KR100982126B1 - Automatic Horizontal Welding Carriage and method for Ship Hulls - Google Patents

Abstract

More particularly, the present invention relates to an automatic welding apparatus and a welding method for a ship, and more particularly, to an automatic welding apparatus and a welding method for welding a horizontal block of a hull, To an intelligent welding apparatus and a welding method.

The hull transverse automatic welding carriage of the present invention includes a running part 200 moving along a running rail installed in a welding direction, a left and right moving part 203 moving in the width direction of the welding groove perpendicular to the moving axis of the running part, An up-and-down height moving part 205 which moves in the torch height direction perpendicular to the moving axis of the left and right moving part and a torch tilting part 207 which adjusts the tilting angle of the welding torch with respect to the asymmetric welding groove, The system includes a main controller 304 for controlling the welding robot and the additional equipment, a welding DB management program 305 for storing welding condition information corresponding to the member gap generated in the hull assembly process, And a touch sensing module 302 for recognizing the position.

In the present invention as described above, the touch sensing start switch is depressed to allow the carriage to recognize the point at which the start switch is pressed as the starting point, and information about the gap and the position of the welding starting point is detected through the touch sensing, And the information about the gap and position of the welding end point is detected through the touch sensing with respect to the welding member at that point and the information about the welding start point and the end point is obtained from the multi- After determining the actual welding pass and conditions, based on the position information of the starting point and the end point, a motion profile to be driven by the carriage is generated. Then, the welding DB and the motion profile for the entire horizontal welding pass are calculated and stored in the memory of the controller. After setting welding conditions in the controller, the operator presses the welding start switch Arc is generated and the first pass is welded according to the set weld DB and motion profile and the actual current and voltage are stored in the memory of the controller at regular intervals during welding and after the welding of the first pass is completed, Performing a cooling operation of the heated welding torch, evaluating the welding faults of the current path based on the current and voltage data stored in the memory, and notifying the user of the location of the fault when it is predicted to be defective, Waiting for the completion of the inspection after the defect check is requested, proceeding the welding of the next pass when there is no defect in the welding defect evaluation or when the operator completes the weld joint correction and welding of the entire path to the hull transverse direction is completed By repeating steps from step S8 to step S14 until the hull is fully unmanned It provides a hull sidewise automatic welding apparatus and a welding method characterized in that the multi-layer to be continuously welded.

Carriage, Welding, Unmanned, Automatic, Horizontal

Description

TECHNICAL FIELD [0001] The present invention relates to an automatic horizontal welding apparatus and a welding method,

More particularly, the present invention relates to an automatic welding apparatus and a welding method for a ship, and more particularly, to an automatic welding apparatus and a welding method for welding a horizontal block of a hull, To an intelligent welding apparatus and a welding method.

Recently, each shipbuilder has achieved the largest order history in the shipbuilding industry thanks to the boom of the shipbuilding industry. In order to extinguish the order quantity, the shipyards are showing great interest in expanding new production facilities and maximizing the productivity of existing docks.

Especially, because dock construction is costly and time consuming, many studies have been focused on a method to increase the turnover rate of dock without adding new production facilities. In order to maximize the productivity of these existing docks, it is most effective to improve the productivity of the hull plate welding where most work is done in the dock.

Welding of the outer shell of the hull is largely divided into lateral and lateral directions. In the case of ingot welding, the welding is directed downward in the direction of gravity. Therefore, relatively high efficiency welding automation is possible by applying the EGW technique.

However, in the case of the horizontal welding, control of the lamination of the molten pool is difficult compared with that of the ingot, so unmanned automation is not achieved in most shipyards at present. As the shipbuilding volume increases at both domestic and overseas shipyards, automation needs for horizontal welding of hulls are increasing. Although it has not been commercialized yet, various welding techniques and carriage studies have been carried out in the past, such as the lateral SAW technique and the lateral EGW technique for hull welding.

In 2001, the company applied for a patent for lateral welding automation by using lateral SAW technique and commercialized lateral welding automation (Registration No .: 0415489). However, in the hull lateral welding, the entire welding equipment including the flux spraying and collecting device, But it failed to apply to the shell plating because it could not solve the problem of attaching to the shell plating.

In addition, in Japan, we have studied a method and a carriage which can apply the EGW technique used for ingot welding to the horizontal welding (registration number: 0180028), but the commercialization has not been achieved due to the weight of the carriage and the problem of installation of copper immersion.

In recent years, a semi-automatic welding type carriage has been proposed, in which a worker manually sets the horizontal welding pass of the hull by manually running while traveling along the surface of the hull, but the gantry assembly process But it failed to commercialize it because of the inconvenience caused by its ability and manual work.

Therefore, most of the shipyards in the shipyards currently use manual semi-automatic FCAW technique, but unmanned automation is urgent due to the problems of labor cost, welding quality, and poor working environment.

In order to overcome the problems of these previous researches, it is necessary to control the welding conditions and motion unattended and to automatically recognize the shape of the hull girder outer arc welding field determined according to the gap generated in the hull assembly process, It should be generated automatically. In addition, the weight of the weld carriage must be minimized since a lot of work must be done in a tight space within the hull.

DISCLOSURE OF THE INVENTION The present invention has been made in order to solve the above problems of the prior art, and it is an object of the present invention to automatically recognize the shape of a hull outer plate horizontal welding field which can be controlled by welding conditions and welding unattended, The present invention has been made in view of the above problems, and it is an object of the present invention to provide a drive mechanism device and a welding method for automatically generating multi-layer welding conditions required for continuous multi-layer continuous welding of a hull girder.

In order to accomplish the above object, the present invention provides a hull width direction automatic welding carriage comprising: a traveling part (200) moving along a traveling rail installed in a welding direction; a traveling part (200) perpendicular to the traveling axis of the traveling part An upper and a lower height moving part 205 moving in the torch height direction perpendicular to the moving axis of the left and right moving parts and a torch tilting part 207 for adjusting the tilting angle of the welding torch with respect to the asymmetric welding groove As shown in FIG.

On the other hand, the automatic welding control system includes a main controller 304 for controlling the welding robot and the additional apparatus, a welding DB management program 305 for storing welding condition information corresponding to the member gap generated in the hull assembly process, And a touch sensing module 302 for recognizing a gap and a position of the horizontal welding field.

The main controller includes a CPU module that performs overall control functions of the automatic welding apparatus, a LAN communication unit that allows a control signal to be exchanged between a PC for welding DB management and a CPU module, and a control unit A CAN communication unit for transmitting the touch sensing start signal of the welding carriage of the remote pendant to the CPU module, and a CAN communication unit for converting the digital signal sent from the CPU module to the mag welding machine into an analog signal A DA converter for converting an analog signal coming from the A / D converter and the mag welding machine into a digital signal; a D / A converter for sending a touch sensing start signal of the welding carriage of the remote pendant to the CPU module and transmitting a signal sensed by the touch sense module; And is characterized in that it is constituted by parts.

In the automatic welding method for automatically welding the welding carriage, the welding operator installs the welding carriage 101 and the running rail 102 at the worksite 7 in the hull and starts the touch sensing of the remote pendant 301 (S1) of recognizing the position where the carriage presses the start switch as the welding start point by pressing the switch, and finding information about the gap and the position of the welding starting point through the member touch sensing using the welding wire to the welding member at the point S2), finding the information of the welding start point and automatically moving to the welding end point set by the user (S3), and finding information about the gap and the position of the welding end point through the touch sensing with respect to the welding member S4), the gap information for the welding start and end points, and the actual welding pass for the current member state from the multi-layer welding condition DB for the member gap and A step S6 of generating a motion profile to be driven by the carriage based on the position information of the start point and the end point, calculating a welding DB and a motion profile for the entire horizontal welding pass, A step S8 of welding the first pass according to the set welding DB and the motion profile, generating a welding arc when the operator presses the welding start switch S8, (S9) storing the actual current and voltage in the memory of the controller at regular intervals, (S10) turning off the welding arc generated after welding of the first pass is completed, and performing a cooling operation of the heated welding torch S11), evaluating welding faults in the current path based on the current and voltage data stored in the memory (S12), determining defects in the welding fault evaluation (Step S13). If the defect is not found in the weld defect evaluation, or if the welder completes the weld joint correction, the next pass (S14). Repeating steps from step S8 to step S14 until the welding of the entire path to the hull transverse direction is completed, it is possible to continuously weld the hull girder in a multi-layer continuous manner .

As described above, according to the present invention, since the curved block below the hull and the large block on the side of the hull are assembled, it is possible to automatically weld the hull lateral welding field generated in the lateral direction, Which can actively cope with unpredictable gaps and can automatically weld the hull welded joints with unmanned vehicles. Also, it is possible to improve the productivity by reducing the airflow, increase the turnover rate of the dock, and ensure the uniform welding quality by automatic welding This is a very useful invention.

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

Fig. 1 shows a conceptual view of a hull assembly workshop, and Fig. 2 shows an installation view of a hull lateral welded carriage.

As shown in FIG. 1, in the dock area, the large blocks made in the respective fields of the shipyard are assembled in the dock, and after the assembling operation, 2) and the large block 3 on the side of the hull are welded together while welding the long hull girder 4 welded in the lateral direction.

As shown in FIG. 2, a rail 102 having a length of about 3 m is installed in the space 7 in the inside of the hull block for the generated hull girder, and an unmanned intelligent welding carriage 101 as shown in FIG. 3 is mounted, So that the multi-layer welding pass is automatically welded with the horizontal welding field unattended.

As shown in FIG. 3, the hull welded joint has an asymmetrical shape, and multi-layer welding of 10 passes or more is required along the gap of the assembly part.

4, the hull transverse automatic welding carriage of the present invention includes a traveling part 200 that moves along a traveling rail installed in a welding direction, a left and right moving part that moves in the width direction of the welding groove perpendicularly to the traveling part 203 for moving the welding torch, a vertical moving part 205 vertically moving in the torch height direction perpendicular to the left and right moving parts, and a torch tilting part 207 for adjusting the tilting angle of the welding torch with respect to the asymmetric welding groove, A vertical movement unit 205 for controlling the height of the torch when the multi-layer welding is performed at the end of the left and right movement unit 203, and a torch for automatically adjusting the tilt angle of the torch to perform stable bead lamination with respect to the asymmetric groove. A tilting portion 207, and the like are sequentially formed.

The running unit 200 includes an automatic running rail 102 installed along the weld line on the surface of the workpiece for welding a long side-length hull welded joint, while assembling a large block on the side of a hull, A carriage traveling carriage 202 moving along the automatic running rail 102 installed in the welding direction and a carriage body 201 supporting the carriage carriage 202 and the welding torch.

The left and right moving unit 203 is configured to be slidably engaged with the carriage body 201 and to move in the width direction of the welding groove perpendicularly to the running unit.

The vertical moving part 205 is connected to the left and right moving part 203 and the vertical driving part supporting frame 204 so as to be vertically movable in the torch height direction.

The torch tilting portion 207 is connected to the tilting driving portion support frame 206 connected to the upper and lower driving portion supporting frame 204 and supports the tilting portion to adjust the tilting angle of the welding torch 211 with respect to the asymmetric welding groove .

As shown in FIG. 5, the control system includes a main controller 304 for controlling the welding robot and the additional apparatus, a welding DB management program for storing welding condition information corresponding to the member gap generated in the hull assembly process 305, and a touch sensing module 302 for recognizing the gap and the position of the hull weld.

The main controller includes a CPU module that performs overall control functions of the automatic welding apparatus, a LAN communication unit that allows a control signal to be exchanged between a PC for welding DB management and a CPU module, and a control unit A CAN communication unit for transmitting the touch sensing start signal of the welding carriage of the remote pendant to the CPU module, and a CAN communication unit for converting the digital signal sent from the CPU module to the mag welding machine into an analog signal A DA converter for converting an analog signal coming from the A / D converter and the mag welding machine into a digital signal; a D / A converter for sending a touch sensing start signal of the welding carriage of the remote pendant to the CPU module and transmitting a signal sensed by the touch sense module; .

The work procedure for unmanned automation of hull-side horizontal welding is as follows.

When the welder installs the welding carriage 101 and the running rail 102 at the work station 7 in the hull and presses the touch sensing start switch of the remote pendant 301, the carriage recognizes the position where the start switch is pressed as the welding start point (S1).

At this point, information on the gap and position of the welding start point is found through the member touch sensing using the welding wire 104 with respect to the welding member (S2).

After the information of the welding start point is found, the information is automatically moved to the welding end point set by the user (S3), and information about the gap and the position of the welding end point is detected through touch sensing of the welding member at that point (S4) .

The actual welding pass and conditions for the current member state are determined from the multi-layer welding condition DB for the gap information for the welding start point and the end point and the member gap (S5).

In addition, based on the position information of the start point and the end point, a motion profile to be driven by the carriage is generated (S6).

After the welding DB and the motion profile for the entire horizontal welding pass are calculated and stored in the memory of the controller, the welding conditions of the first pass are set in the controller (S7).

When the operator presses the welding start switch, a welding arc is generated and the first pass is welded according to the set welding DB and the motion profile (S8).

During welding, actual current and voltage are stored in the controller's memory at regular intervals (S9).

After completing the welding of the first pass, the generated welding arc is turned off (S10) and the heated welding torch is cooled (S11).

Based on the current and voltage data stored in the memory, welding defects of the current path are evaluated (S12).

If a defect is estimated as a defect in the weld defect evaluation, the position is notified to the user, and after the weld defect check is requested, the process waits until the inspection is completed (S13).

If there is no defect in the weld defect evaluation or if the operator completes the weld joint modification, welding of the next pass is performed (S14).

This upper sequence (S8 to S14) is repeated until welding of the entire path to the hull transverse direction is completed, thereby completing the entire welding.

It should be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

1 is a conceptual view showing a hull assembly workshop,

Fig. 2 is an installation view of a welding carriage of the hull-

Fig. 3 is a view showing a welding member shape of the hull-

FIG. 4 is a detailed view of a welding carriage of the hull-

5 is a configuration diagram of an automatic welding control system of a hull side automatic welding apparatus according to the present invention,

Fig. 6 is a flowchart of a hull-side lateral automatic welding sequence of the hull-

Description of the Related Art [0002]

1: Large block under the hull 2: Hull side curved block

3: Hull side large block 4: Hull side welded joint

5: Panel transverse 6: Panel LLonge

7: hull lateral welding workshop 101: automatic welding carriage

102: Automatic running rail 103: Shape of the hull welded joint

104: welding wire 200: running part (X axis)

201: carriage body 202: carriage carriage

203: left and right moving part (Z axis) 204: upper and lower driving part supporting frame

205: Vertical height moving part (Y axis) 206: Tilting drive part support frame

207: tilting portion (T-axis) 208: tilting drive body

209: tilting drive body 210: welding torch mount

211: welding torch 301: reimode pendant

302: Touch sense module 303: Welding machine

304: main controller 305: welding DB management software

S1: Welding start point search S2: Welding start point touch sensing

S3: Welding endpoint search S4: Welding endpoint touch sensing

S5: Gap compatible welder database S6: Automatically generate welding conditions

S7: Setting the present pass welding condition S8: Starting the present pass welding

S9: Measurement of actual current and voltage S10: End of current pass welding

S11: Welding torch cooling

S12: Evaluation of measured welding current and voltage

S13: User defect check request and standby S14: Full path weld completion evaluation

Claims (7)

A welding torch 211 for welding the workpiece, A wire feeder 212 for feeding a welding wire to the welding torch 211, A running part 200 moving along a running rail installed in a welding traveling direction, A left and right moving part 203 which moves in the width direction of the welding groove perpendicular to the moving axis of the traveling part, An up-and-down-height moving unit 205 moving in the torch height direction perpendicular to the moving axis of the left-right moving unit, And a torch tilting portion (207) for adjusting the tilting angle of the welding torch with respect to the asymmetric welding groove; A main controller 304 for controlling the welding robot and the additional apparatus, A PC 305 for welding DB management which contains welding condition information corresponding to the member gap generated in the hull assembly process, And a touch sensing module (302) for recognizing a gap and a position of the hull side welding field, wherein the automatic welding control system comprises: The main controller includes a CPU module that performs overall control functions of the automatic welding apparatus, a LAN communication unit that allows a control signal to be exchanged between a PC for welding DB management and a CPU module, and a control unit A CAN communication unit for transmitting the touch sensing start signal of the welding carriage of the remote pendant to the CPU module, and a CAN communication unit for converting the digital signal sent from the CPU module to the mag welding machine into an analog signal A DA converter for converting an analog signal coming from the A / D converter and the mag welding machine into a digital signal; a D / A converter for sending a touch sensing start signal of the welding carriage of the remote pendant to the CPU module and transmitting a signal sensed by the touch sense module; Wherein the hull-side automatic welding device comprises: The method according to claim 1, The running unit 200 includes an automatic running rail 102 installed along the weld line on the surface of the workpiece for welding a long side-length hull welded joint, while assembling a large block on the side of a hull, and, A carriage traveling carriage 202 moving along an automatic running rail 102 installed in a welding traveling direction, And a carriage body (201) for supporting the carriage traveling carriage (202) and the welding torch. The method according to claim 1, Wherein the left and right moving part (203) is slidably engaged with the carriage body (201) so that it can move in the width direction of the welding groove perpendicularly to the traveling part. The method according to claim 1, Wherein the vertical moving part (205) is connected to the moving shaft of the left and right moving part (203) and the vertical driving part supporting frame (204) so as to be vertically movable in the torch height direction. The method according to claim 1, The torch tilting part 207 is connected to the tilting driving part supporting frame 206 connected to the upper and lower driving part supporting frame 204 and supporting the tilting part so as to adjust the tilting angle of the welding torch 211 with respect to the asymmetric welding groove Automatic hull girder welding system. delete The welder installs the welding carriage 101 and the running rail 102 at the worksite 7 in the hull and presses the touch sensing start switch of the remote pendant 301 to recognize the position where the carriage pressed the start switch as the welding start point In steps S1, (S2) of finding information on the gap and position of the welding start point through member touch sensing using the welding wire to the welding member at the point, (S3) of automatically finding the welding start point and then automatically moving to the welding end point set by the user, (S4) of finding information about a gap and a position of the welding end point through touch sensing with respect to the welding member at that point, Determining (S5) the actual welding pass and condition for the current member state from the multi-layer welding condition DB for the gap information for the welding start point and the end point and the member gap, A step (S6) of generating a motion profile to be driven by the carriage based on the position information of the start point and the end point, A step (S7) of setting the welding conditions of the first pass to the controller after calculating the welding DB and the motion profile for the entire horizontal welding pass and storing the same in the memory of the controller, A step (S8) of generating a welding arc when the operator presses the welding start switch and welding the first pass according to the set welding DB and the motion profile, (S9) of storing the actual current and voltage in the memory of the controller at regular intervals during welding, After completing the welding of the first pass, a step (S10) of turning off the generated welding arc, Performing a cooling operation of the heated welding torch (S11), (S12) evaluating welding defects of the current path based on the current and voltage data stored in the memory, A step (S13) of notifying the user of the place where the defect is predicted as a defect in the welding defect evaluation, waiting for the completion of the inspection after requesting the welding defect check, A step (S14) of proceeding to welding the next pass when there is no defect in the weld defect evaluation or when the operator completes the welding joint modification, And continuously repeating from step S8 to step S14 until welding of the entire path to the hull transverse direction is completed.

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