위한 로봇에 관한 것으로서, 보다 상세하게는 멤브레인 시공용 판재의 평탄 구간 및 오브랩 구간을 용접하기 위하여 다축의 구동부를 포함하여 구성되는 것을 특징으로 하는 멤브레인 시공용 판재 를 용접하기 위한 로봇에 관한 것이다.The present invention relates to a robot for welding a plate for membrane construction, and more particularly to a membrane construction comprising a multi-axis drive unit for welding the flat section and the overlap section of the membrane construction plate. It relates to a robot for welding plate materials.

멤브레인 시공용 판재은 LNG선 저장탱크의 내면의 1차 방벽에 설치되고 가스를 압축시켜 운반하는 데 사용된다. 따라서, 액화 천연 가스의 압력과 온도변화에 따른 체적의 변화에 대응하기 위해 표면에 고로게이션을 형성하게 된다. 또한, 에너지 소비 증가로 인한 천연가스의 수요 증가로 그 필요성이 중요시되고 있다.Membrane plates are installed on the primary barrier on the inner surface of LNG carrier storage tanks and are used to compress and transport gases. Therefore, in order to cope with a change in volume due to a change in pressure and temperature of the liquefied natural gas, a blast furnace is formed on the surface. In addition, the need for natural gas is increasing due to increased energy consumption.

도 1은 종래의 멤브레인 시공용 판재을 도시하는 사시도이다.1 is a perspective view showing a conventional plate for membrane construction.

도시된 바와 같이 멤브레인 시공용 판재(1)는 액화 천연 가스의 압력 변화에 대응하기 위한 곡선 형상의 고로게이션(2)을 가지며 각 부재를 연결하여 LNG선의 저장탱크 내부에 고정된다. 따라서 각 멤브레인 시공용 판재의 단부를 용접하기위해서는 다축의 용접 장치가 필요하게 된다.As shown, the membrane construction plate 1 has a curved blast furnace 2 for responding to the pressure change of the liquefied natural gas and is connected to each member and fixed inside the storage tank of the LNG carrier. Therefore, in order to weld the edge part of each membrane construction board | plate material, the multi-axis welding apparatus is needed.

또한, 도 1의 (b)에 도시된 평탄구간이 서로 접하는 오브랩 구간에 사용되는 오브랩 피스(3))는 다양한 각도(90°, 135°등)로 절곡되어 다양한 각도 및 위치에서용접 작업이 이루어져야 하는 형상을 취하고 있다.In addition, the overlapping piece (3) used in the overlap section that the flat section shown in Figure 1 (b) is in contact with each other is bent at various angles (90 °, 135 °, etc.) welding work at various angles and positions This takes the shape that must be made.

상기의 멤브레인 시공용 판재의 용접은 TIG용접이나 플라즈마용접 방법을 이용하는 것이 일반적이며, 상기 용접방법에 의한 용접 작업시 균일한 용접 결과를 얻기 위하여 용접 토치가 용접 부재에 일정각도를 유지한 채 용접이 이루어져야된다.In the welding of the membrane construction plate, TIG welding or plasma welding is generally used. In order to obtain a uniform welding result during welding by the welding method, the welding torch is maintained at a constant angle to the welding member. Should be done.

따라서 용접 작업의 어려움과 정밀도로 인하여 수동 작업시 작업시간과 비용이 많이 소요되고 균일한 용접결과를 얻을 수 없다는 문제점이 있다.Therefore, due to the difficulty and precision of the welding operation, there is a problem in that the manual operation takes a lot of time and cost and cannot obtain a uniform welding result.

이러한 문제점을 해결하기 위하여 자동 용접 장치가 개발되어 왔으며, 대한 민국 특허청에 선행 출원된 제 10-1998-0062123과 제 10-2002-0027104 등과 같이 일반적으로 멤브레인 시공용 판재의 용접에 있어서 X,Y,Z축 및 θ축을 제어할 수 있는 캐리지를 이용하는 것이 일반적이다.In order to solve this problem, an automatic welding device has been developed, and generally X, Y, in welding of a membrane construction plate such as 10-1998-0062123 and 10-2002-0027104 previously filed with the Korean Intellectual Property Office It is common to use a carriage capable of controlling the Z axis and the θ axis.

그러나, 앞서 살펴본 오브랩 구간의 용접시에는 상기의 용접 캐리지를 이용해서는 용접이 불가능하다는 사용상의 문제점이 존재한다.However, there is a problem in use that the welding is impossible using the welding carriage when welding the above overlap section.

본 발명은 상기의 문제점들을 해결하기 위해서 안출된 것으로서, 본 발명은 멤브레인 시공용 판재의 평탄 구간 및 오브랩 구간을 용접할 수 있는 멤브레인 시공용 판재를 용접하기 위한 로봇을 제공하는 데 그 목적이 있다.SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a robot for welding a membrane construction plate that can weld a flat section and an overlap section of the membrane construction plate. .

본 발명의 또 다른 목적은 균일한 용접 결과를 얻을 수 있는 멤브레인 시공용 판재를 용접하기 위한 로봇을 제공하는 데 있다.Still another object of the present invention is to provide a robot for welding a plate for membrane construction that can obtain uniform welding results.

상기의 목적을 달성하기 위해서, 본 발명은 천연액화가스 운반선의 저장탱크의 내부에 고정되는 멤브레인 시공용 판재의 평탄 구간과 평탄 구간이 접하는 오브랩 구간을 용접하기 위한 용접 로봇에 있어서, 평탄 구간의 멤브레인 시공용 판재에 고정되는 레일을 따라 이동되는 주행부와; 상기 주행부의 상부에 형성되는 레일에 좌우측으로 이동가능하게 결합되는 좌우이동부와; 상기 좌우이동부의 상부에 형성되는 레일에 결합되어 상기 주행부의 이동방향으로 이동되는 미세이동부와; 상기 미세이동부에 회동가능하게 결합되는 회전부와; 상기 회전부의 측면에 형성되는 레일에 상하 이동가능하게 결합되는 상하이동부와; 상기 상하이동부의 단부에 용접토 치가 고정되어 상기 용접토치의 용접 각도를 조절할 수 있는 각도조절부와; 상기 주행부와 좌우이동부와 미세이동부와 회전부와 상하이동부 및 각도조절부의 동작을 제어하는 제어기;로 구성되어 멤브레인 시공용 판재의 평판 구간 및 오브랩 구간을 용접가능하게 구성되는 것을 특징으로 한다.In order to achieve the above object, the present invention is a welding robot for welding the flat section and the flat section of the membrane construction plate fixed in the storage tank of the natural liquefied gas carrier ship in contact with the flat section, A traveling part moved along a rail fixed to the membrane construction plate; A left and right moving unit movably coupled left and right to a rail formed at an upper portion of the driving unit; A micro movement unit coupled to a rail formed at an upper portion of the left and right movement units and moving in a moving direction of the driving unit; A rotating part rotatably coupled to the micro moving part; Shanghai East part is coupled to the rail formed on the side of the rotating part so as to be movable up and down; An angle adjusting unit configured to adjust a welding angle of the welding torch by fixing a welding torch at an end portion of the shanghai east portion; And a controller for controlling the operation of the driving part, the left and right moving parts, the micro moving parts, the rotating part, the shanghai part, and the angle adjusting part. The plate part and the overlap part of the membrane construction plate may be welded.

또한 본 발명은 상기 용접토치는 용접부위에 대하여 일정 각도로 유지되면서 용접 작업이 이루어지는 것을 특징으로 한다.In addition, the present invention is characterized in that the welding operation is performed while the welding torch is maintained at a predetermined angle with respect to the welding portion.

이하, 첨부된 도면을 참조로 하여 본 발명 멤브레인 시공용 판재를 용접하기 위한 로봇을 보다 상세히 설명하기로 한다.Hereinafter, with reference to the accompanying drawings will be described in more detail a robot for welding the membrane construction plate material of the present invention.

도 2는 본 발명의 바람직한 일실시예에 따른 멤브레인 시공용 판재를 용접하기 위한 로봇을 도시하는 사시도이다.Figure 2 is a perspective view showing a robot for welding the membrane construction plate according to an embodiment of the present invention.

도시된 바와 같이 본 발명은 주행부와 좌우이동부와 미세이동부와 회전부와 상하이동부와 각도조절부 및 제어기로 구성되며, 주행부와 좌우이동부와 미세이동부와 회전부와 상하이동부와 각도조절부는 용접 토치를 이동시키는 이동부에 해당된다.As shown, the present invention comprises a running part, a left and right moving part, a micro moving part, a rotating part, a shanghai east part, an angle adjusting part, and a controller, and a running part, a left and right moving part, a micro moving part, a rotating part, a shanghai east part, and an angle adjusting part are welded torch. It corresponds to the moving part to be moved.

상기 주행부(10)는 평탄 구간의 멤브레인 시공용 판재에 고정되는 레일(6)을 따라 이동되도록 구성되며, 멤브레인 시공용 판재의 평탄 구간에서는 용접 작업이 진행되는 방향이 된다.The traveling part 10 is configured to move along the rail 6 fixed to the membrane construction plate of the flat section, the welding section is a direction in which the flat section of the membrane construction plate proceeds.

상기 좌우이동부(20)는 상기 주행부(10)의 상부에 결합되어 용접 토치를 좌우로 이동시키는 역할을 하며, 구체적으로는 상기 주행부(10)의 상부에 가로 방향으로 착설되는 레일과 결합되어 좌우측으로 이동되도록 하는 것이 바람직하다.The left and right moving unit 20 is coupled to the upper portion of the traveling portion 10 serves to move the welding torch to the left and right, specifically coupled to the rail mounted in the horizontal direction on the upper portion of the traveling portion 10 It is preferable to move to the left and right.

상기 미세이동부(30)는 상기 좌우이동부(20)의 상부에 결합되어 상기 주행부(10)의 진행 방향으로 용접토치가 미세이동되도록 구성된다. 상기 주행부(10)는 멤브레인 시공용 판재의 평탄 구간이 끝나는 오브랩 구간에 이르면 더 이상 전진할 수 없는 비용접구간이 형성되므로 상기 미세이동부(30)를 이용하여 용접토치(5)를 전방으로 미세이동시켜 비용접 구간을 줄이게 된다.The micro moving unit 30 is coupled to the upper portion of the left and right moving unit 20 is configured such that the welding torch moves in the direction of travel of the driving unit 10. The traveling part 10 is a non-advancing section that can not be moved forward when the flat section of the membrane construction plate ends the flat section is formed so that the welding torch 5 to the front using the micro-movement unit 30 The micro-migration reduces the non-contact intervals.

상기 회전부(40)는 상기 미세이동부(30)의 상부에 회동가능하게 결합되며, 용접토치를 회전시킬 수 있어, 저장탱크의 가장자리부 즉 멤브레인 시공용 판재의 오브랩 구간에서 용접 토치의 진행 방향을 변경시키는 역할을 하게된다.The rotating part 40 is rotatably coupled to the upper portion of the micro moving part 30 and rotates the welding torch, so that the welding torch moves in the edge portion of the storage tank, that is, the overlap portion of the membrane construction plate. It is the role of change.

상기 상하이동부(50)는 상기 회전부(40)의 측면에 형성되는 레일을 따라 상하 이동가능하게 결합되며, 용접 토치의 상하 이동을 조절하게 된다.The Shanghai East 50 is coupled to move up and down along the rail formed on the side of the rotating part 40, and controls the vertical movement of the welding torch.

마지막으로, 상기 각도조절부(60)는 상기 상하이동부(50)의 단부에 용접토치(6)가 고정되어 상기 용접토치(6)의 용접 각도를 조절할 수 있게 하며, 종래의 멤브레인 용접 장치의 θ축을 회전시키는 구성요소에 대응된다.Finally, the angle adjusting unit 60 is fixed to the end of the Shanghai East 50, the welding torch 6 is fixed to adjust the welding angle of the welding torch 6, θ of the conventional membrane welding device Corresponds to the component that rotates the axis.

상기 주행부(10)와 좌우이동부(20)와 미세이동부(30) 및 상하이동부(50)의 구체적인 구성은 종래의 LM가이드를 이용하는 방법 등 다양한 형태로 제작가능하며, 구체적으로 구동모터와 구동모터에 연결되는 가이드 블럭과 상기 가이드 블럭이 이동가능하게 착설되는 레일을 이용할 수 있다. Specific configurations of the driving unit 10, the left and right moving unit 20, the fine moving unit 30 and the Shanghai east unit 50 can be manufactured in various forms such as a method using a conventional LM guide, specifically driving motor and driving motor A guide block connected to the rail and a rail on which the guide block is mounted can be used.

다만, 상기 각 이동부는 적은 공간을 차지할 수 있도록 제작되어 각 이동부의 구동에 간섭되지 않으며 오브랩 구간에서도 자유로운 구동이 가능하도록 구성되는 것이 바람직하다.However, the moving parts are preferably manufactured to occupy a small space, so that the moving parts are not interfered with the driving of each moving part and are configured to be freely driven even in the overlapped section.

그리고, 상기 회전부(40)는 구동모터에 연결되는 회전판을 이용하여 제어하고자 하는 회전 각도를 조절할 수 있게 구성되는 것이 바람직하다.In addition, the rotation unit 40 is preferably configured to adjust the rotation angle to be controlled by using a rotating plate connected to the drive motor.

상기 제어기(70)는 상기 주행부(10)와 좌우이동부(20)와 미세이동부(30)와 회전부(40)와 상하이동부(50) 및 각도조절부(60)을 제어하는 역할을 하며, 상기 각 구성요소에 연결되는 구동 장치를 직접 제어하게 된다.The controller 70 controls the driving unit 10, the left and right moving unit 20, the fine moving unit 30, the rotating unit 40, the shanghai unit 50, and the angle adjusting unit 60. It directly controls the driving device connected to each component.

또한 상기 제어기(70)는 센서를 이용한 종래의 용접선 추적 장치를 부가하여 자동으로 용접 작업이 진행되도록 구성되는 것이 바람직하며, 보다 정밀한 제어를 위하여 상기 각 이동부에 엔코더를 부착하여 피드백 제어를 이용하는 것이 바람직하다.In addition, it is preferable that the controller 70 is configured to automatically perform a welding operation by adding a conventional welding line tracking device using a sensor, and to use feedback control by attaching an encoder to each of the moving parts for more precise control. desirable.

이하 본 발명의 구체적인 작용, 사용태양을 살펴보기로 한다.Hereinafter, the specific action and use mode of the present invention will be described.

멤브레인 시공용 판재의 평탄 구간을 용접하는 경우에는 종래의 X,Y,Z축 및 θ축을 조절할 수 있으므로 자세한 설명은 생략하기로 한다.In the case of welding the flat section of the membrane construction plate can be adjusted since the conventional X, Y, Z axis and θ axis will be omitted detailed description.

멤브레인 시공용 판재의 오브랩 구간에 대해서는 오브랩 피스(3)의 좌우측면부는 주행부(10)의 이동만으로 용접토치가 접근할 수 없으므로 상기 미세이동부(30)를 구동하여 용접 작업이 진행되고, 측면부가 평탄 구간에 대해 일정 각도로 절곡되는 구간이 이르면 상기 상하이동부(50)을 이용하여 용접 토치를 상측으로 이동시키면서 용접 작업이 진행된다. 이때 각도조절부(60)는 용접 토치가 각 용접 구간에 대해서 부재와 일정 각도를 유지되도록 구동된다.As the welding torch is not accessible by the movement of the driving unit 10, the welding work is performed by driving the micro-moving unit 30 with respect to the oblap section of the membrane construction plate. When the section is bent at a predetermined angle with respect to the flat section reaches the welding operation while moving the welding torch upward by using the Shanghai East 50. At this time, the angle adjusting unit 60 is driven such that the welding torch maintains a predetermined angle with the member for each welding section.

다음으로 오브랩 피스의 전후측면부를 용접하는 경우에는 상기 회전부(40)의 구동에 의하여 각도조절부(60)의 회동되는 평면을 상기 전후측면부의 용접 부위에 일치시키고, 상기 좌우이동부(20)의 구동을 통해 일측에서 용접 작업이 시작된다.Next, in the case of welding the front and rear side parts of the oblap piece, the rotating plane of the angle adjusting part 60 is matched to the welded part of the front and rear side parts by the driving of the rotating part 40, and the left and right moving parts 20 The drive starts the welding work on one side.

이때 멤브레인 시공용 판재의 고로게시션이 형성된 구간에서는 미세이동부(30)와 회전부(40)와 상하이동부(50) 및 각도조절부(60)를 이용하여 용접작업이 이루어지게 된다.At this time, in the section where the blast furnace of the membrane construction plate is formed, the welding operation is performed by using the micro moving unit 30, the rotating unit 40, the shandong east unit 50, and the angle adjusting unit 60.

상기 각 용접 작업시에 용접 토치(6)가 멤브레인 시공용 판재의 용접부와 이루는 각은 항상 일정한 각도를 유지시키도록 상기 각 이동부를 구동시켜 균일한 용접 결과를 가져올 수 있다.The angle formed by the welding torch 6 with the welded portion of the membrane construction plate during each welding operation may drive the respective moving portions so as to maintain a constant angle at all times, resulting in uniform welding results.

상기 용접 방법은 플라즈마 용접이나 TIG용접 등 다양한 용접 방법을 이용할 수 있으며, 본 발명에 따른 로봇은 멤브레인 시공용 판재의 실제 용접을 진행하기 전에 시행되는 가용접에도 이용될 수 있다.The welding method may use various welding methods such as plasma welding or TIG welding, and the robot according to the present invention may also be used for tack welding performed before the actual welding of the membrane construction plate.

이상과 같이 본 발명은 6축을 제어할 수 있는 멤브레인 시공용 판재를 용접하기 위한 로봇을 제공하는 것을 기본적인 기술적인 사상으로 하고 있음을 알 수 있으며, 이와 같은 본 발명의 기본적인 사상의 범주내에서, 당업계의 통상의 지식을 가진자에게 있어서는 다른 많은 변형이 가능함은 물론이다.As described above, it can be seen that the present invention has a basic technical idea to provide a robot for welding a membrane construction plate capable of controlling six axes, and within the scope of the basic idea of the present invention, Of course, many other variations are possible for those skilled in the art.

이상에서 상술한 바와 같이 본 발명은 멤브레인 용접에 사용되는 로봇을 6축으로 제어할 수 있어 멤브레인 시공용 판재의 평탄 구간 및 오브랩 구간까지 용접가능한 멤브레인 시공용 판재를 용접하기 위한 로봇을 제공할 수 있는 장점이 있다.As described above, the present invention can provide a robot for welding a membrane construction plate that can be welded to a flat section and an overlap section of a membrane construction plate by controlling the robot used for membrane welding in six axes. There is an advantage.

또한, 상기 용접 작업시 다축의 이동부를 구비하여 용접 토치를 용접 부재와 균일한 용접 각도를 유지시킬 수 있어 균일한 용접 결과를 얻을 수 있다.In addition, a multi-axis moving part may be provided during the welding operation to maintain a welding torch and a uniform welding angle with the welding member, thereby obtaining a uniform welding result.

Claims (2)

천연액화가스 운반선의 저장탱크의 내부에 고정되는 멤브레인 시공용 판재의 평탄 구간과 평탄 구간이 접하는 오브랩 구간을 용접하기 위한 용접 로봇에 있어서, In the welding robot for welding the flat section of the membrane construction plate is fixed to the inside of the storage tank of the natural liquefied gas carrier ship and the oblap section in contact with the flat section, 평탄 구간의 멤브레인 시공용 판재에 고정되는 레일을 따라 이동되는 주행부와;A traveling part moved along a rail fixed to the membrane construction plate of a flat section; 상기 주행부의 상부에 형성되는 레일에 좌우측으로 이동가능하게 결합되는 좌우이동부와;A left and right moving unit movably coupled left and right to a rail formed at an upper portion of the driving unit; 상기 좌우이동부의 상부에 형성되는 레일에 결합되어 상기 주행부의 이동방향으로 이동되는 미세이동부와;A micro movement unit coupled to a rail formed at an upper portion of the left and right movement units and moving in a moving direction of the driving unit; 상기 미세이동부에 회동가능하게 결합되는 회전부와;A rotating part rotatably coupled to the micro moving part; 상기 회전부의 측면에 형성되는 레일에 상하 이동가능하게 결합되는 상하이동부와;Shanghai East part is coupled to the rail formed on the side of the rotating part so as to be movable up and down; 상기 상하이동부의 단부에 용접토치가 고정되어 상기 용접토치의 용접 각도를 조절할 수 있는 각도조절부와;An angle adjusting unit configured to adjust a welding angle of the welding torch by fixing a welding torch at an end portion of the shanghai east portion; 상기 주행부와 좌우이동부와 미세이동부와 회전부와 상하이동부 및 각도조절부의 동작을 제어하는 제어기;로 구성되어, 멤브레인 시공용 판재의 평판 구간 및 오브랩 구간을 용접가능한 것을 특징으로 하는 멤브레인 시공용 판재를 용접하기 위한 로봇.A controller for controlling the operation of the moving part, the left and right moving part, the fine moving part, the rotating part, the shanghai east part and the angle adjusting part; is configured to weld the plate section and the oblap section of the membrane construction plate member Robot for welding 제 1 항에 있어서,The method of claim 1, 상기 용접토치는 용접부위에 대하여 일정 각도로 유지되면서 용접 작업이 이루어지는 것을 특징으로 하는 멤브레인 시공용 판재를 용접하기 위한 로봇.The welding torch is a robot for welding a membrane construction plate, characterized in that the welding operation is made while maintaining at a predetermined angle with respect to the welding site.
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CN110732818A (en) * 2019-11-22 2020-01-31 合肥常青机械股份有限公司 welding manipulator for auto-parts
CN110860831A (en) * 2019-12-06 2020-03-06 江苏圣耐普特矿山设备制造有限公司 Welding device for manufacturing mining equipment

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