KR100855049B1 - Automatic welding system and the operation control method - Google Patents

Abstract

A welding system is provided to weld a boss to a heavy atypical or asymmetric weldment usefully, obtain uniform welding quality by operating a welding torch after idling a turntable drive motor to a predetermined angle, and perform a welding operation without interfering with the weldment within the rotation radius by spacing a welding turntable and a welding torch apart from each other in an arbitrary distance, and an operation control method of the welding system is provided. In a welding system for welding the weldment by mounting a weldment and rotating the mounted weldment, an automatic welding system comprises: a weldment system comprises: a weldment mounting apparatus(1) including a swing unit(20) rotationally lifted and lowered about an one axial supporting point on a body(10) to form a slope, a tilting cylinder(30) for lifting and lowering the swing unit, and a rotary plate unit(40) on which the weldment is rotationally mounted, and which is joined with the swing unit; and a torch driver(2) including a link frame(50) which has a welding torch(51) connected to a front end thereof to weld the rotationally mounted weldment, which adjusts and sets a gap between the torch and the weldment, and which lifts and lowers the set torch, a cylinder for lifting and lowering the link frame, and a welding rod feeder(70) connected to a body(80) to feed a welding rod through the torch, wherein a control box in which a welding controller is embedded is installed on the body(10).

Description

Automatic welding system and the operation control method

The present invention relates to an automatic welding device and a method for controlling the operation thereof, and more particularly, to an automatic welding device and a method for controlling the operation of a component that is welded along a circular trajectory, which is a heavy object that is difficult to work mainly on manpower. It is about.

In general, the automatic welding device is a device for welding a welded object while moving three axes, such as a simplified welding device for repeatedly welding a simple position from a robot performing a high welding operation.

The welding apparatus to be improved mainly by the present invention is a semi-automatic apparatus that mounts the workpiece to be welded and sets the inclination angle by tilting and turns the turntable to rotate automatically, and the welding and tilting of the welding table is known. have.

The welding device of the tilting and rotating method is to install the encoder on one side of the motor for rotating the turntable as in Korean Utility Model Registration No. 259793, and configure the input unit, which is a welding angle input keypad, to measure the rotation of the encoder at the input unit setting value. When the welding is reached, the welding device is disclosed in which the welding angle is varied and easily set.

Another conventional welding device is the Republic of Korea Utility Model Registration No. 248918, which is to adjust the tilting angle of the turntable and is installed on both sides of the turntable to be compatible with the holding rods, and equipped with a material pressure support device and a welding torch It is configured to achieve welding.

The welding device comprises a sensing rod contacting the welded object at the tip of the torch so as to pressurize the material and weld the torch along the curvature of the material before and after rocking.

However, according to the related arts, since the support rods are installed in the periphery of the turntable, the welding rods cannot be rotated because the rods cannot be rotated when the to-be-arrested body is mounted at an irregular shape and exceeds the diameter of the turntable. Since the welding starts and ends by detecting the 1 rotation by the magnet installed at one point, the welding start point and the melting point end point of the welding, there is a problem that the welding quality is degraded because the welding is performed before the tentable drive motor reaches the normal speed. .

The present invention has been made to solve the problems of the prior art as described above has the following object.

The present invention is to provide a welding device useful for welding a boss on a heavy, irregular, asymmetric welded object for heavy equipment such as forklifts, forklifts, and the like.

The present invention is to provide a welding device with a uniform welding quality by operating the welding torch when the turntable driving motor for rotating the to-be-shaped, asymmetrical welded object is heavy, and then rotates at a constant angle to reach the normal driving speed.

SUMMARY OF THE INVENTION The present invention provides a welding apparatus that enables welding by spacing a welding turntable and a welding torch at an arbitrary distance so that atypical, asymmetric welds are not interfered within a radius of rotation.

The present invention made to achieve the above object is a swing unit to form a slope by rotating up and down relative to the uniaxial support point on the body, a tilting cylinder for driving the swing unit up and down, and a rotating plate unit for mounting and fixing the welded object A welding frame mounting apparatus formed by coupling to the swing unit, and a link frame configured to couple a welding torch to be welded to the mounted rotating object to the front end, adjust and set a gap between the torch and the welding target, and elevate the set torch; And a torch driving device formed by coupling a cylinder for driving the link frame to a lift and a welding rod supplier for supplying a welding rod through the torch to a body plate, and a welding box mounting body includes a control box having a welding control device. .

According to the present invention, it is very useful for welding bosses on heavy equipment such as forklifts and forklifts, and atypical and asymmetric welds, and when the turntable driving motor reaches a normal driving speed after idling at an angle, the welding torch Welding quality can be obtained uniformly, and the welding turntable and welding torch are spaced at an arbitrary distance, so that atypical and asymmetric welds are not interfered within the rotation radius so that welding of a relatively large size is possible. It is a useful invention.

Technical configuration for implementing the above invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1, the welding apparatus of the present invention rotates on the base 10 based on a single shaft support point to form a slope, and a tilting cylinder 30 for driving the swing unit 20 to elevate. ), The welding unit mounting device 1 formed by coupling the rotating plate unit 40 for mounting, fixing and rotating the welded object to the swing unit 20, and the welding torch 51 welding the welded object to be mounted and rotated. Is coupled to the front end and is set by adjusting the gap between the torch and the welded object, and the link frame 50 for elevating the set torch, the cylinder 60 for elevating and driving the link frame 50, and the torch The welding rod feeder 70 for supplying the welding rod is separated and separated by a torch driving device 2 formed by coupling to the body 80 and the body 10 has a control box 90 having a welding control device 3 built therein. It is made to include.

The body 10 of the weldment mounting apparatus 1 is formed by forming a bearing 13 for fixing the support 12 on the bottom plate 11, and fixing the shaft 21 on the upper side, the swing unit The shaft 20 couples the shaft 21 penetrating the swing plate 22 to the side, and the motor 23 with the reducer to drive the rotary plate unit 40 in the lower part of the plate, and an encoder for detecting the rotation angle of the rotary plate. (24) is mounted, the tilting cylinder (30) shaft coupling hole 25 is spaced apart from the shaft 21 in the opposite position to configure a plurality of tilting cylinder (10) and between the coupling cylinder (25) 30 is combined and the shaft 21 is achieved by coupling to the bearing (13).

The rotating plate unit 40 is supported by a guider 41 fastening to the upper plate of the swing plate 20, a rotating shaft 42 which is supported through the guider and passes through the swing plate 20, and a rotating plate 42 above the rotating shaft 42. 43 is combined to configure the encoder 24 and the timing belt 45 through the pulley 44 at the end of the rotation shaft 42.

On the other hand, the upper center of the rotating shaft 42 is formed to screw the protrusion shaft 46 for supporting the welded object by forming a screw, the rotating plate 43 is formed by radially penetrating through the curved groove 47.

The outer circumference of the protrusion 46 is made to coincide with the inner circumference of the welded object to be welded and the boss so as to maintain a detachable tolerance, thereby solidifying or releasing only the clamp (c) while maintaining the support of the welded object. It is possible to achieve the mounting operation by the welding desorption made easy and this projection 46 is made to correspond to the replacement according to the specifications of the welded object.

The link frame 50 of the torch driving device 2 is formed by coupling the welding torch 51 to the tip and coupling the plurality of link bars 52 to the body 80 with the elbow link 53 and the elbow link 53. The shaft 80 is coupled to the shaft 60 fixed to the body 80 at one end, and the body 80 to supply the welding rod to the welding torch 51 through a welding rod supply 70 consisting of a reel 71 and a peter 72. Is done in combination.

The control box 90 has a built-in control device 3 for performing welding control.

The control device 3 includes an automatic / manual operation selection unit 301 consisting of a rotary switch, a rotating plate up tilting driving unit 302 for raising the rotating plate 43, and a rotating plate down tilting driving unit 303 for lowering the rotating plate 43. The up / down tilting driving units 302 and 303 are configured to control the lifting and lowering of the rotating plate tilting cylinder 30 by controlling the opening and closing of the solenoid valve, and respectively detecting the lifting position to limit the lifting position of the tilting cylinder 30. Welding plate setting up and down tilting detection unit (304, 305), free angle counter (C1) for excluding the driving of the welding torch 51, the rotating plate 43 idle idling the set angle, welding Each counter C2 is configured to be able to change the set value from the outside, and the welding torch tilting drive unit 306 for tilting the welding torch 51 in conjunction with the detection output of the rotary plate up tilting detecting unit 304 is used. Forms to provide a lifting output to the solenoid for controlling the lifting of the torch tilting cylinder 60. The spar is made of a welding torch (51).

The output of the rotary plate uptilting detection unit 304 and each output of the rotary plate tilting completed within the set time of the free-angle angle counter C1 are connected to the forward rotation driver 307 for driving to an output that satisfies the logical AND AND1. The output logic sickle (NOT1) inverted after the setting time of the freezing angle counter (C1) and the outputting angle of the welding angle counter (C2) starting in conjunction after the end of the setting time of the freezing angle counter (C1) are logic and AND2. The welding torch 51 is configured to start welding with an output satisfying the following, and the end of the welding angle counter C2 setting time is detected as the end of welding, and if a reverse output logic sickle output is generated, a delay of 3 to 5 seconds is generated. A timer 309, a reverse rotation driver 308 which generates a motor reverse rotation output after the timer delay time elapses, and the driver output are connected to the rotating plate driving motor 23, and the first rotation is performed by reverse rotation of the rotating plate.The output of the start position sensor 310 for detecting the entire position is connected to the down-tilting driving unit 303 with the down-tilting driving signal, and the output of the encoder 24 for detecting the rotation angle of the rotating plate driving motor is the free-angle counter C1. And the welding angle counter C2, and the welding is completely completed, so that the free-angle angle counter C1 and the welding angle counter C2 are reset to the output of the rotating plate down tilting detection unit 305.

The control device (3) may be made of a relay sequence circuit, when the relay sequence is made of a low-cost and resistant to noise in the welding environment, it is easy to ensure the safety of the circuit, and in the case of an electronic circuit, in this case Special shielding against noise should be made.

It looks at the method of controlling the welding by the configuration of the welding device and the control device.

As shown in FIG. 7, the welding control method of the present invention includes a counter setting step (S101) of setting the rotating plate driving angles to the princess angle and the welding angle counters C1 and C2, respectively, while the welded object is fixed to the rotating plate. A / M selection step (S102) for selecting the operation, the rotary plate tilting step (S104) of tilting the rotary plate to the inclined plane according to the start switch-on detection step (S103) and the start switch-on state, and the welding torch in conjunction with the rotary plate tilting Tilting end detection for detecting by the rotary plate uptilting detecting unit that the welding torch lowering step (S105) of preparing the welding by driving the tilting cylinder to the welded object to the welded object and preparing the welding, and the rotating plate tilting is completed in the rotating plate tilting step (S104). Step S106, the rotating plate driving motor rotation step (S107), and the end of the set-free-angle counter (C1) as long as the rotation angle of the welding torch without the torch and end Setting of the welding angle counter C2 which sets the welding angle rotation end detecting step (S108) of detecting the point by the encoder signal, and when the princess angle rotation is completed, the welding torch starts the welding operation and sets the welding rotation angle of the rotating plate. Welding torch operation step (S109) made by the angle, welding angle rotation end detection step (S110) for detecting the end of the rotary plate rotation drive with welding, and welding torch when the set angle of the welding angle counter (C2) is finished Stop welding step (S111) for stopping and raising the welding torch, timer delay step (S112) for delaying the rising of the rotating plate for a predetermined time (3 to 5 seconds) after the welding is stopped, and the tilted rotating plate within the delay time The rotating plate alignment step (S113) to reverse the rotation to return to the original position, the rotating plate lowering step (S114) to return the rotating plate to the initial horizontal position by driving the rotating plate tilting cylinder is completed, the rotating plate lowering is completed A counter reset step S115 of resetting the free angle and the welding angle counters C1 and C2 according to the detection signal of the surface rotating plate down tilting detection unit is performed to complete the welding cycle and return to the initial state.

The princess angle counter (C1) is set within the range of 15 ° ~ 20 ° and within this range, the rotating plate driving motor is used as a section to reach a normal speed to start a low speed, the tilt angle of the rotating plate is determined at about 45 °.

Looking at the action of the present invention to achieve the above technical concept in more detail it will be easy to understand the present invention.

First, the present invention is very useful for welding the boss (b) to a large-weight to-be-welded object such as a boom or axle used in ordinary heavy equipment and the like.

As shown in FIG. 5, when the shaft holes of the welded object a and the boss b are fitted to the slew shaft 46 and fixed with a clamp c fixedly installed in the curved groove 47, the swash shaft 46 is rotated. ) And clamp (c) is firmly mounted on the rotating plate.

If welding is to be performed automatically, welding of the object to be welded (a) and boss (b) is 360 ° welding, so the princess angle counter (C1) is set within the range of 15 ° to 20 ° and the welding torch is driven. The actual welding angle is set as 360 degrees in the welding angle counter C2.

After the counter setting is made, the automatic / manual operation selection unit 301 is automatically set, and when the start switch is turned on, automatic welding is started.

First, the rotating plate 43 which fixes the to-be-welded object a and the boss b is raised while turning about the shaft 21 by the driving of the tilting cylinder 30 fixed to the bottom of the fixed swing unit 20. As a whole, the swing plate 20 and the rotating plate unit 40 fixed to the swing unit 20 are inclined from the body 10.

The inclined movement of the rotating plate unit 40 is started and at the same time, the cylinder 60 pushes up one end of the elbow link 53 of the link frame 50 to which the welding torch 51 is coupled, and thus the link bar 52 based on the center axis point. Is rotated and the welding torch 51 is moved close to the welding surface.

At the bottom of the swing plate 22 of the swing unit 20, a motor 23 is formed to rotate the rotating plate 43 so that the driving force of the motor transmits the reduced rotational force to the guide shaft 41 through the rotating shaft 42. The pulley 44 at the lower end of the rotating shaft 42 transmits the rotation of the rotating plate to the encoder 24 as the timing belt 45, so that the encoder 24 detects the amount of rotation as a signal so that the free angle counter of the control device 3 ( C1) and welding angle counter C2, respectively.

When the tilting of the rotating plate 43 is completed, the driving of the motor 23 is started according to the signal of the rotating plate up tilting detection unit 304 and the welding torch 51 is welded until the angle set in the free-angle counter C1 elapses. It doesn't work and you turn the tumbler.

The rotating plate is unbalanced from the axial shaft 46 where the welded object is welded. Therefore, when the sudden start occurs, the fixed loosening or overloading of the motor occurs. Therefore, the rotation angle of the range is slowed down to reach the normal speed of the motor. When a slow start that starts at a speed is achieved and a welding is performed by operating the welding torch 51 after reaching a predetermined speed, a weld with a uniform bead can be obtained.

The welding rod wound on the reel 71 of the electrode feeder 70 is released at a constant speed by the feeder 72 when the princess rotation and the welding operation of the welding torch and the welding set in the welding angle counter C2 are performed. It is supplied to and continuously supplied by welding to the welded object.

When the set value is completed in the welding angle counter (C2) by the encoder signal, the welding is completed. The welding torch 51 is stopped and the cylinder 60 reversely drives to pull the elbow link 53 to operate the axis. As the link bar 52 is pulled, the welding torch 51 is moved to the initial standby position.

The timer 309 acts to reversely rotate the rotating plate 43 by the princess angle within the set time range. The rotating plate moves to the initial position by the reverse rotation driving of the motor 23, and at this time, a starting position sensor ( When the reverse rotation drive is completed by the position sensor), the tilting cylinder 30 is reversely driven to lower the rotating plate so that the swing unit 20 moves downward to the horizontal position with the ground, which is the initial position.

After that, the worker releases the clamp and obtains a product that has completed the welding of the boss (b) to the welded object (a).

Therefore, the surface on which the welding torch is located, the welded object and the boss can be welded in an inclined state to prevent the closed end of the bead biased by gravity and to achieve a uniform and complete welding.

On the other hand, when welding is to be performed manually, it is mainly for the case of trouble during the initial adjustment or during the automatic welding, and the manual switch is used to tilt and return the rotary plate, lower and raise the welding torch, and drive the rotary plate rotation. It is made by the operation and operation is similar to the description will be omitted.

In addition, the welding rod and the welding torch can be used interchangeably depending on the object to be welded to achieve various welding.

The present invention can be used in a welding device having an easy and comfortable and uniform welding state of a shaft coupling boss mainly used for heavy equipment or the like that is difficult to weld while being handled by humans.

1 is a side state configuration diagram showing the welding apparatus operating state of the present invention.

Figure 2 is a partially omitted plan state configuration of the weldment mounting apparatus of the present invention.

Figure 3 is a front state configuration diagram of the weldment mounting apparatus of the present invention.

4 is an operating state diagram showing the tilt up state of FIG.

It is a principal part structure figure which shows the state which fixed and fixed the to-be-welded object to the rotating plate of this invention.

Figure 6 is a block diagram showing a control device of the present invention.

7 is a flow chart showing a welding device control method of the present invention.

*** Explanation of symbols for the main parts of the drawing ***

1: welding device mounting device 2: torch drive device

3: control device 10, 80: body

11: base plate 12: support base

13: bearing 20: swing unit

21: shaft 22: swing plate

23: motor 24: encoder

25: shaft coupler 30, 60: cylinder

40: rotating plate unit 41: guider

42: rotating shaft 43: rotating plate

44: pulley 45: timing belt

46: sudden axis 50: link frame

51: welding torch 52: link bar

53: elbow link 70: welding rod feeder

71: reel 72: feeder

Claims (8)

In the welding apparatus for mounting and fixing the object to be welded and rotating, Swing unit 20 that forms a slope by rotating and lifting relative to the axial support point on the body 10, the tilting cylinder 30 for driving the swing unit 20 to lift and lower, and a rotating plate for mounting and rotating the object to be welded Weldment mounting apparatus (1) formed by coupling unit (40) to said swing unit (20); A link frame 50 for coupling the welding torch 51 to be welded to the mounted rotating object to the front end, adjusting the gap between the torch and the welded object, and setting and lifting the set torch; and the link frame 50. Cylinder 60 for driving up and down and a torch driving device 2 formed by coupling a welding rod feeder 70 for supplying a welding rod through the torch to a body 80, The body 10 is an automatic welding device, characterized in that made by installing a control box (90) in which the welding control device (3) is built. The body plate 10 of the weldment mounting apparatus 1 is fixed to the support plate 12 on the bottom plate 11, and forms a bearing 13 for fixing the shaft 21 on the upper side of the The swing unit 20 couples the shaft 21 penetrating the swing plate 22 to the side, and the motor 23 with the reducer for rotationally driving the rotary plate unit 40 at the bottom of the plate. The encoder 24 for detecting the rotation angle is mounted, and the tilting cylinder 30 shaft coupling tool 25 is spaced apart from the shaft 21 at a position opposite to the body 10 and the coupling tool 25. Combining the tilting cylinder 30 between the) and the shaft 21 is coupled to the bearing 13, The rotating plate unit 40 is supported by a guider 41 fastening to the upper plate of the swing plate 20, a rotating shaft 42 which is supported through the guider and passes through the swing plate 20, and a rotating plate 42 above the rotating shaft 42. 43) by combining the encoder (24) and the timing belt (45) via a pulley (44) at the end of the rotating shaft (42). 3. The upper center of the rotating shaft 42 is formed by screwing the protrusion shaft 46 for supporting the welded object by forming a screw, and radially penetrating the curved groove 47 in the rotating plate 43. Automatic welding device, characterized in that. According to claim 1, Link frame 50 of the torch drive device 2 is coupled to the welding torch 51 at the tip and a plurality of link bars 52 to the body 80 by the elbow link 53 And a cylinder 60 shaft fixed to the body 80 at one end of the elbow link 53, and the welding rod is connected to the welding torch 51 through a welding rod feeder 70 formed of a reel 71 and a peter 72. Automatic welding device characterized in that the coupling is made to the body 80 to supply. The control device (3) embedded in the control box (90) is an automatic / manual operation selection unit (301) consisting of a rotary switch, a rotating plate up tilting driving unit (302) for raising the rotating plate (43), The rotating plate down tilting driving unit 303 for lowering the rotating plate 43 and the up / down tilting driving units 302 and 303 are configured to lift and control the rotating plate tilting cylinder 30 by controlling the opening and closing of the solenoid valve, and the tilting cylinder 30 Rotation plate up / down tilting detection unit 304, 305 for detecting the lifting position, respectively, to limit the lifting position of the head), and a free-angle counter C1 for removing the welding torch 51 from driving and rotating the rotation plate 43 at a set angle. ) And a welding angle counter C2 that sets a welding angle that substantially makes a weld are configured so that a set value can be changed from the outside, and the welding soil is interlocked by a detection output of the rotary plate up tilting detection unit 304. Welding torch tilting driving unit 306 for tilting the 51 forms to provide a lifting output to the solenoid for controlling the lifting of the welding torch tilting cylinder 60, The output of the rotary plate uptilting detection unit 304 and each output of the rotary plate tilting completed within the set time of the free-angle angle counter C1 are connected to the forward rotation driver 307 for driving to an output that satisfies the logical AND AND1. The output logic sickle (NOT1) inverted after the setting time of the freezing angle counter (C1) and the outputting of the welding angle counter (C2) starting in conjunction after the end of the setting time of the freezing angle counter (C1) is a logic end (AND2). The welding torch 51 is configured to start welding with an output satisfying the following, and the end of the welding angle counter C2 setting time is detected as the end of welding, and if a reverse output logic sickle output is generated, a delay of 3 to 5 seconds is generated. A timer 309, a reverse rotation driver 308 which generates a motor reverse rotation output after the timer delay time elapses, and the driver output are connected to the rotating plate driving motor 23, and the first rotation is performed by reverse rotation of the rotating plate.The output of the start position sensor 310 for detecting the entire position is connected to the down-tilting driving unit 303 with the down-tilting driving signal, and the output of the encoder 24 for detecting the rotation angle of the rotating plate driving motor is the free-angle counter C1. And the welding angle counter C2, and the welding is completely completed, and the free-angle counter C1 and the welding angle counter C2 are configured to be reset by the output of the rotating plate down tilting detection unit 305. Welding device. 6. Automatic welding device according to claim 5, characterized in that the control device (3) consists of a relay sequence circuit. In the control method of the welding apparatus which mounts, fixes, rotates, and welds a to-be-welded object, Counter setting step (S101) for setting the rotating plate driving angles for the free angle and the welding angle counters (C1, C2) while the to-be-welded object is fixed to the rotating plate, and an A / M selection step for selecting automatic operation or manual operation (S102). ), The rotary switch tilting step (S104) of tilting the rotary plate to the inclined plane according to the start switch-on detection step (S103) and the start switch on state, and the welding torch tilting cylinder in conjunction with the rotary plate tilting to drive the welding torch to the welded object. A welding torch lowering step (S105) of making a welding ready by close proximity, a tilting end detecting step (S106) of detecting by the rotating plate uptilting detecting unit that the rotating plate tilting is completed in the rotating plate tilting step (S104), and a rotating plate driving motor rotating step (S107) and the free-angle rotation for freeing the welding angle by the rotation angle of the set free-angle counter C1 and detecting the end time by the encoder signal. Torch detection step (S108) and, if the free angle rotation is completed, the welding torch starts the welding operation, the welding operation operation step (S109) of the welding angle made by the set angle of the welding angle counter (C2) that set the welding rotation angle of the rotating plate And, welding angle rotation end detection step (S110) for detecting the end of the rotary plate rotation drive accompanying the welding, and the welding stop step to stop the welding torch and raise the welding torch when the set angle of the welding angle counter (C2) is finished (S111), a timer delay step (S112) of delaying the rotation of the rotating plate for a predetermined time (3 to 5 seconds) after the welding is stopped, and the rotating plate to rotate the rotating plate tilted within the delay time by the princess angle to return to the original position. Alignment step (S113), the rotary plate lowering step (S114) to return the rotary plate to the initial horizontal position by driving the rotating plate tilting cylinder and the detection signal of the rotary plate down tilting detection unit is completed The operation control method of an automatic welding machine, characterized in that 0 weeks each and welded to complete the welding cycle by each of the counters (C1, C2) a counter reset step (S115) that resets the control and the execution of returning to the initial state by continuously formed. The method according to claim 7, wherein the counter angle counter (C1) is set within the range of 15 ° ~ 20 ° and within this range the rotating plate drive motor is controlled to move to the section to reach the normal speed to make a low speed start Method of controlling the operation of the welding device.

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