KR100958121B1 - Lug welding robot system composed of over hanging installed with movable cart - Google Patents

Abstract

The present invention relates to a lug welding device, and relates to a lug welding device including a free moving cart and a robot fixed upside down, comprising: a lower bogie on which a traveling device and a steering device are installed; An upper bogie for mounting a cap-shaped frame on an upper portion of the lower bogie to suspend a welding robot in a lower portion of the center bogie; A multi-joint welding robot fixedly installed in a form suspended from the upper bogie; A trolley control panel and a robot control panel; A shock absorber coupled between the upper and lower bogies by a hinge and elastically supporting the upper and lower bogies by a plurality of springs; It characterized in that it comprises a plurality of stopper cylinders for fixing the upper bogie to the lower bogie in operation.

Bogie, welding robot, lug, robot upside down, steering in place, laser

Description

Lug welding robot system composed of over hanging installed with movable cart}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a welding device exclusively for lugs, and in particular, a robot-carrying free-moving bogie for welding freely on the abacus of a limited area hull side shell block and passing between the lugs, and the bogie upside down. It relates to a lug welding device composed of a fixed robot.

In general, in the field of manufacturing large steel structures such as shipbuilding in shipyards, the steel structures are processed in units of blocks to improve work efficiency, and welding of other accessories to the steel blocks is frequently performed. .

Such welding work is being implemented as a robot system to increase work productivity, but there are still many processes that rely on manual work in spite of unremitting efforts especially in shipyards having various working conditions.

Remaining of such a manual process is an obstacle in improving productivity, and when a specific accessory is manually welded to the lower part of a steel block, welding is performed in an overhead position, so the work efficiency is very high. It is a huge limitation from the standpoint of low productivity.

As a result, the work efficiency is low by manual labor, and in particular, the welding of the lower side is impossible, and all the welding processes are performed in an overhead position, which doubles the fatigue of work, which leads to a decrease in productivity and a high risk in terms of work characteristics. There was a problem.

On the other hand, the conventional automatic welding apparatus mounts a welding robot on a movable trolley | bogie, but a welding robot is provided in the upper surface or the front and back surface of a trolley | bogie. However, the conventional trolley has a problem in that it is not easy to adjust the direction because there is no means for rotating the direction in place, that is, the steering means is in place, and the robot has a working radius of the robot because it is installed on the top, back, or side.

The present invention provides a welding trolley provided with an electric trolley to easily move to a desired position by mounting a welding robot, and provides a lug-only welding apparatus in which a welding robot suspended upside down on the welding trolley is suspended upside down.

The present invention provides a lug welding bogie and the like so that it is possible to go to any position desired by the bogie, to equip the bogie with a welder, a controller, and the like, and to enable the whole lug welding (including rib bracket) work by setting the bogie once. It is for providing a welding device.

The present invention is to provide a welding device that is configured to enable the welding operation in the upper and lower parts and the lateral direction by installing the articulated welding robot in the form of hanging upside down on the truck.

It is divided into two frames, and two wheel shafts are installed in each frame. One driving wheel and one driven wheel are installed in diagonal directions in two frames, and each wheel shaft is steered for each wheel shaft. A lower bogie on which a steering device is installed to enable this;

An upper bogie for mounting a cap-shaped frame on an upper portion of the lower bogie to suspend a welding robot in a lower portion of the center bogie;

A multi-joint welding robot fixedly installed in a form suspended from the center of the upper bogie upside down;

A trolley control panel installed on one side of the upper trolley and the other of the upper trolley to control driving and steering of the lower trolley, and a robot control panel to control the welding robot;

A shock absorber coupled between the upper and lower bogies by a hinge and elastically supporting the upper and lower bogies by a plurality of springs;

Installed on the upper bogie is configured to include a plurality of stopper cylinders for fixing the upper bogie to the lower bogie during operation.

The lower bogie,

Two separate frames forming the skeleton of the lower bogie, and two wheel shafts are provided on each of the frames, and drive wheels driven by driving motors and driven wheels installed without driving motors on wheel shafts arranged in diagonal directions with each other. Wow; A steering device composed of a chain and a steering gear part configured to steer each wheel shaft by rotating the steering motor by transmitting a steering motor fixed to the frame and a steering motor; A steering exact position sensor for detecting a steering exact position of each wheel axis; It is installed on the corner of each wheel shaft is configured to include a air detection sensor for detecting air for the fall prevention.

The lug welding trolley according to the present invention is composed of an articulated robot, which is fixed to the bogie's ceiling with a long leg moving by an electric wheel, freely moving the plane, and has the effect of automatically welding the lug mounted horizontally. .

In addition, the present invention is capable of steering all four wheels, the welding can be performed by stopping at a specific position of the lug, in particular in the stop state transverse (90 degrees) / driving (0 degrees) / rotation (45 degrees) Selective rotation with the combination of forward and backward, transverse, oblique, turning movement is effective to drive the bogie.

In addition, by setting the robot working reference point using a different laser pointer according to the size of the work target, it is possible to accurately recognize the position of the truck and to control the movement and welding between the lug and the lug.

In addition, by installing a buffer device consisting of a hinge and a spring between the upper and lower parts of the bogie, by moving the welding robot including the bogie to the crane to absorb the shock when seated in the desired position to prevent failure , It is effective to make stable welding work by fixing at work using cylinder.

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

1 is a block diagram of a lug welding device equipped with a welding robot suspended upside down in the self-driving truck according to the present invention, Figure 2 is a top and bottom bogie configuration of the lug welding device viewed from one side according to Figure 1, Figure 3 4 is a plan view of the lug welding apparatus bogie according to the present invention, and FIG. 4 is a configuration diagram of one side of the lug welding apparatus according to the present invention. 5 is a schematic view of the bogie position detection using the laser projector of the lug welding apparatus according to the present invention.

As shown in the figure, the lug welding device provided with a welding robot suspended upside down in the self-driving truck according to the present invention,

It is divided into two lower bogie frames (110; 110a, 110b), and two wheel axles are provided for each lower bogie frame (110a, 110b) so that one driving wheel (120a) and one driven wheel (for each wheel axle) A lower bogie 100 on which a traveling device 120 having a 120b) is installed, and a steering device 130 which is installed for each wheel shaft and rotates the angle of the wheel shaft to enable steering for each wheel;

The upper bogie frames 200a and 200b are provided to correspond to the lower bogie frames 110a and 110b, and are integrally formed on the upper bogie frames 200a and 200b to support the welding robot support frame 200c in the form of a cap. An upper bogie 200 for hanging and installing a welding robot at a center lower portion thereof;

A multi-joint welding robot (300) fixedly installed in a form suspended from the center of the welding robot support frame (200a) of the upper bogie (200) upside down;

The robot control panel 400 and the robot control panel for controlling the welding robot 300 and the bogie control panel 400 is installed on the upper bogie frame (200a, 200b) of the upper bogie 200 to control the traveling and steering of the lower bogie 100 500;

The upper bogie frames 200a and 200b are coupled to the lower bogie frames 110a and 110b by hinges 210 and between the upper bogie frames 200a and 200b and the lower bogie frames 110a and 110b. A plurality of springs 230 coupled to each other and a shock absorber for elastically supporting the upper / lower bogie;

Installed on the upper bogie 200 is configured to include a plurality of stopper cylinders 230 for fixing the upper bogie 200 to the lower bogie 100 during operation.

The lower bogie 100,

A lower bogie frame (110; 110a, 110b) divided into two, forming a skeleton of the lower bogie (100); Two wheel shafts are installed on each of the lower bogie frames 110a and 110b, respectively, and drive wheels 120b driven by the drive motor 121 and wheels disposed in diagonal directions with each other and driven wheels installed without the drive motor ( 120b); Steering device 130 consisting of a chain and a steering gear unit 132 for steering by rotating each wheel shaft by transmitting the rotational power of the steering motor 131 and the steering motor 131 fixed to the lower bogie frame (110a, 110b). )Wow; A steering exact position sensor 140 for detecting a steering exact position of each wheel shaft; An air detection sensor 150 installed at an edge of each wheel shaft to detect air for preventing a fall; And a plurality of laser pointers 160 for bogie position alignment for generating and irradiating a laser beam so as to align the bogie at a work reference position between the lug and the lug when the bogie is positioned on the lug.

The upper bogie 200 includes two upper bogie frames 200a and 200b that are installed to correspond to the upper portions of the lower bogie frames 110a and 110b, and the upper bogie frames 200a and 200b. Formed integrally to form a skeleton in the form of a cap and the welding robot 300 for supporting the installation of the welding robot 300 upside down in the upper center and the upper bogie frame (200a, 200b) the lower bogie frame (110a) Between the hinges 210 installed on the lower bogie frames 110a and 110b, and the upper bogie frames 200a and 200b and the lower bogie frames 110a and 110b, respectively, to be hinged to the bottom bogies 110b. A plurality of springs 220 coupled and elastically supported and fixed to the upper bogie frames 200a and 200b, the cylinder operating part is in close contact with the lower bogie frames 110a and 110b when the cylinder is operated, thereby lowering the upper bogie 200. Plural for fixing to the bogie 100 A stopper cylinder 230 and a ground cylinder 240 fixedly installed at one side of the lower bogie frame 110b to be in close contact with the working surface of the cylinder during operation of the cylinder to provide a grounding function of the welding robot. It is composed. Here, 201 represents a position for coupling the welding robot 300 upside down.

Welding robot bogie according to the present invention configured as described above,

Move the lug welding robot bogie to center it in the lug. In this case, the laser pointer 160 is operated based on a specific edge of the lug. In order to work on various objects, the robot's working position varies depending on the object. Therefore, the operator needs a work reference line to seat the bogie in the correct position. At this time, the operator makes the reference point of the robot by matching the specific edge of the lug with the laser pointer 160. For example, a total of three laser pointers 160 are installed according to the lug type, and two lasers are configured to draw a horizontal line at regular intervals and one laser to draw a vertical line at a specific position. Set the balance position by moving the balance so that the position indicated by) matches the lug.

The lower cart 100 is capable of self-driving by two driving wheels 120a driven by two driving motors 121 installed in diagonal directions with each other, and two driven wheels 120b without a motor. The steering device 130 installed on each wheel shaft is a configuration in which four wheels can be steered in place. The driving motor 121 is divided into a rear driving motor and a front driving motor, respectively, and the rear driving motor uses an induction motor as a motor that performs the forward and backward function of the vehicle in synchronization with the front driving motor. As such, the rear driving motor and the front driving motor are positioned at both diagonals of the truck and are driven in synchronization with each other, and are responsible for driving the truck forward and backward.

The steering motor 131 is responsible for the steering function of the wheel of the bogie, and uses a servo motor, and the bogie wheel is configured to transfer power to the belt and the steering gear unit 132 to control steering. Each rotation pulse signal of the steering motor 131 is detected to control the steering motors 131 to control the steering motors 131 so that the balance controller 400 is input to match the steering set value.

The steering position sensor 140 is installed on the wheel shaft support frame of the trolley so as to detect the exact position of each wheel shaft. When the steering position is detected and the sensor operates to detect the position, the balance controller 400 It recognizes the exact position value to control the steering angle and informs the operator that the steering position is at the origin. The steering position sensor uses a photoelectric sensor and is installed at the corner of the bogie.

Steering control is a pulse equivalent to 90 degrees / 0 degrees / 45 degrees when the encoder method using an analog pulse is used to change the wheel of the transverse (90 degrees) / driving (0 degrees) / rotation (45 degrees) bogie in place. The number is calculated and compared and controlled in real time. In this case, even if the same pulse is input to the four wheels, the four wheels do not fit correctly and require a program correction for further calibration. This process uses the photoelectric sensor, which is the steering position sensor, to ignore the pulse input during mode conversion and operate the steering motor until the photoelectric sensor is operated.Otherwise, the joystick receives the pulse input for steering change after mode conversion. The steering motor is operated until the difference from the analog input value becomes zero.

In addition, the shock absorber is to connect the upper bogie and the lower bogie to buffer, so that the impact is less transmitted to the top when placed on the block by the crane when moving between the lug for welding work. Each stopper cylinder 230 is installed on the upper trolley 200 to fix the upper trolley to the lower trolley so as to prevent shaking when the robot performs a welding operation. In addition, only one ground cylinder 240 is installed, and serves as a grounding device for welding, and serves as a grounding at a negative potential for welding.

In addition, the air shaft sensor 150 is installed on each wheel shaft, and when the trolley travels, the air sensor 150 detects whether the empty plate is out of the main plate, and the trolley controller 400 leaves the air sensor 150 off the main plate. In the case of detecting, the forward operation is stopped in the direction of the corresponding position, and only the backward operation is controlled in the direction of the corresponding position.

The present invention configured as described above is mainly performed by mode conversion and fine adjustment in order to bring the lug welding robot bogie close to the lug. First, (1) lug welding robot bogie is positioned around the lug by the overhead crane. (2) Switching to driving mode Advance the bogie and position the lug so that it is within the bogie area. (3) Once in the bogie area, switch to transverse mode so that the lug is in the center of the bogie. (4) Even when the lug is located at the center of the trolley, the trolleys are not parallel and distorted. Therefore, the lug and the trolley are positioned parallel to the rotation mode. (5) The upper part of the trolley stopper is operated to fix the upper part, and the grounding cylinder is operated to start the welding of the robot.

1 is a block diagram of a lug welding device provided with a welding robot suspended upside down in the self-driving truck according to the present invention.

2 is a top and bottom bogie configuration of the lug welding device viewed from one side according to FIG.

3 is a plan view of the lug welding apparatus bogie according to the invention.

Figure 4 is a side configuration diagram of a lug welding device according to the present invention.

Figure 5 is a schematic position alignment diagram using a laser pointer of the lug welding apparatus according to the present invention.

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

100: lower balance 200: upper balance

300: welding robot 400: balance control panel

500: welding robot control panel

110; 110a, 110b: Lower bogie frame

120: wheel shaft 120a: drive wheels

120b: driven wheel 121: driving motor

130: steering device 131: steering motor

132: chain and steering gear unit 140: steering position sensor

150: air detection sensor 160: laser pointer

210: hinge 220: spring

230: stopper cylinder 240: ground cylinder
200a, 200b: upper bogie frame 200c: welding robot support frame

Claims (4)

In the lug welding device composed of a free moving bogie and an upside down fixed welding robot, Traveling wheel 120 and each wheel axle, each of which a wheel shaft is formed on the lower bogie frames 110a and 110b, which form a skeleton of a bogie, and a driving wheel 120a and a driven wheel 120b are installed on the wheel axle, respectively. A lower bogie 100 in which a steering device 130 is installed to enable steering for each wheel for each wheel; The upper bogie frame 200a, 200b coupled to the upper portion of the lower bogie frame 110a, 110b and the upper bogie frame 200a, 200b is formed integrally in the form of a cap and welded to the bottom of the center An upper bogie 200 made of a welding robot support frame 200c for hanging the robot 300 upside down; An articulated welding robot (300) fixedly installed in a form suspended from the center of the welding robot support frame (200c) of the upper bogie (200) upside down; A robot control panel 500 installed on an upper portion of the upper bogie frames 200a and 200b to control a bogie control panel 400 and a welding robot 300 to control driving and steering of the lower bogie 100; The upper bogie frames 200a and 200b are hinged by a hinge 210 installed in the lower bogie frames 110a and 110b, and the upper bogie frames 200a and 200b and the lower bogie frame 110a. Shock absorber for elastically supporting between the upper and lower bogies by a plurality of springs 230 installed between the (110b); A plurality of stopper cylinders 230 installed at the upper bogie frames 200a and 200b to close the cylinder bogies to the lower bogie frames 110a and 110b when the cylinder is operated, thereby fixing the upper bogie to the lower bogie; It is installed on one side of the lower bogie frame (110b) and the cylinder moving part is in close contact with the working target bottom surface when the cylinder is operated freely bogie characterized in that it further comprises a grounding cylinder 240 for the grounding function of the welding robot; Lug welding device consisting of upside down welding robot. According to claim 1, wherein the lower bogie 100, A lower bogie frame (110; 110a, 110b) divided into two, forming a skeleton of the lower bogie (100); Two wheel shafts are installed on each of the lower bogie frames 110a and 110b, respectively, and are installed to be rotated without the driving wheel 120b and the driving motor which are installed to be driven by the driving motor 121 on the wheel shafts disposed in diagonal directions. Driven driven wheels 120b; Steering device 130 consisting of a chain and a steering gear unit 132 for steering by rotating the wheel shaft by transmitting the rotational power of the steering motor 131 and the steering motor 131 is fixed to the lower bogie frame 110 and ; A steering exact position sensor 140 for detecting a steering exact position of each wheel shaft; An air detection sensor 150 installed at an edge of each wheel shaft to detect air for preventing a fall; When the bogie is placed on the lug, the free movement bogie, which is configured to include a plurality of laser pointers 160 which generate and irradiate a laser beam so as to find a work reference position between the lug and the lug to align the bogie. Lug welding device consisting of a fixed welding robot. delete The method of claim 1, wherein the steering device 130, A steering motor 131 for generating rotational power, Consists of a chain and a steering gear unit 132 for rotating the wheel shaft by transmitting the rotational power of the steering motor 131 in the transverse stop (90 degrees) / driving (0 degrees) / rotation (45 degrees) mode in place when the bogie stops Lug welding device consisting of a free moving trolley and upside down fixed welding robot, characterized in that it is configured to selectively rotate the wheel shaft.

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