KR101060003B1 - Welding seam tracking robot - Google Patents

Abstract

The present invention relates to a welding line tracking robot that can perform welding while automatically moving along a welding line using a guide roller. The welding line tracking robot moves along a welding line of a welded object and performs welding. And a plurality of guide rollers installed on the bottom of the carriage to guide the driving direction of the carriage, and including a plurality of guide rollers at least partially inserted into the welding line, a welding torch installed on the carriage, and a magnetic body provided on the bottom of the carriage. By reducing the time and effort required to install and dismantle the rails, productivity is improved, the physical labor of the operator can be reduced, and the use of the aerial platform is reduced, thus reducing the incidence of safety accidents.

Welding, robot, guide roller

Description

SEAL TRACKING ROBOT}

The present invention relates to a welding line tracking robot, and more particularly to a welding line tracking robot that can perform welding while automatically moving along the welding line using a guide roller.

Welding is indispensable for the manufacture of large structures such as ships, storage tanks, bridges and offshore oil fields. Especially in the construction of large vessels such as oil tankers, LNG carriers, cruisers, etc., welding is an important process that accounts for a majority of the overall process.

In large vessels, blocks of various shapes are manufactured independently, and then, these blocks are combined with each other to dry the hull. A combination of the blocks is almost performed by welding.

Therefore, the larger the size of the ship, the welding work is increased, in the case of a large ship requires a very large number of welding work because it can be completed by combining hundreds of blocks.

By the way, strong ultraviolet rays, fume, spatter, heat of welding, etc. are generated during the welding operation, so that the welding operation is gradually avoided. In addition, to obtain a good quality weld bead (bead) requires a skilled person, but the number of welding experts are also decreasing trend.

Therefore, various researches and developments for welding automation are in progress, and in particular, an automated welding device is applied to a ship building process. Representative examples of automated welding apparatuses include welding welding and carrying out welding in the vertical direction using a carriage that is automatically moved.

However, in order to allow the carriage to move in the vertical direction, a rail is installed in parallel with the welding line, and then a method of welding while the carriage moves along the rail is used.

1 shows a conventional automatic welding device moving along a rail as described above.

In order for the conventional automatic welding device to move in parallel along the welding line L, the rail 90 must first be installed in parallel with the welding line L. Thereafter, the carriage 10 provided with the welding torch 30 is installed to be moved along the rail 90, and the position of the welding torch 30 is adjusted so that the welding torch 30 is positioned on the welding line L. FIG. do.

After the preparatory work is completed, the welding 10 is operated by moving the carriage 10 upward along the rail 90 and welding is performed along the welding line L. FIG.

However, when the conventional automatic welding apparatus as described above is used in the drying process of a large ship, there is a disadvantage that a very large number of rails 90 must be installed. In particular, since the weight of the rail to be attached to the outside of the ship is usually more than 20kg, it is difficult for the worker to repeatedly install and transport the rail 90, and may also cause musculoskeletal disorders.

The present invention has been made to solve the above problems, an object of the present invention is to provide a welding seam tracking robot that can automatically track the welding seam and do the inclined or vertical plane welding without installing the rail.

In order to achieve the above object, according to the present invention, a welding seam tracking robot that moves along a welding line of a welded body and performs welding, which is installed on a carriage provided with a plurality of driving wheels and a bottom of the carriage to guide the driving direction of the carriage. There is provided a welding seam tracking robot comprising a plurality of guide rollers at least partially inserted into the welding seam, a welding torch installed in the carriage, and one or more magnetic bodies provided on the bottom of the carriage.

Here, the plurality of guide rollers include a front guide roller installed at the front of the carriage and a rear guide roller installed at the rear of the carriage, and the front guide roller and the rear guide roller are arranged in a line along the welding line.

In this case, each of the front guide roller and the rear guide roller may have a shape in which the diameter of the center portion is larger than the diameter of the edge, and the front guide roller and the rear guide roller may be installed to be changed in width in the rotation axis direction, respectively.

In addition, the front guide roller may be installed to rotate left and right with respect to the moving direction of the carriage.

On the other hand, the welding torch is arranged in a row on the rear side of the front guide roller and the rear guide roller, the welding line tracking robot may further include a plurality of elastic bodies holding the front guide roller and the rear guide roller against the carriage, respectively.

The welding line tracking robot may further include a torch adjusting unit installed between the carriage and the welding torch to adjust the inclination of the welding torch and the weave of the welding torch.

Here, any one of rubber, fluororubber and synthetic resin having elasticity may be used as a material of the driving wheel.

Since the present invention can automatically perform welding without installing the rail in parallel with the welding line, the time and effort required for installing and dismounting the rail can be saved, thereby improving productivity and reducing the physical labor of the operator. In addition, the use of aerial platforms is reduced, reducing the incidence of safety accidents.

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

2 to 6 show a welding line tracking robot according to an embodiment of the present invention. 2 to 6 will be described the structure of the welding seam tracking robot according to an embodiment of the present invention.

2 and 3 together, the welding line tracking robot 100 according to an embodiment of the present invention is composed of a carriage 110, a control unit 120 and a welding torch 130.

The driving wheels 111 are installed in both front and rear directions of the carriage 110, respectively. The front guide roller support part 151 is formed in the center part of the front upper surface of the carriage 110, and the rear guide roller support part 161 is formed in the center part of the rear upper surface of the carriage 110. As shown in FIG.

The control unit 120 is installed at one side of the upper surface of the carriage 110, and the torch adjustment unit 135 is installed at the rear of the control unit 120. Here, although not given an identification number, the outside of the control unit 120, the instrument panel to display the welding state, etc. and switches for adjusting the welding state are installed. Although not shown, a control device for controlling the operation of the torch adjusting unit 135 and a driving device for driving the driving wheel 111 are installed inside the control unit 120.

In addition, the torch adjustment unit 135 is provided with a torch clamp 131 and a clamp handle 132, the welding torch 130 is inserted into the torch clamp 131, and the clamp handle 132 is operated to weld the torch 130. ) Is fixed to the clamp 131.

On the other hand, the rear guide roller support portion 161 is provided with a rear guide roller 160. The rear guide roller 160 is installed to protrude downward from the rear of the carriage 110, so that the rear guide roller 160 is located at the center of the pair of traveling wheels 111 installed at the rear of the carriage 110. Is installed.

The rear guide roller 160 will be described in more detail below.

Referring to FIG. 4, the front guide roller 150 is installed at the center of the front of the bottom of the carriage 110, and the rear guide roller 160 is installed at the center of the rear of the bottom of the carriage 110.

The front guide roller 150 and the rear guide roller 160 are each manufactured so that the diameter of the center portion is larger than the diameter of the edge. The shape of the front guide roller 150 and the rear guide roller 160 will be described again below.

On the other hand, the end of the welding torch (see 130 of FIG. 3) is located on an imaginary straight line connecting the front guide roller 150 and the rear guide roller 160, it is located behind the rear guide roller 160. That is, the welding torch (see 130 of FIG. 3) is arranged in a line at the rear side of the front guide roller 150 and the rear guide roller 160.

At this time, the position of the end of the welding torch (see 130 of FIG. 3) and the inclination of the welding torch (see 130 of FIG. 3) are implemented by the torch adjusting unit (see 135 of FIG. 3).

Referring to FIG. 5, an enlarged portion of the rear guide roller 160 is installed.

The rear guide roller 160 is rotatably coupled to one end of the rod 163 by a pair of brackets 165 protruding from the rod 163. The other end of the rod 163 is coupled to the rear guide roller support 161.

Referring to FIG. 6, the portion where the front guide roller 150 is installed is enlarged.

The front guide roller 150 is rotatably coupled to one end of the rod 153 by a pair of brackets 155 protruding from the rod 153. The other end of the rod 153 is coupled to the front guide roller support (see 151 in FIG. 2).

7 is a view showing the operation of the welding seam tracking robot according to an embodiment of the present invention having a structure as described above.

Between the base materials 1 and 2, the welding wire W to be welded is formed. Since the butt welding of a thick steel plate is mainly performed in the drying process of a large ship, the cross section of the welding line W is normally formed in I type or V shape.

In this case, as described above, since the front guide roller (see 150 of FIG. 4) and the rear guide roller 160 are each manufactured so that the diameter of the central portion is larger than the diameter of the edge, the central portion having the largest diameter has a protruding shape. . That is, a cross section in a direction parallel to the rotation axis of each of the front guide roller (see 150 of FIG. 4) and the rear guide roller 160 may be manufactured in various shapes in which a central portion such as a semicircle, an ellipse, and a rhombus protrude.

Accordingly, at least a portion of each of the front guide roller (see 150 in FIG. 4) and the rear guide roller 160, that is, the portion of the largest diameter protruding central portion described above, is inserted into the welding line W, and the driving wheel ( 111 is driven to move the weld line tracking robot 100 to move the front guide roller (see 150 of FIG. 4) and the rear guide roller 160 along the weld line (W).

On the other hand, as described with reference to Figure 4, the end of the welding torch (see 130 in Figure 3) is located on an imaginary straight line connecting the front guide roller (see 150 in Figure 4) and the rear guide roller 160 , This imaginary straight line coincides with the welding line (W). Thus, the end of the welding torch 130 is located on the welding line (W).

Therefore, the welding line tracking robot 100 is moved along the welding line W by the front guide roller (see 150 in FIG. 4) and the rear guide roller 160, and the welding torch 130 moves the welding line W. As the welding line tracking robot 100 moves, the welding line W is continuously welded by the welding torch 130.

However, since there are many vertical welding processes in a large ship construction process, the welding line tracking robot 100 should be able to move the vertical wall without a rail (not shown). This will be described with reference to FIG. 8.

8 is a simplified longitudinal cross-sectional view for explaining the operation of the welding seam tracking robot according to an embodiment of the present invention.

The magnetic body 170 is embedded in the bottom portion of the carriage 110. Even when the base material 2 forms a vertical surface by using a magnetic force acting between the magnetic material 170 and the base material 1, the carriage 110 is not separated from the base material 2.

At this time, in consideration of the balance of the carriage 110, in order to apply a proper vertical force to the driving wheel (see 111 of Figure 7), it is also possible to install a plurality of magnetic body 170 on the bottom of the carriage (110). As the magnetic material 170, a permanent magnet or an electromagnet may be used.

On the other hand, in the case of vertical welding, since the welding operation proceeds from the bottom to the upper direction, the carriage 110 is upward along the welding line in the vertical direction (see W in FIG. 7) when the base material 2 forms a vertical surface. We move forward and weld.

At this time, the welding seam tracking robot (see 100 of FIG. 7) must move forward while overcoming its own weight, and sufficient driving force must be transmitted to the driving wheel 111. However, even when sufficient driving force is transmitted to the driving wheel 111, when the frictional force between the surface of the driving wheel 111 and the base material 2 is small, the driving wheel 111 may not swing or move stably.

Therefore, in order to secure sufficient friction between the driving wheel 111 and the base material 2, the driving wheel 111 may be made of rubber or synthetic resin having elasticity, and the friction force on the surface of the driving wheel 111. It is also possible to form irregularities (not shown) that can improve the quality.

However, since the site where the welding work is performed by the welding line tracking robot (see 100 in FIG. 7) is likely to be outdoors, the traveling wheel 111 may be exposed to oil, moisture, sunlight, or the like for a long time. Therefore, fluorocarbons having excellent sun resistance, weather resistance, oxygen resistance, oil resistance, and the like may also be used as the material of the driving wheel 111.

On the other hand, at the site where the welding operation is performed using a welding line tracking robot (see 100 of FIG. 7), the driving wheel 111 may cross or collide with an object such as a welding wire, a piece of steel, or a tool.

In this case, when the driving wheel 111 is separated from the base material 2 by the above-described situation, the front guide roller 150 and the rear guide roller 160 may be separated from the welding line (see FIG. 7W). . In addition, the base material 2 has a curved shape, and the distance between the welding line (see W in FIG. 7) and the bottom of the carriage 110 is farther than the distance between the base material 2 and the driving wheel 111. In this case, the front guide roller 150 and the rear guide roller 160 may be separated from the weld line (see FIG. 7W).

In order to prevent this, the front guide roller 150 and the rear guide roller 160 may be installed in the carriage 110 to be somewhat movable.

For example, the front guide roller 150 is connected to the carriage 110 by interposing an elastic body 157 between the rod 153 coupled with the front guide roller 150 and the front guide roller support 151 installed on the carriage 110. By allowing the distance projecting in the bottom direction of the side to be variable, the front guide roller 150 does not deviate from the weld line (see FIG. 7W) even if the distance between the carriage 110 and the base material 2 varies slightly. do.

That is, when the distance between the welding seam (see W in FIG. 7) and the bottom of the carriage 110 increases, the rod 153 protrudes elastically from the front guide roller support part 151 to the elastic body 157 and the front guide roller 150. A portion of) is inserted into the weld line (see W in FIG. 7). On the contrary, when the distance between the welding line (refer to W in FIG. 7) and the bottom of the carriage 110 is close, the rod 153 is inserted into the front guide roller support 151 to compress the elastic body 157 and the front guide roller 150. The state inserted in the welding line (refer to W of FIG. 7) of () is maintained.

When the rear guide roller 160 also interposes the elastic body 167 between the rod 163 and the rear guide roller support 161, as in the example of the front guide roller 150 described above, a part of the rear guide roller 160. Can be maintained in the inserted state to the welding line (see W of FIG. 7).

9 shows another example of the front guide roller or the rear guide roller of the welding line tracking robot according to an embodiment of the present invention.

9, conical guide rollers 190 are rotatably coupled to both sides of the bracket 195 coupled to the rod 193.

Although not shown, the guide rollers 190 on both sides are installed so that the overall width of the guide roller 190 is variable. That is, the width of the guide roller 190 can be changed in the rotational axis direction.

For example, the guide roller 190 is installed on the rotating shafts (not shown) which protrude to both sides of the bracket 195 so as to be movable in the direction of the rotating shaft (not shown), and the guide roller 190 is the rotating shaft ( When the fixing piece (not shown) which prevents a complete detachment from (not shown) is provided, the width | variety of the direction of the rotating shaft (not shown) of the guide roller 190 will be changeable.

In addition, when an elastic body (not shown) which holds the guide roller 190 in the end direction of the rotating shaft (not shown) is further installed, the rotating shaft of the guide roller 190 (not shown) is applied by an external force. The width of the direction may be increased or decreased.

As described above, when the width in the direction of the rotation axis of the guide roller 190 is variable, there is an advantage that it can be used without replacing the guide roller 190 at the work site having a different width of the welding line (see FIG. 7W).

At this time, the guide roller 190 may be conical as shown, but may be formed in a shape in which the diameter increases toward the bracket 195 direction, such as semi-circular, elliptical, and guides to the welding line (see W in FIG. 7). A portion of the roller 190 may be manufactured in various shapes according to the shape of the welding line (see W of FIG. 7) to facilitate insertion of a portion of the roller 190.

On the other hand, with reference to Figure 7 will be described the operation of the welding line tracking robot according to an embodiment of the present invention.

Welding by the welding line tracking robot 100 is superior in terms of production efficiency that the welding is completed in one run rather than repeating the driving several times for one welding line (W). Therefore, it is advantageous to use the welding line tracking robot 100 with a method capable of welding a thick plate in one run, such as electro-gas welding.

However, in the case of using the electric gas welding method, it is necessary to properly adjust the angle and the weave formed by the welding torch 130 and the welding line W to obtain a high quality welding bead B. The proper angle and weave of the welding torch 130 can be obtained by using the control unit 120 to allow the torch adjusting unit 135 to properly adjust the welding torch 130.

By adjusting the angle of the welding torch 130, if the welding torch 130 is perpendicular to the melt pool (not shown), both the front bead and the rear bead may be well formed. Accordingly, when the angle of the welding torch 130 is properly adjusted, the inclined surface may also be welded by the welding line tracking robot 100.

On the other hand, with reference to Figures 6 and 7 will be described a modification of the welding seam tracking robot according to an embodiment of the present invention.

As shown in FIG. 6, the rod 153 is formed in a cylindrical shape, and the rod 153 is rotatably coupled in the longitudinal direction of the rod 153 with respect to the front guide roller support (see 151 in FIG. 2). The welding seam tracking robot 100 may also track a curved welding seam (not shown).

However, in this case, since the position of the welding torch 130 should also be changed, a sensor (not shown) is installed to measure the angle at which the front guide roller 150 is rotated with respect to the traveling direction of the carriage 110. It is also possible to weld a curved welding line (not shown) by analyzing the signal output from (not shown) to adjust the position of the welding torch 130 by the torch adjusting unit 135.

While the above has been described with respect to the welding seam tracking robot according to an embodiment of the present invention, the spirit of the present invention is not limited to the embodiments presented herein, those skilled in the art to understand the spirit of the present invention within the scope of the same idea Other embodiments may be easily proposed by adding, changing, deleting, or adding components, but this will also fall within the spirit of the present invention.

1 is a front view showing a conventional welding line tracking device,

2 is a plan view of a welding seam tracking robot according to an embodiment of the present invention,

3 is a rear perspective view of the welding line tracking robot according to an embodiment of the present invention;

4 is a bottom perspective view of a welding seam tracking robot according to an embodiment of the present invention;

5 is a partial perspective view showing the rear guide roller of the welding line tracking robot according to an embodiment of the present invention,

6 is a partial perspective view showing the front guide roller of the welding line tracking robot according to an embodiment of the present invention,

7 is a perspective view for explaining the operation of the welding seam tracking robot according to an embodiment of the present invention,

8 is a longitudinal cross-sectional view for explaining the operation of the welding seam tracking robot according to an embodiment of the present invention,

9 is a partial perspective view for explaining another example of the front guide roller or the rear guide roller of the welding seam tracking robot according to an embodiment of the present invention.

Explanation of symbols on main parts of drawing

110: carriage 111: driving wheel

120: control unit 130: welding torch

150: front guide roller 157: elastic body

160: rear guide roller 167: elastic body

170: magnetic material W: welding line

Claims (8)

A welding seam tracking robot that performs welding while moving along the welding seam of a welded body, A carriage provided with a plurality of driving wheels; A plurality of guide rollers installed on the bottom of the carriage to guide the running direction of the carriage, the diameter of the center portion being larger than the diameter of the edge, and a part of which is inserted into the welding line; A welding torch installed in the carriage; And Seam tracking robot including one or more magnetic material is installed on the bottom of the carriage. The method of claim 1, The plurality of guide rollers, A front guide roller installed in front of the carriage; And A rear guide roller installed at the rear of the carriage, And the front guide roller and the rear guide roller are arranged in a line along the weld line. The method of claim 2, And the welding torch is arranged in a line at the rear side of the front guide roller and the rear guide roller. The method of claim 2, And a plurality of elastic bodies which respectively grip the front guide roller and the rear guide roller with respect to the carriage. The method of claim 2, And the front guide roller is formed to rotate left and right with respect to the moving direction of the carriage. The method of claim 2, Weld line tracking robot, characterized in that the front guide roller and the rear guide roller is installed so that the width can be changed in the rotation axis direction, respectively. The method according to any one of claims 1 to 6, The welding line tracking robot is installed between the carriage and the welding torch, further comprising a torch adjusting unit for adjusting the inclination of the welding torch and the weave of the welding torch. delete

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