KR100893057B1 - A separable automatic welding device and welding method - Google Patents

Abstract

The present invention relates to a fillet welding device of a ship block, the object of which is the inconvenience of moving work required for the handling and setting of the automatic welding device for welding work on the ship block body, that is, the neighboring cell area that is arranged in isolation. The present invention provides a detachable automatic welding device and a welding method thereof, which improve handling to an isolated work space, which can eliminate the box and reduce the working time.

The present invention provides an automatic welding apparatus for performing fillet welding in a cell area, using a hull block having a plurality of cell areas as a work space; An X-axis base driver having a driving wheel in the X-axis direction; A W-axis rotation driver rotatably installed on an upper surface of the X-axis base driver; A Y-axis guide part installed and fixed to an upper surface of the W-axis rotation driver; Two or more first welding device members comprising a Y-axis sliding driver sliding along the longitudinal direction of the Y-axis guide, and a Z-axis guide installed and fixed to the Y-axis sliding drive; A Z-axis sliding drive unit sliding along the longitudinal direction of the Z-axis guide unit; A second welding device installed on one side of the Z-axis sliding drive part, the second welding device part including a torch clamp driven by an inclination angle in a vertical direction with respect to the Y-axis from the Z-axis sliding drive part and driven in the A-axis; The technical gist of the present invention relates to a detachable automatic welding device having improved handling to an isolated work space including a coupling means for detachably fixing the first welding device portion and the second welding device portion, and a welding method using the same.

Fillet Welding, Block, Cell, Separate, Multi-Axis

Description

Separable automatic welding device and welding method {A separable automatic welding device and welding method}

The present invention relates to a device capable of continuously and automatically welding the vertical and horizontal fillet welds, and more specifically, the base material to be welded is formed in a row in contact with each other to perform continuous welding toward the vertical, horizontal welds. It relates to an automatic welding device that can be.

The shipbuilding that the applicant is doing up to constitute a hull through a block forming a multi-layer structure, these blocks are abacus (1), transverse reinforcement (2), longitudinal longitudinal stiffener, as shown in FIG. (3) forms a block having cell S1, S2, S3 areas which are divided into numerous isolation spaces by mutual butt welding.

As described above, the abacus 1 in the horizontal state and the lateral reinforcement 2 and the longitudinal reinforcement 3 in the vertical state are combined to form regions of the cells S1, S2, and S3. The welded joints of the stiffeners 2 and 3 (the welded portions of which the base metals are butted to each other at right angles are referred to as fillet welds, hereinafter referred to as fillet welds) are disposed in the vertical and horizontal directions.

Meanwhile, such fillet welding parts are operated using a fillet welding robot welding apparatus having a multi-axis driving means. As an automatic welding apparatus for performing fillet welding on such an isolated block, the present applicant has been vertically applied through Korean Application No. 0026776. And an automatic welding device capable of performing continuous welding of the horizontal fillet welding part, which is briefly described with reference to FIG. 2, a work for a plurality of cells (S1, S2, S3) using a conventional automatic welding device. 3 is a perspective view showing a configuration of a conventional automatic welding device, that is, the prior automatic welding device 10 is the X-axis base driving portion 11 'which moves in parallel with the horizontal fillet welding portion through the driving wheel. Wow; A W-axis rotation driver 12 rotatably installed on an upper surface of the X-axis base driver 11; A Y-axis guide part 13 installed and fixed to an upper surface of the W-axis rotation driver 12; A Y-axis sliding drive unit 14 which is slid before and after along the longitudinal direction of the Y-axis guide 13; A Z-axis guide part 15 installed and fixed to the Y-axis sliding drive part 14; A Z-axis sliding drive unit 16 which slides up and down along the longitudinal direction of the Z-axis guide part 15; A torch clamp (17) installed on one side of the Z-axis sliding driver (16), the A-axis driven being rotated by a predetermined inclination angle in the vertical direction with respect to the Y-axis from the Z-axis sliding driver (16); And a respective driving motor for providing an independent driving source to each of the driving units through signals of the control unit which previously sensed the tracking positions of the fillet welding units in the vertical and horizontal directions.

The automatic welding device is to provide a linear drive for the X-axis, Y-axis, Z-axis, and a rotational drive for the A-axis to rotate by a predetermined inclination angle with respect to the Y-axis, and the W axis to rotate around the Z-axis. In addition, the vertical and horizontal fillet welds are continuously tracked through the arc sensing function used in the automatic welding robot. At this time, the welding drive of the automatic welding device of the 5-axis drive according to the present invention is implemented from the signal of the controller (not shown) which receives the set value of the sensed welding line (welding part).

The fillet welding operation using the automatic welding device is performed by hand or by using an external device such as a crane, and the automatic welding device as shown in FIG. 2, as shown in FIG. 2, in the corresponding cells in the block requiring fillet welding (S1, S2, S3). After laying down at the bottom of the space, automatic welding using the relevant welding program is performed, and again, the worker finishes the fillet welding work in one cell (S1) area by using an external device such as a crane or the like. The welding apparatus is lifted up and moved down to another neighboring cell (S2) (S3) space, and then the welding operation is repeatedly performed.

This is because the welding device having a multi-axis (five-axis) drive means and welding-related equipment as described above is made of a considerable weight, the movement to the cell (S1, S2, S3) space that requires welding work as described above It requires a lot of effort in handling.

In addition, the automatic welding device placed in one isolated cell (S1, S2, S3) as described above usually requires setting work for the weld before welding, this initial setting work also handles the heavy welding device As a result of the need for excessive force, of course, the working efficiency of the actual welding operation is lowered accordingly.

The present invention is to solve the conventional problems as described above, the object is to move the work required for the handling and setting of the automatic welding device for welding work on the ship block body, that is, the neighboring cell area that is arranged in isolation The present invention provides a detachable automatic welding device and a welding method thereof, which can alleviate inconveniences and shorten working time.

The present invention for achieving the above-mentioned problems and to eliminate the conventional drawbacks in the automatic welding apparatus for performing a fillet welding in the cell area using a hull block having a plurality of cell area as a work space; An X-axis base driver having a driving wheel in the X-axis direction; A W-axis rotation driver rotatably installed on an upper surface of the X-axis base driver; A Y-axis guide part installed and fixed to an upper surface of the W-axis rotation driver; Two or more first welding device members comprising a Y-axis sliding driver sliding along a longitudinal direction of the Y-axis guide part;

A Z-axis guide part installed and fixed to the Y-axis sliding drive part; A Z-axis sliding drive unit sliding along the longitudinal direction of the Z-axis guide unit; A second welding device installed on one side of the Z-axis sliding driver, the second welding device including a torch clamp driven by an inclination angle in a vertical direction with respect to the Y-axis from the Z-axis sliding driver, and configured to drive the A-axis;

It characterized in that it comprises a coupling means for detachably fixing the first welding device portion and the second welding device portion.

In addition, when continuously performing fillet welding in a plurality of cell areas of the hull block through the automatic welding device, by moving the first welding device to the first cell area to perform the fillet welding, the reference to the welding start point Setting a location; The second welding device portion is moved toward and fixed to the first welding device portion having a reference position within the first cell region to perform a fillet welding to the first cell region, and at the same time into another neighboring second cell region. Setting a reference position with respect to a welding start point by moving; After completing the fillet welding of the first cell area, the second welding device part is disassembled from the first welding device part and fixed to the first welding device pre-arranged in the second cell area to fillet the second cell area. By moving the first welding device portion in the first cell region at the same time that the welding is performed into the neighboring third cell region, and setting the reference position for the welding start point, the fillet welding and the simultaneous reference position of the plurality of cell regions are performed. It is characterized in that the setting can be performed continuously by alternating.

The present invention through the means as described above through the detachable structure of the automatic welding device having a multi-axis drive means, in the operator to perform the setting work in the frequent movement of the welding device and setting the reference position of the welding device, etc. By improving the handling performance of the welding device, it is possible to solve the work difficulties caused by the load of the welding device, thereby improving the working efficiency.

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

Figure 4 is a perspective view showing the configuration of the automatic welding device for fillet welding according to the present invention, as shown, the welding device according to the present invention frequent movement of the welding device of the weight (cells (S1, S2, S3) space) In order to eliminate the inconvenience of handling according to the movement and setting), the welding device according to the present invention is a separate welding device having a first welding device portion (100; 100 ") and the second welding device portion 200 Providing.

In addition, coupling means 141 and 211 for coupling and disassembling the first and second welding device parts 100 and 100 " 200 are also provided.

More specifically, the first welding device (100; 100 ") is the X-axis base driver 110 having a driving wheel 111 in the X-axis direction; and rotates on the upper surface of the X-axis base driver 110 A W-axis rotary driver 120 installed to be capable of being installed, a Y-axis guide 130 mounted and interlocked on an upper surface of the W-axis rotary driver 120, and a longitudinal direction of the Y-axis guide 130; Accordingly, it is configured as the Y-axis sliding drive unit 140 sliding before and after.

Preferably, each of the first welding device parts 100 and 100 ″ provides driving force in the opposite direction toward the X-axis base driver 110, the W-axis rotation driver 120, and the Y-axis sliding driver 140. Drive motors 110A, 120A, 140A are mounted on one side.

The X-axis base driving unit 110 of the first welding device 100 (100; 100 ") corresponds to the reference position of the entire welding device, although not shown, a distance sensor (not shown) is attached to the outer surface thereof. While moving the bottom of the cell (S1, S2, S3) with the welding work, so that the distance to the base material can be kept constant at all times.

In addition, in the case where a plurality of cells S1, S2, and S3 are used as a welding work space, two or more first welding device parts 100 and 100 "serving as a reference of the welding device are provided.

In addition, the second welding device 200 is a Z-axis guide portion 210 is fixed to the Y-axis sliding drive unit 140 is installed and interlocked; A Z-axis sliding driver 220 sliding up and down along the longitudinal direction of the Z-axis guide part 210; It is installed on one side of the Z-axis sliding drive unit 220, and comprises a torch clamp 230 that is driven from the Z-axis sliding drive unit 220 by a predetermined inclination angle in the vertical direction with respect to the Y-axis Done.

The second welding device 200 is also the driving motor 220A (230A) for providing the driving force in the forward and reverse directions for the A-axis drive of the Z-axis sliding drive unit 220, the torch clamp 230. Mount it on the side.

As described above, the mechanical configuration of the sliding drive that slides along each guide part may be implemented by L / M guide, which is often used in precision automation machines, and will not be described in detail.

Subsequently, through the welding device having a separable structure to the first and second welding device portions (100; 100 ") 200 according to the present invention, the first and second welding means (141, 211) according to the detachable action. Installed at the lower end of the Y-axis sliding drive unit 140, the output end of the unit (100; 100 "), and the Z-axis guide unit 210 of the second welding device unit 200 coupled to the Y-axis sliding drive unit (140). Will be configured

As shown in FIG. 5A, the upper end of the Y-axis sliding drive part 140 of the first welding device part 100; 100 ″ and the Z-axis guide part 210 of the second welding device part 200. The male and female rails 141 'and 211' corresponding to each other are formed at the bottom of each other, or as shown in FIG. 5B, the Y-axis sliding drive unit 140 of the first welding device unit 100; The upper and lower ends of the Z-axis guide part 210 of the second welding device part 200 may achieve a coupling state of the male and female shafts 140 "and 211" with respect to the Z-axis direction.

Figure 6 shows a working state diagram using a separate welding device according to the present invention, in the plurality of cells (S1, S2, S3) region formed in the hull block body as shown in Figure 1 through such a separate welding device The fillet welding operation is described as follows.

First, the operator moves the first welding device unit 100 in the corresponding first cell S1 area requiring the fillet welding, thereby setting a reference position for the welding start point. In setting such a reference position, the operator has a first welding device 100 including an X-axis base driver 110, a W-axis rotary driver 120, a Y-axis guide 13, and a Y-axis sliding driver 140. ) Will be easier to handle only.

Subsequently, the fillet welding for the first cell S1 area is performed by moving and fixing the second welding device part 200 toward the first welding device part 100 having a reference position set in the first cell S1 area. Will be performed. Thus, by simply moving the second welding device 200 to the first welding device portion 100 is set to the reference position to combine through the coupling means (141, 211) to the work maneuver according to a separate reference position reset It is not necessary.

In this manner, a series of fillet welding is performed using the fillet welding-related program in the first cell S1 and the other first welding device part 100 ″ is additionally provided into the neighboring second cell S2. It moves to set the reference position for the welding start point at the same time.

Subsequently, after the fillet welding of the first cell S1 is completed, the second welding device 20 is disassembled from the first welding device 100 to be disposed in the second cell S2. A third cell neighboring the first welding device part 100 in the first cell S1 area at the same time, which is fixed to the first welding device part 100 ″ and performs fillet welding to the second cell S2 area. Move to the area (S3) to set the reference position for the welding start point.

As such, the two first welding device parts 100 and 100 " and one second welding device part 200 are alternately moved to the neighboring cells S1, S2, and S3, and the welding and simultaneous reference positions are moved. The work can be performed at the same time, and when the movement work and the setting of the reference position, it is provided with the convenience of the work so as not to require an excessive amount of work for the handling of the welding device is repeatedly performed.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

1 is an illustration of a hull block having a plurality of cell regions in which fillet welding is performed;

2 is a conceptual diagram of a welding operation for the hull block using a conventional welding device

Figure 3 is a perspective view showing the configuration of a conventional welding apparatus

Figure 4 is a perspective view showing the configuration of a welding apparatus according to the present invention

5a and 5b is an exemplary view showing a coupling means of the detachable welding apparatus according to the present invention

6 is a conceptual diagram of a welding operation for the hull block using a welding apparatus according to the present invention;

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

(S1, S2, S3): cell

(100; 100 "): first welding device

(110): X axis base drive part

120: W axis rotation drive part

130: Y-axis guide

140: Y-axis sliding drive unit

(141) (211): Combination means

200: second welding device

(210): Z axis guide part

220: Z-axis sliding drive unit

230: Torch Clamp (A-axis)

Claims (3)

In the automatic welding apparatus which performs fillet welding in the cell area by using a hull block having a plurality of cell areas as a work space, An X-axis base driver 110 having a driving wheel in the X-axis direction; A W-axis rotation driver 120 rotatably installed on an upper surface of the X-axis base driver; A Y-axis guide part 130 installed and fixed to an upper surface of the W-axis rotation driving part; Two or more first welding device members (100; 100 ") consisting of the Y-axis sliding drive unit 140 sliding along the longitudinal direction of the Y-axis guide, A Z-axis guide part 210 installed and fixed to the Y-axis sliding drive part; A Z-axis sliding driver 220 sliding along the longitudinal direction of the Z-axis guide part; The second welding device unit is installed on one side of the Z-axis sliding drive unit, and comprises a torch clamp 230 that is rotated by a predetermined inclination angle in the vertical direction with respect to the Y-axis from the Z-axis sliding drive unit to the A-axis drive. 200 and Detachable automatic welding device comprising a coupling means (141) (211) for detachably fixing the first welding device portion and the second welding device portion. The method of claim 1, The coupling means is such that the upper and lower ends of the Y-axis sliding drive part of the first welding device part and the lower end of the Z-axis guide part of the second welding device part achieve a male and female shaft coupling state with respect to each other. Detachable automatic welding device, characterized in that. A method of continuously performing fillet welding in a plurality of cell regions of a hull block by using an automatic welding device having a configuration according to any one of claims 1 and 2, Moving the first welding device unit 100 into an area of a first cell S1 to perform fillet welding, and setting a reference position with respect to a welding start point; The fillet welding is performed on the first cell S1 by moving and fixing the second welding device 200 toward the first welding device 100 having a reference position within the first cell S1. Simultaneously setting another reference welding unit 100 " to move into a neighboring second cell S2 to set a reference position for a welding start point; After completing the fillet welding of the first cell S1 region, the second welding apparatus part 200 is dismantled from the first welding device part 100 so as to be pre-arranged in the second cell S2 area. A third cell (S3) adjacent to the first welding device portion 100 in the region of the first first cell S1, which is fixed to the welding device portion 100 ″ and performs fillet welding to the second cell S2 region. Moving to the area to set a reference position for the welding start point; Method of welding a separate type automatic welding device, characterized in that it can be carried out continuously by alternately setting the fillet welding and the simultaneous reference position for a plurality of cells (S1, S2, S3) area.

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