KR100908277B1 - Fully automatic welding robot for submerged arc welding - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a SAW automatic welding robot, comprising: a welding robot for supplying wires and fluxes to a welding torch to perform SAW welding, the traveling device for driving four wheels, and the front and rear wheels for steering the front and rear wheels, respectively. A steering device, an X and Y axis slide device for rotating the welding torch in the X and Y axis directions with respect to the work progress direction, a traveling angle and working angle actuator for rotating the welding torch with respect to the welding progress angle and the working angle, A touch sensor for contacting grooves of the welding line to detect welding work line information; an inclination angle sensor for measuring longitudinal and transverse tilt angles; and the traveling device based on welding work line information and inclination information from the touch sensor and the tilt angle sensor. Control of steering, slide, and actuator to automatically follow the work line and perform welding progress And by changing the welding condition control extracts information including a control unit for controlling to perform an automatic welding about the curved surface it is characterized in that configured.

Welding robot, SAW, curved surface, self-driving, steering system, touch sensor, tilt angle sensor, welding condition change, welding line tracking

Description

Automatic welding robot for submerged arc welding

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot for submerged arc welding (SAW). In particular, the present invention relates to a welding robot for automatic tracking of a welding work line, and also to automatically adjusts welding conditions for curved surfaces while automatically changing welding conditions for a curved shape. A fully automatic welding robot for submerged arc welding that performs merged arc welding (SAW).

In general, ships under construction in shipyards have a streamlined structure to satisfy cargo volume and ship speed at the same time. That is, in the hull panel of the bow and stern portion of the ship, due to the characteristics of the hull shell having a curved (curve) shape, the horizontal and vertical valleys are generated at the same time, so that the inclination in the transverse direction and the longitudinal direction is variously formed on the boundary surface of the plate.

Thus, the shape of the bow and stern of the ship has a curved shape, there is a curved shell plate-based process for welding the shell of this part. In the curved sheet metal panel process, the plate and the plate are butt welded by CO ₂ welding or submerged arc welding (SAW).

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a conceptual explanatory diagram of a curved sheet metal sheet process according to the prior art.

As shown in this, a plurality of pin jig put the object to be processed, the part of the longitudinal inclination 9 degrees transverse slope more than 6 degrees is CO ₂ welding as a manual welding process, the longitudinal inclination 9 degrees transverse slope 6 degrees The following part is to perform the submerged arc welding (SAW) by the automatic welding process.

In order to apply the submerged arc welding (SAW) as described above, butt welds having a longitudinal tilt angle of 9 degrees and a transverse tilt angle of 6 degrees are generally required. The reason is that the welding rail must be installed due to the characteristics of the welding device. If the rail is bent more than 9 degrees, the welding carriage to travel on it will not be able to travel normally, and it will be difficult to follow the seam, and the sliding phenomenon will occur. This occurs because the risk of weld failure and worker safety.

Secondly, due to the characteristics of the submerged arc welding (SAW) technique, high heat input welding is performed. As a result, the amount of molten metal increases, and if the angle of inclination is high, welding defects such as undercut or underfill are likely to occur due to the molten metal flowing down. .

Therefore, the welder manually carries out the CO ₂ welding made of multi-pass instead of the submerged arc welding (SAW) that can finish the welding in 1-pass to the weld part outside the inclination angle range. As a result, the working time increases, welding defects such as slag mixing due to multi-pass, and musculoskeletal disorders of workers who need to weld for a long time in an unstable posture are concerned.

In addition, when performing normal SAW welding, the welding robot is mounted on the trolley and the SAW welding is performed while proceeding on the rail. Therefore, there is a disadvantage in that it cannot accommodate both curved and inclined surfaces. There were inconveniences such as not being able to change the welding condition automatically and the operator having to set the welding condition by manual operation.

The present invention is to provide a fully automatic welding robot for submerged arc welding capable of self-driving and front wheel and rear wheel steering control without the use of a rail to solve the conventional problems as described above. will be.

In addition, the present invention is possible to rotate the welding torch in the front and rear and right and left directions in the welding robot to enable the self-driving and front / rear wheel steering, and to install the sensor to track the welding line while automatically tracking the welding line It is to provide a welding robot capable of automatic tracking of welding seams that enables welding.

In addition, the present invention is to provide a welding robot configured to be able to automatically adjust the traveling angle and the working angle of the welding torch to enable the surface welding.

The present invention uses a submerged arc welding (SAW) rather than the normal CO ₂ welding, to control the traveling angle and working angle of the torch by the inclination angle sensor, and the fully automatic submerged arc capable of curved welding to perform welding seam tracking It is for providing a welding robot.

The present invention in the welding robot,

A traveling device for four-wheel drive installed in the welding robot body;

A front wheel and a rear wheel steering device for steering the front and rear wheels of the traveling device, respectively;

An X and Y axis slide device installed on the welding robot body to slide the slide table in the X and Y axis directions;

A travel angle actuator mounted on the slide table of the Y-axis slider for rotating the rotation bracket with respect to the welding travel angle;

A working angle actuator mounted on a rotation bracket of the traveling angle actuator to rotate the torch fixing bracket with respect to a welding working angle;

A welding torch mounted to the fixed bracket of the working angle actuator;

A welding wire supply device mounted on the welding robot body and configured to supply a welding wire to the welding torch;

A flux supply and recovery device for storing flux and supplying flux to the welding torch and recovering the flux behind the welding torch;

A touch sensor fixed to the welding torch and having a sensor probe contacting the welding groove to perform welding line tracking sensing;

An inclination angle sensor mounted on the welding robot body to detect a longitudinal / lateral inclination angle of the welding robot itself;

On the basis of the detection information of the inclination angle sensor and the touch sensor, the welding wire supply device and the flux supply and recovery are performed while the automatic welding line tracking control is performed by controlling the traveling device, the front wheel and rear wheel steering device, and the X and Y axis sliders. It characterized in that it comprises a control device for controlling the device and the automatic welding by controlling the welding torch.

The traveling device,

4 wheels installed in the welding robot body; A driving motor for driving the four wheels, and a driving gear unit configured to transmit power of the driving motor through the main shaft to the front wheel side and the rear wheel side; A front wheel side and a rear wheel universal joint which receives power transmitted by the main shaft from the front wheel side and the rear wheel side, respectively, and transmits the power to both wheels; It is composed of a clutch for connecting and disconnecting power of the main shaft.

The front wheel steering apparatus and the rear wheel steering apparatus for steering the two front wheel side wheels and the two rear wheel side wheels, respectively, have a steering motor; A steering gear unit for transmitting power of a steering motor; First and second tilting links fixed to the wheel shafts of the wheels on both sides and tilted around the pivot shaft to steer the wheels; A steering link connecting the other end of the first tilting link having one end connected to the steering gear part and one end of the second tilting link to transfer the tilting power of the steering gear to the other wheel, and the second tilting. It is characterized by including a balance unit which is installed at the other end of the link to maintain the balance.

The steering gear part comprises a rack gear that is linearly moved by a reduction gear for reducing the rotational force of the steering motor and a pinion gear and a pinion gear rotated through the reducer, and a moving end is coupled to one end of the tilting link by a rotation pin. Lose. The driving gear part of the main shaft is characterized by using a worm gear.

The X- and Y-axis slide apparatuses are provided with a Y-axis slide apparatus on the upper surface of the slide table of the X-axis slide apparatus, and the X and Y-axis slide apparatuses have the same configuration. Two slide bars installed in two lines; A screw bar installed between the two slide bars; A slide table mounted to the screw bar and slid by rotation of the screw bar and slidably supported at the plurality of positions on the two slide bars, a slide motor installed outside the bracket to generate slide power, and the slide motor It is characterized in that the slide gear portion for rotating the screw bar by reducing the rotational force of the, and the potential position for the slide position detection fixed to the bracket to detect the slide position of the slide table.

The present invention can be configured as a self-driving device by installing the traveling device for the four-wheel drive, the front wheel and the rear wheel steering device to the existing welding robot, and unlike the conventional traveling device in the present invention and the front wheel steering device The rear wheel steering device is independently configured to independently control the front wheel steering and the rear wheel steering so that the railless self-driving can be performed without a welding rail.

In addition, the present invention may include a traveling device for four-wheel drive, a front wheel / rear wheel steering device, an X, Y-axis slide device, a touch sensor and an inclination angle sensor, in which case automatic welding seam tracking is possible. Compared with the conventional welding robot, it is possible to steer the front wheel and the rear wheel separately, and the welding torch can be moved along the direction of welding by using the X and Y axis slide device. The torch itself is moved to facilitate weld line tracking for inclined weld lines.

In addition, the present invention further comprises a traveling angle actuator and a working angle actuator, and automatically extracts the curved shape information by the information detected by the inclination angle sensor and the touch sensor, and is automatically extracted from the previously stored welding condition database. It is characterized by including a program module in the control device to control the automatic welding by extracting the welding conditions corresponding to the curved shape information. As a result, when the workpiece is curved, automatic welding seam tracking and automatic welding can be performed on the curved surface.

As described above, the present invention can freely move a position without a rail through a traveling device having a front wheel and a rear wheel steering device, and track a work line of a welding torch based on information measured using a touch sensor and an inclination angle sensor. It is possible to steer by controlling the front wheel and the rear wheel relatively automatically, and it is possible to maintain the welding torch horizontally with the welding base material by using the slide device and the actuator, and extract the shape information to automatically change the welding condition There is an effect that automatic welding is possible even in welding.

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

Figure 2 is a side view showing a part of the configuration of the welding robot according to the present invention, Figure 3 is a plan view showing the configuration of the traveling device and the steering device of the welding robot according to the present invention, Figure 4 is a slide of the welding robot according to the present invention Figure 5 is a plan view showing the device and the moving angle and working angle actuator, Figure 5 is a plan view and a side view showing the configuration of the slide device according to the invention, Figure 6 is a side view showing the overall configuration of a welding robot according to the present invention, Figure 7 Is a front view showing the overall configuration of a welding robot according to the present invention.

As shown in the figure,

A traveling device 110 for driving four wheels installed in the welding robot body 101;

A front wheel steering device 120 'and a rear wheel steering device 120 for steering the front and rear wheels of the traveling device 110, respectively;

An X and Y axis slide device (130, 140) installed on the welding robot body (101) to slide the slide table in the X and Y axis directions;

A travel angle actuator 150 mounted on the slide table of the Y-axis slide device 140 to rotate the rotation bracket 152 with respect to the welding travel angle;

A working angle actuator 160 mounted on the rotation bracket 152 of the traveling angle actuator 150 to rotate the torch fixing bracket 162 with respect to the welding working angle;

A welding torch 190 mounted to the torch fixing bracket 162 of the working angle actuator 160;

A welding wire supply device 180 mounted on the welding robot body 101 and configured to supply a welding wire to the welding torch 190;

A flux supply and recovery device 210 for storing flux and supplying flux to the welding torch 190 and recovering the flux behind the welding torch 190;

A touch sensor 170 which is fixedly mounted to the sensor bracket 163 of the working angle actuator 160 together with the welding torch 190, and the sensor probe contacts the welding groove to perform welding line tracking sensing;

An inclination angle sensor 200 mounted on the welding robot body 101 to detect a longitudinal / lateral inclination angle of the welding robot itself;

Based on the detection information of the inclination angle sensor 200 and the touch sensor 170, the traveling device 110, the front wheel and the rear wheel steering device (120 ', 120) and the X, Y-axis slide device (130, 140) The control device 220 for controlling the automatic welding by controlling the welding wire supply device 180 and the flux supply and recovery device 210 and the welding torch 190 while controlling the automatic welding seam tracking by controlling It is configured to include.

As shown in FIG. 3, the traveling device 110 includes four wheels 102 installed on the welding robot body 101; A driving motor 111 for driving the four wheels 102 and a driving gear 112 for transmitting the power of the driving motor 111 to the front wheel side and the rear wheel side through the main shaft 113; Front wheel and rear wheel universal joints 115 'which receive the power transmitted by the main shaft 113 through the front wheel and rear wheel bevel gears 114' and 114 and transmit them to the wheels 102 of both sides ( 115); It consists of a clutch 116 to connect and block the power of the main shaft 113. The traveling gear part 112 of the main shaft 113 uses a worm gear. A weight balancer 104 and a lug 105 are installed at the upper end of the main post 103 so that the entire welding robot can be lifted and moved by a crane or the like. And, the handle 101a is provided on the front and rear of the welding robot body 101, respectively.

The front wheel steering device 120 ′ and the rear wheel steering device 120 for steering the two front wheel side wheels and the two rear wheel side wheels, respectively, have the same configuration, with reference to the reference numerals of the rear wheel steering device 120. Explain. A steering motor 121; A steering gear unit 122 for transmitting power of the steering motor 121; First and second tilting links 123a and 123b fixed to the wheel shafts of the wheels 102 on both sides and tilted about the rotation shaft to steer the wheels 102; The other end of the first tilting link 123a having one end connected to the steering gear unit 122 is connected between the one end of the second tilting link 123b and the other end of the tilting power of the steering gear 122. A steering link 124 for transmitting to the wheel, a balance unit 125 installed at the other end of the second tilting link 123b to maintain balance, and a steering position for detecting the steering position of the steering gear unit 122. And a potential meter 126 for steering position detection.

The steering gear unit 122 is linearly moved by a reduction gear for reducing the rotational force of the steering motor 121 and a pinion gear and a pinion gear rotated through the reduction gear, and a moving end of the steering gear unit 121 of the first tilting link 123a. It consists of a rack gear coupled to the rotary pin at one end.

In the self-traveling device of the welding robot of the present invention configured as described above, the traveling device 110 for four-wheel drive is installed in the welding robot body 101. As shown in FIG. 2, when the driving device 110 for driving the four wheels is driven, the driving shaft 111 rotates the main shaft 113 by deceleration and power transmission through the driving gear 112. . At this time, the driving gear unit 112 is a bevel gear is installed in the reduction gear of the motor to transmit power, the bevel gear is a structure for transmitting the power to the worm gear to rotate the main shaft 113 by the worm gear.

In this case, the clutch device 116 is installed on the main shaft 113, and the clutch lever 116a is rotated to transmit / block power to the main shaft 113. Power of the main shaft 113 is transmitted to the front wheel side and the rear wheel side to transmit power to the wheel shaft (wheel shaft) by the bevel gear 114 '(114), respectively, the bevel gear (114') 114 and the wheel Universal joints 115 'and 115 are installed between the shafts so that power transmission is smoothly performed even when the wheels are switched by steering control.

In addition, the traveling device 110 comprises two front wheels and two rear wheels, and a traveling device for driving four wheels by one driving shaft and two steering devices, each wheel 102 having rubber material. The tires are mounted and driven, making it easier to drive on free-form surfaces than conventional trolleys that move along rails. Previously, if the song was bad, it was not installed along the song due to the rigidity of the rail.

In addition, the steering apparatus is provided with one steering apparatus each installed at the front wheel and the rear wheel, and the front wheel steering apparatus 120 'and the rear wheel steering apparatus 120 are configured to enable front wheel steering and rear wheel steering.

The front wheel steering apparatus 120 'and the rear wheel steering apparatus 120 have the same structure and are demonstrated with reference to the code | symbol of the rear wheel steering apparatus 120. FIG. The rotational force of the steering motor 121 is converted into a deceleration and linear motion in the steering gear unit 122. The steering power converted into linear motion in the steering gear unit 122 tilts the first tilting link 123a about the rotation axis. Accordingly, the wheel shaft fixed to the first tilting link 123a is steered while steering the wheel. At this time, the steering link 124 is connected to the other end of the first tilting link 123a by a pivot pin, and the second tilting link 123b fixed to the other wheel shaft is connected to the other end of the steering link 124. Both wheel shafts are steered simultaneously. In addition, a balance unit 125 is installed at the other end corresponding to the end to which the steering link 124 of the second tilting link 123b is connected. The balance unit 125 is to install a spring to elastically support the second tilting link (123b) to match the balance.

As shown in FIG. 4, an upper part of the welding robot body 101 is provided with a main post 103 and a wire reel post 106, and the main post 103 is provided with an X-axis slide device through a fixing bracket. 130 is fixedly installed. A Y-axis slide device 140 is fixedly installed on the slide table of the X-axis slide device 130, and a fixing bracket 141 is installed on the slide table of the Y-axis slide device 140 to fix the bracket 141. The traveling angle actuator 150 is fixedly installed.

In the traveling angle actuator 150, the actuator body 151 is fixed to the fixing bracket 141, and a motor is installed inside the actuator body 151. The rotating bracket 152 is fixedly installed on the actuator gear portion for transmitting the rotational force of the actuator motor, the rotating bracket 152 is coupled to the two-stage bending structure.

The working angle actuator 160 is installed in the rotating bracket 152, and the working angle actuator 160 also has an actuator body 161 fixed to the rotating bracket 152 and a motor installed inside the actuator gear portion. The torch fixing bracket 162 and the sensor fixing bracket 163 are rotatably installed with respect to the working angle. A torch center is formed in the torch fixing bracket 162 to move and rotate the center of the torch by the X and Y axis slide devices 130 and 140, the moving angle actuator 150, and the working angle actuator 160. The touch sensor 170 is also fixedly installed together with the welding torch 190 and installed to be controlled in the same manner as the movement and rotation of the welding torch 190.

Meanwhile, the wire reel post 106 is provided with a wire reel 181 mounted on the wire reel shaft 182 to supply a welding wire to the welding torch 190.

As shown in FIG. 5, the X and Y axis slide devices 130 and 140 are mounted with the Y axis slide device 140 on an upper surface of the slide table of the X axis slide device 130, and the X and Y axis slides. The device has the same configuration, and includes a slide device bracket 131 and two slide bars 132 provided in two lines at predetermined intervals inside the slide device bracket 131; A screw bar 133 installed between the two slide bars 132; A slide table 134 mounted on the screw bar 133 and slid by rotation of the screw bar 133 and slidably supported at two positions on the two slide bars 132, and the slide device bracket ( A slide motor 135 installed outside the 131 to generate slide power, a slide gear unit 136 for rotating the screw bar 133 by reducing the rotational force of the slide motor 135, and the slide It is fixed to the device bracket 131 is composed of a slide position detection potential meta (137) for detecting the slide position of the slide table (134). Here, reference numeral 132a of the drawing is a linear motion guide (Leaner Motion Guide) mounted on the slide bar 132, 134a is a slide mover coupled to the screw bar 133 and slides by rotation of the screw bar, the plurality of The slide table 134 is mounted on the linear movement guide 132a and the upper surface of the slide mover 134a.

The X and Y axis slide devices 130 and 140 are devices for moving the welding torch 190 in the X and Y axis directions with respect to the traveling direction, and are driven for welding seam tracking. The driving power of the slide motor 135 is transmitted to the screw bar 133 through the slide gear unit 136. The slide gear unit 136 may prevent the screw bar 133 from being rotated by an external weight when the motor is stopped using a worm gear. When the screw bar 133 is rotated, the slide mover 134a is linearly moved according to the rotation amount of the screw bar 133. Accordingly, the slide table 134 attached and fixed to the upper surface of the slide mover 134a is linearly moved to slide. At this time, the slide table 134 is fixed to each of the linear movement guide 132a installed on the slide bar 132, so that a stable slide is achieved.

Since the Y-axis slide device 140 is mounted and controlled on the slide table of the X-axis slide device 130, the X- and Y-axis slide devices 130 and 140 move the welding torch 190 in the X-axis direction of travel. It is possible to move in the Y-axis direction.

An actuator fixing bracket 141 is installed on the slide table of the Y-axis slide device 140, and a traveling angle actuator 150 is fixedly installed on the actuator fixing bracket 141.

The traveling angle actuator 150 transmits the rotational force of the motor to the rotation bracket 152 through the reduction gear. The rotating bracket 152 is equipped with a working angle actuator 160. That is, when the traveling angle actuator 150 is driven and the rotation bracket 152 is rotated to adjust the welding progress angle, the working angle actuator 160 and the welding torch 190 and the touch sensor 170 connected thereto rotate together. Will be. The working angle actuator 160 rotates the welding torch fixing bracket 162 in the direction of the working angle through the reduction gear, and accordingly, the welding torch 190 rotates in the working angle direction, and the sensor fixing bracket The touch sensor 170 installed in the 163 is also rotated at the same working angle.

As shown in Figure 6 and 7, the welding robot body 101, the flux supply and recovery device 210 is fixed to the upper end of the main post 103 is installed, the welding robot body 101 The upper side of the control device 220 consisting of a robot control panel 221 and the welding machine control panel 222 is mounted. The flux supply and recovery device 210 includes a flux supply device 211 for supplying flux to the welding torch 190, and a welding torch 190 installed at an upper portion of the plus supply device 211 through a recovery pipe. Flux recovery device 212 for recovering the flux from the rear of the) is installed. In addition, the inclination angle sensor 200 for detecting the longitudinal inclination angle is installed on the welding robot body 101 to measure the longitudinal inclination angle of the welding robot itself.

The control device 220 controls the automatic weld seam tracking. If the weld is a curve rather than a straight line, the automatic weld tracking control can automatically track the weld to perform normal welding.

8A to 8C are explanatory diagrams of welding seam detection of a touch sensor for explaining the present invention. As shown therein, the touch sensor 170 is controlled so that the sensor probe contacts the welding groove, and a two-axis touch sensor is used.

As shown in FIG. 8A, when the welding line 1 changes to a curved or inclined angle, the probe 171 of the touch sensor 170 is in contact with both wall surfaces or bottom surfaces of the welding groove 2. That is, in order to maintain a constant torch height at all times, the welding torch 190 and the touch sensor 170 may be moved using the X and Y-axis slide devices 130 and 140 until the touch sensor 170 contacts the bottom surface. It descends and coincides with the weld line 1.

As shown in FIG. 8B, the X-axis slide device 130 is moved to the opposite direction of the contact surface by the amount of the probe 171 being contacted and folded to recover the origin, and the displacement of the X-axis slide device 130 is constant. If abnormal, the front wheel steering device 120 'is rotated in the moving direction of the X-axis slide device 130 to recover the origin.

In addition, when steering the front wheel, the rear wheel steering is steered in the opposite direction of the front wheel to maintain a constant horizontal posture at all times with respect to the induction of rapid home recovery and the curve. It is very important to maintain the horizontal posture when the welding torch 190 is not perpendicular to the welding base material. If the welding torch 190 is not horizontal, the touch sensor 170 is in the center but the direction of the welding arc is off the improvement surface to obtain the required penetration depth. Becomes difficult. Therefore, the front wheel and rear wheel steering are controlled together so that the torch always maintains a constant horizontal position with respect to the weld line.

In addition, the present invention allows the control device 220 to automatically extract the music shape information to adjust the position and the tilt angle of the steering and torch correspondingly. The curved shape information includes an inclination angle sensor 200 in which a longitudinal inclination sensor and a transverse inclination sensor are installed, and a touch sensor 170 to obtain information about the current curved shape. By using this information, the control apparatus 220 analyzes the welding conditions for the curved shape to perform automatic welding condition change control. In addition, in order to compensate for the difference between the curved shape at the point where the tilt angle sensor 200 is located and the curved shape at the actual welding part, the contact direction and the displacement amount of the touch sensor 170 are calculated, and the tilt direction indicated by the tilt angle sensor 200 is calculated. And the contact direction in contact with the touch sensor 170 is evaluated by comparison.

As shown in FIG. 8C, when the displacement amount of the touch sensor 170 is zero when the longitudinal tilt angle and the transverse tilt angle are driven, the displacement amount is “-” at the predetermined tilt angle measured by the tilt angle sensor 200. When it occurs, it is recognized that the inclination in the opposite direction has occurred at the position of the inclination angle sensor 200 to compensate for a predetermined angle by the amount of displacement generated. On the contrary, when the "+" displacement amount is generated by the touch sensor 170, the angle is compensated for the predetermined angle by the amount of displacement generated by recognizing that the inclination is more rapid in the same inclination direction than the position of the inclination angle sensor 200.

The control device 220 automatically controls the welding condition based on the direction and the inclination angle detected by the inclination angle sensor 200 and the touch sensor 170. Receives the values measured by the inclination angle sensor 200 and the touch sensor 170 from the control device 220 to determine the current surface state, and automatically generates a welding condition database according to the surface state previously input according to the determined surface Search and output the relevant welding condition.

The welding condition includes welding speed, welding current, welding voltage, welding angle of welding torch and working angle of welding torch. As the longitudinal inclination increases in the "+" direction, the welding speed, welding current and welding voltage decrease gradually. Is generated and the traveling angle of the welding torch is gradually increased. If the transverse inclination increases in the "+" direction, the working angle of the welding torch forms a progressive "-" working angle.

Unlike general CO2 welding, SAW (Surbmerged Arc Welding) performed by the SAW welding robot of the present invention is a welding technique for high heat input, and an arc stabilizer, a deoxidizing agent, and a flux including components for improving mechanical properties in advance are welded to the welding part. Weld after input.

During welding, the flux is melted together with the welding wire to form a deposited metal and slag, and the remaining flux is reused by the flux recovery device. Since the amount of molten metal increases due to the high heat input welding, the molten metal may flow down when the inclination angle is welded. In order to prevent this, in the present invention, in the case of the longitudinal inclination angle, the traveling angle of the torch may be measured using a traveling angle actuator. Convert to 8c forward / backward angle. Adjust the wire protrusion length because the wire protrusion length becomes longer when converted to the forward angle. Similarly, in the case of the transverse inclination, the working angle of the rotation axis is adjusted to +/- working angle as shown in FIG. 8C.

Therefore, the welding robot according to the present invention drives the traveling device, the steering device, the slide device, the traveling angle and the directional angle actuator to track the weld line, extract the curved shape information, and control the driving conditions based on the curved shape information. In addition, welding condition conversion can be controlled to automatically generate SAW for all curved surfaces.

1 is a conceptual explanatory diagram of a curved sheet metal sheet system process according to the prior art

Figure 2 is a side view showing a part of the configuration of a welding robot according to the present invention.

3 is a plan view showing the configuration of a traveling device and a steering device for a welding robot according to the present invention;

Figure 4 is a plan view showing a slide device and a traveling angle and working angle actuator of the welding robot according to the present invention.

Figure 5 is a plan view and a side view showing the configuration of a slide device according to the present invention.

Figure 6 is a side view showing the overall configuration of a welding robot according to the present invention.

7 is a front view showing the overall configuration of a welding robot according to the present invention.

8A to 8C are weld line detection explanatory diagrams of a touch sensor for explaining the present invention.

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

101: welding robot body 102: wheel (wheel)

103: Main Post 104: Weight Balancer

105: lug 106: wire reel post

110: driving device 111: driving motor

112: traveling gear portion 113: the main shaft

114 ', 114: Bevel gear 115', 115: Universal joint

116: clutch 116a: clutch lever

120: steering device 121: steering motor

122: steering gear part 123a, 123b: first and second tilting links

124: steering link 125: balance unit

125: steering potential meta 130, 140: X, Y-axis slide device

131: slide device bracket 132: slide bar

132a: linear movement guide 133: screw bar

134: slide table 134a: slide mover

135: slide motor 136: slide gear portion

137: slide potential meta 141: actuator fixing bracket

150: travel angle actuator 151: travel angle actuator body

152: rotating bracket 160: working angle actuator

161: working angle actuator body 162: welding torch fixing bracket

163: touch sensor fixing bracket 170: touch sensor

171: sensor probe 180: welding wire supply device

181: wire reel 182: wire reel shaft

190: welding torch 200: inclination angle sensor

210: flux supply and recovery device 211: flux supply device

212 flux recovery device 220 control device

221: robot control panel 222: welding machine control panel

Claims (11)

delete delete delete delete In the welding robot for SAW for supplying welding wire and flux to a welding torch, A traveling device 110 for driving the front wheel and the rear wheel installed in the welding robot body 101; A front wheel steering device 102 'and a rear wheel steering device 120 for steering the front wheels and the rear wheels of the traveling device 110, respectively; An X-axis slide device (130) mounted on the welding robot body (101) for sliding the slide table of the X-axis slide device in the X-axis direction; A Y-axis slide device (140) mounted on the slide table of the X-axis slide device (130) for sliding the slide table of the Y-axis slide device in the Y-axis direction; A welding torch 190 mounted on the slide table of the Y-axis slide device 140 and slidably moved in the X and Y-axis directions with respect to the welding progress direction; A touch sensor 170 mounted on the Y-axis slide table together with the welding torch to detect welding line following displacement while the welding torch 190 moves in contact with a welding work line to be welded; An inclination angle sensor 200 installed in the welding robot body 101 to detect a longitudinal / lateral inclination angle of the welding robot itself; Based on the detection information of the inclination angle sensor 200 and the touch sensor 170, the traveling device 110, the front and rear wheel steering devices 120 ', 120, and the X and Y axis slide devices 130 and 140 are While controlling the automatic welding seam tracking control, extracting the shape information of the work object based on the information of the inclination angle sensor 200 and the touch sensor 170 and the welding conditions of the welding torch 190 based on the shape information Fully automatic welding robot for submerged arc welding, characterized in that it comprises a control device 220 to control the change. In the welding robot for SAW for supplying welding wire and flux to a welding torch, A traveling device 110 for driving the front wheel and the rear wheel installed in the welding robot body 101; A front wheel steering device 102 'and a rear wheel steering device 120 for steering the front wheels and the rear wheels of the traveling device 110, respectively; X, Y-axis slide device 130, 140 is installed on the welding robot body 101 to slide the welding torch 190 in the X, Y-axis direction; A travel angle actuator 150 mounted on the slide table of the Y-axis slide device 140 to rotate the rotation bracket 152 with respect to the welding travel angle; A working angle actuator 160 mounted on the rotation bracket 152 of the traveling angle actuator 150 to rotate the torch fixing bracket 162 with respect to the welding working angle; A welding torch 190 mounted to the torch fixing bracket 162 of the working angle actuator 160; A welding wire supply device 180 mounted on the welding robot body 101 and configured to supply a welding wire to the welding torch 190; A flux supply and recovery device 210 for storing flux and supplying flux to the welding torch 190 and recovering the flux behind the welding torch 190; A touch sensor 170 which is fixedly mounted to the sensor bracket 163 of the working angle actuator 160 together with the welding torch 190, and the sensor probe contacts the welding groove to perform welding line tracking sensing; An inclination angle sensor 200 installed in the welding robot body 101 to detect a longitudinal / lateral inclination angle of the welding robot itself; Based on the detection information of the inclination angle sensor 200 and the touch sensor 170, the traveling device 110, the front and rear wheel steering devices 120 ', 120, and the X and Y axis slide devices 130 and 140 are While controlling the automatic welding seam tracking control, extracting the shape information of the work object based on the information of the inclination angle sensor 200 and the touch sensor 170 and the welding conditions of the welding torch 190 based on the shape information Fully automatic welding robot for submerged arc welding, characterized in that it comprises a control device 220 to control the change. The method of claim 6, wherein the traveling device 110, Four wheels 102 installed on the welding robot body 101; One driving motor (111) for driving the four wheels (102); A driving gear unit 112 for transmitting the power of the driving motor 111 to the front wheel side and the rear wheel side through the main shaft 113; Universal joints 115 ′ and 115 which transmit power transmitted by the main shaft 113 through the bevel gears 114 ′ and 114 from the front wheel side and the rear wheel side, respectively, and transmit the power transmitted to the wheel shaft of the wheel 10. ; Fully automatic welding robot for submerged arc welding, characterized in that it comprises a clutch (116) for connecting and blocking the power of the main shaft (113). The method of claim 6, wherein the front wheel steering device 120 'and the rear wheel steering device 120, The front wheel steering device 120 'for steering the two wheels on the front wheel and the rear wheel steering device 120 for steering the two wheels on the rear wheels are independently installed in the same configuration, A steering motor 121; A steering gear unit 122 for transmitting power of the steering motor 121 in a linear motion; First and second tilting links 123a and 123b fixed to the wheel shafts of the wheels 102 on both sides and tilted about the rotation shaft to steer the wheels 102; The other end of the first tilting link 123a having one end connected to the steering gear unit 122 is connected between the one end of the second tilting link 123b and the other end of the tilting power of the steering gear 122. A steering link 124 for transmitting to a wheel; A balance unit (125) installed at the other end of the second tilting link (123b) to maintain balance; And a steering position detection potential meter (126) for detecting a steering position of the steering gear unit (122). According to claim 6, The X, Y axis slide device (130, 140), The Y-axis slide device 140 is mounted on the slide table upper surface of the X-axis slide device 130, and the X, Y-axis slide device has the same configuration, A slide device bracket 131; Two slide bars (132) installed in two lines at predetermined intervals inside the slide device bracket (131); A screw bar 133 installed between the two slide bars 132; A slide table (134) mounted to the screw bar (133) and slid by rotation of the screw bar (133) and slidably supported at two positions on the two slide bars (132); A slide motor 135 installed outside the slide device bracket 131 to generate slide power; A slide gear unit 136 for rotating the screw bar 133 by reducing the rotational force of the slide motor 135; And a slide position detection potential meta (137) fixed to the slide device bracket (131) to detect the slide position of the slide table (134). The method of claim 6, wherein the moving angle actuator 150 and the working angle actuator 160, The traveling angle actuator body 151 of the traveling angle actuator 150 is fixedly installed on the actuator fixing bracket 141 fixed to the slide table of the Y-axis slide device 140, and the traveling angle actuator body 151 is inside the traveling angle actuator body 151. The rotating bracket 152 is fixed to the actuator gear portion which is installed in the motor and transmits the rotational force of the motor, The rotation bracket 152 is fixed to the working angle actuator body 161 of the working angle actuator 160, the motor is installed inside the working angle actuator body 161 to transmit the rotational force of the motor A torch fixing bracket (162) and a sensor fixing bracket (163) are rotatably installed with respect to a working angle in the part, The automatic welding robot for submerged arc welding characterized by the above-mentioned. delete

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