KR101111257B1 - Automatic welding robot - Google Patents

Abstract

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic welding robot capable of precise movement in various directions and performing welding work with good welding quality in view of the shape error of the welded portion. To this end, the present invention, the main body including a welding rod; A first guide member slidably coupled to the main body such that the main body moves in a left and right direction with respect to the welded part while facing the welded part; A second guide member extending in a direction orthogonal to an extending direction of the first guide member; A sliding block fixed to the first guide member and slidably coupled along the second guide member; And a support unit movable along the second guide member on the second guide member, fixed to a specific position of the second guide member, and a support unit fixing the second guide member to the welding site. To provide.

Welding Robots, Longines

Description

Automatic welding robot

The present invention relates to an automatic welding robot used for welding a T-shaped portion formed by meeting the long paper and the long paper in a hull block or steel structure in a horizontal direction, and more particularly, firmly to a welding target site. The present invention relates to an automatic welding robot that can be fixed and can precisely perform welding with free movement.

In general, welding works such as hull blocks or steel structures are carried out in a narrow working space and a harsh working environment in which harmful gases are generated. Therefore, various automation devices are devised to protect workers in the production site and to improve welding quality and productivity. It is applied to the production site.

Among the welding operations, especially the T-shaped welding portion formed at the portion where the hull block is joined to the horizontal contact portion has not developed a suitable automatic welding device due to the shape characteristic of the welding portion.

FIG. 1 is a view schematically showing the shape of a T-shaped welding part in contact with a ronge.

As shown in FIG. 1, the portion where the T-shaped longines 10 and 20 meet in the horizontal direction is also formed in a T-shaped welded portion. That is, there is a horizontal welding part 30 formed at the upper side of the front side 11 and 21 and a vertical welding part 40 formed at the long webs 12 and 22 so that the welding part is also T-shaped. Is formed.

In particular, where the large hull blocks meet each other, the larger the size of the hull block, the easier the position or shape error is, and thus, the more difficult the automation is. In addition, when the worker performs the welding work of such a part by the manpower, the worker can check the shape error in each case and perform the work properly considering the error of the welding part, thereby avoiding serious welding quality defects. . However, no automatic welding device has been developed that enables precise movements to be able to perform such work by the automatic welding device. Therefore, the necessity of the development of a new automatic welding device capable of such a precise movement and to perform the operation in consideration of the shape error of each welded area has emerged.

The present invention is to solve various problems including the above problems, an object of the present invention is to enable precise movements in various directions, the welding operation can be performed in good welding quality in consideration of the shape error of the welding site. To provide an automatic welding robot.

An object of the present invention as described above, the main body including a welding rod;

A first guide member slidably coupled to the main body such that the main body moves in a left and right direction with respect to the welded part while facing the welded part;

A second guide member extending in a direction orthogonal to an extending direction of the first guide member;

A sliding block fixed to the first guide member and slidably coupled along the second guide member; And

An automatic welding robot that is movable along the second guide member on the second guide member, can be fixed at a specific position of the second guide member, and includes a support unit for fixing the second guide member to the welding site; By providing.

Here, the main body,

A welding unit in which a welding rod is rotatably disposed around a rotation axis orthogonal to the longitudinal direction of the welding rod;

A coupling unit slidably coupled with the welding unit such that the welding unit can move in the front-rear direction with respect to the welding part in a state opposite to the welding part; And

It may include a sensor unit connected to the coupling unit so as to be movable in the horizontal direction along the first guide member, the sensor unit can recognize the shape of the welding portion.

Here, the second guide member may include two guide rails disposed parallel to each other,

It may include one or more crossbars fixed to each of the guide rails to maintain a gap between the guide rails.

Here, the support unit,

The second guide member may be fixed to the end by using a magnetic force when welding a metal material which is a magnetic body by providing a magnet at an end thereof.

Here, the sensor unit,

A laser sensor capable of recognizing the shape of the welded portion, and a cover covering the outer portion of the laser sensor embedded thereon to protect the beam emitting portion of the laser sensor during a welding operation.

According to the automatic welding robot of the present invention, by providing a mechanical unit capable of precise movement in various directions and a sensor unit capable of recognizing the shape of the welded portion, the welding work is performed well in consideration of the shape error of the welded portion. can do.

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

Figure 2 is a perspective view showing the configuration of the automatic welding robot according to the present invention, Figure 3 and Figure 4 is a view showing the operation of welding the welding portion of the side of the long web using the automatic welding robot shown in FIG. Is shown.

As shown in FIGS. 2 to 4, the automatic welding robot 100 according to the present invention includes a main body, a first guide member 140, a sliding block, and a support unit.

The body is basically a member having a welding rod 155. 2 to 4, in the embodiment shown in FIGS. 2 to 4, in the state in which the welding unit 155 is rotatably disposed around the rotation axis orthogonal to the longitudinal direction of the welding rod 155, and the welding portion. The coupling unit so as to be movable in the horizontal direction along the first guide member 140 and the coupling unit 170 slidably coupled to the welding unit to move the welding unit in the front-rear direction with respect to the welded portion. It is connected to the 170, and includes a sensor unit 150 that can recognize the shape of the welding portion.

In the hull manufacture, the welding site is large, the welding operation can not be completed by only one pass of the welding rod 155 as the welding rod 155 passes. That is, welding beads should be stacked in several layers in the depth direction, and in many cases, the work should be divided into two or more times even when a single layer of beads is stacked. The electrode 155 should be able to perform welding while weaving (weaving) to the left and right with respect to the welding site. Therefore, the electrode 155 is rotatably connected to the rotating shaft to enable the weaving.

The sensor unit 150 may include a laser sensor capable of recognizing a shape of a welded portion, and a cover 159 that covers a portion in which the laser sensor is embedded so as to protect the beam radiation portion of the laser sensor during a welding operation. ) May be provided.

When connecting large hull blocks to each other, there may be a large shape error or a dimension error that can be visually identified. Even in this case, in order to perform welding without recognizing the shape of the corresponding part automatically, it is necessary to recognize the shape of the welded part and analyze the shape to set the welding path and perform the welding. To this end, in the present invention, the sensor unit is provided with a laser sensor so as to recognize the shape of the welded portion while scanning the welded portion with the laser sensor.

In addition, sparks may break out during the welding operation. Therefore, it is necessary to protect the laser sensor, which is a precise part, so that it is desirable to protect the laser sensor with a cover when the laser sensor does not perform the task of recognizing the welded portion.

The first guide member 140 is slidably coupled to the main body so that the main body moves in a left and right direction with respect to the welded part while facing the welded part.

The second guide member extends in a direction orthogonal to the extending direction of the first guide member 140. The first guide member 140, the sensor unit moving along the first guide member 140, the coupling unit and the welding unit all move together along the second guide member. The second guide member may include two guide rails 111 and 112 disposed in parallel with each other, and at least one fixed to each of the guide rails 111 and 112 to maintain a distance between the guide rails 111 and 112. It may include a crossbar.

Guide rails (111, 112) constituting the second guide member is formed on one side of the rail for guiding the movement of the sliding blocks (131, 132), the other side of the support unit (121, 122, 123, 124) Rails may be formed to guide the movement of the vehicle. That is, as shown in the drawing, the guide rails 111 and 112 are members having a predetermined width and thickness, and have rails for guiding the movement of the sliding blocks 131 and 132 on one surface in the thickness direction, and the opposite surface. A rail may be provided to guide the movement of the sliding blocks 131 and 132.

The sliding blocks 131 and 132 are fixed to the first guide member 140 and slidably coupled along the second guide member. When the second guide member has two guide rails 111 and 112 as shown in the drawing, the sliding blocks 131 and 132 are also movable one by one along the respective guide rails 111 and 112. The sliding blocks 131 and 132 are disposed. Even when two sliding blocks 131 and 132 are installed, the two sliding blocks 131 and 132 are integrally connected and move along the guide rails 111 and 112 using a configuration such as a motor 134 and a roller 133. Can be. Of course, the movement can be automatically realized by all the components moving along the first and second guide members described above, and known conveying means using the mobility motor in the front and rear direction of the welding unit.

When two sliding blocks 131 and 132 are installed, the first guide portion may be arranged to connect two sliding blocks 131 and 132.

The support units 121, 122, 123, and 124 may move along the second guide member on the second guide member, may be fixed at a specific position of the second guide member, and weld the second guide member. Fix to the site. The support units 121, 122, 123, and 124 are provided with magnets 121a, 122a, 123a, and 124a at their ends, respectively, to weld the metal material, which is a magnetic material, to the second guide using magnetic force on the metal material. The member is fixed and consequently the automatic welding robot 100 of the present invention can be fixed.

Two support units 121, 122, 123, and 124 may be installed on the guide rails 111 and 112 constituting the second guide member, respectively. The support units 121, 122, 123, and 124 are spaced apart along the guide rails 111 and 112, as shown in Figs. 3 and 4, when welding the welding portion on the front side of the long paper. By using the magnet disposed at the end to perform the function of fixing the automatic welding robot 100 of the present invention to the longe web.

3 and 4, the automatic welding robot 100 having the above configuration is disposed adjacent to the welded portion at the front of the rosin, and then welds the welded portion of the rosy web while moving in the vertical direction. In addition, since the welding part is large along with the movement in the up and down direction, the welding is performed while moving in the left and right directions, and the welding work can be performed in several layers because the welding part can be moved in the depth direction of the welding part. Of course, as mentioned above, the welding rod 155 may be weaved, and thus, four degrees of freedom of the welding rod 155 may be realized as a whole. Four degrees of freedom are as shown by the arrows in FIG.

5 is a view showing a posture in the case of welding the welded portion of the front side of the long side using the automatic welding robot according to the present invention.

As shown in FIG. 5, when welding the welded portion on the front side of the long side, the support units 121, 122, 123, and 124 are narrowed on the guide rails 111 and 112 to be viewed on the front side of the long side. Fix the automatic welding robot 100 of the invention. The support units 121, 122, 123, and 124 may be positioned at the center of the guide rails 111 and 112 so that the automatic welding robot 100 may be stably fixed while considering the relatively narrow width of the front side. It is desirable to be in close proximity.

Even after welding the welding part on the front side of the long side, after the posture is fixed, the shape of the welding part is recognized by the laser sensor and the welding path is set in the same manner as the welding on the welding part of the long side web described above. Welding is performed using the movement of degrees of freedom.

On the other hand, the automatic welding robot having the above configuration can be used in the following manner to perform automatic welding.

First, the shape of the welded portion is automatically recognized. The shape of the welded portion of which the automatic welding robot of the present invention is mainly concerned is a welded portion having the form of a groove extending in one direction by welding two plates to the first layer. In order to recognize the shape of the welded portion of this type, in order to recognize the shape of the welded portion welded to the first layer welded two plates for each section, for each section, in the extended longitudinal direction of the groove, The scanning step (a) is performed to obtain a profile of the cross-section of the plurality of welded portions by performing a process of measuring the distance between the one-dimensional laser sensor and the welded portion while moving in the direction crossing the welded portion using the dimensional laser sensor. . In this case, any laser sensor may be used, but the one-dimensional laser sensor is smaller in weight and size and lower in price than the multi-dimensional laser sensor. Therefore, in consideration of the working conditions in the double hull block constituting a large vessel in which the worker has to move a long distance through a narrow passage, it is most preferable to use a one-dimensional laser sensor. Of course, it is difficult to implement the same functions as the multi-dimensional laser sensor by simply adopting the 1-dimensional laser sensor, but without using the multi-dimensional laser sensor through the following method, the 3-dimensional shape of the welded area is only with the 1-dimensional laser sensor. Can be recognized.

Next, a filtering step (b) is performed to remove noise data corresponding to the point where the slope rapidly changes in each profile curve data obtained in the scanning step (a).

Next, a reference point generation step (c) of determining a reference point that is a reference of the cross-sectional shape of the welded portion from the data filtered in the filtering step (b) is performed. After creating the reference point, the shape recognition for the weld is completed. In other words, the shape of the welded area where two plates face each other is as simple as finding the position of each vertex of the edge of the plate based on the cross section of the welded area. Can be recognized. The vertex at this time becomes the reference point. After a plurality of cross-sectional profiles are obtained by defining a reference point, a path for weaving welding is generated by taking into account the shape of the cross-section.

Weaving weld path generation can be done in the following manner.

6 is a view showing a method of determining the left and right welding reference point from the reference points of the cross-sectional profile obtained above, and FIG. 7 is a view showing a method of determining the position of the weaving axis in consideration of the left and right welding reference point.

The weaving axis (θ axis) is an axis that becomes the center of rotation of the torch when weaving welding is performed. Welding robot z axis is weaving the torch using the θ-axis motor moves (assuming that ronji web are welded to the welding location to form met, the axial direction shown in Figure 6. Following) in a direction. Here, a method of defining the x- and y- coordinates of the θ-axis on the same xy plane as the plane on which the cross-sectional profile is placed will be described in order to determine the relative position with respect to the cross-sectional profile of the θ-axis.

The left and right welding reference points are determined based on the previously determined reference points. 6 and 7, Ref [n] represents the reference point [n]. The reference points [1] and reference points [2] are used to determine the welding reference points WL and WR representing the reference points of the welding for one of the plurality of cross-sectional profiles of the welded site, and the WC is calculated therefrom. WL is the left weld reference point, WR is the right weld reference point, and WC is the bisection of the line connecting WL and WR. In each profile, WL is the intersection of a straight line connecting the reference point [0] and the reference point [1] with a straight line separated in the -y direction by an offset from the reference point [1]. WR is an intersection of a straight line (horizontal line) separated from the reference point [2] in the -y direction by an offset and a straight line connecting the reference point [2] and the reference point [3]. Here, the offset is the distance that the wire of the torch is separated from the reference point [1] and the reference point [2] of the profile, and an offset of about 2 mm is suitable for good welding quality.

The position of the weaving axis is at a position spaced apart from the WC by the length of the welding torch on the vertical bisector of the line connecting WL and WR. In addition, if the left and right welding reference points determined above are controlled so that the ends of the torch are directed, the necessary welding condensation can be formed. In this manner, the welding path can be formed, and the automatic welding robot of the present invention allows the welding to be performed while turning the weaving axis so that the torch is directed to the left and right welding reference points while moving the torch in the longitudinal direction of the welding part groove. Automatic welding can be performed using an automatic welding robot.

In the following description of the present invention, the embodiments illustrated in the drawings have been described with reference to the embodiments, which are merely exemplary, and various modifications and equivalent other embodiments are possible to those skilled in the art. I will understand the point. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view schematically showing the shape of a T-shaped welding part in contact with a ronge;

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

3 and 4 are views showing the operation of welding the welding portion of the side of the long web using the automatic welding robot shown in FIG.

5 is a view showing a posture in the case of welding the welding portion of the front side of the long side using the automatic welding robot according to the present invention.

6 shows a method of determining left and right welding reference points from reference points of a profile.

7 is a view showing a method of determining the position of the weaving axis in consideration of the left and right welding reference point.

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

10, 20: Longines 11, 21: Longines front

12, 22: long web 30: horizontal weld

40: up and down direction welding part 100: automatic welding robot

111, 112: guide rails 113, 114: cross bars

121, 122, 123, 124: support unit 121a, 122a, 123a, 124a: magnet

131, 132: sliding block 133: roller

134: motor 140: first guide member

150: sensor unit 155: welding rod

156: axis of rotation 159: cover

160: welding unit 170: coupling unit

Claims (5)

delete A main body including a welding rod; A first guide member slidably coupled to the main body such that the main body moves in a left and right direction with respect to the welded part while facing the welded part; A second guide member extending in a direction orthogonal to an extending direction of the first guide member; A sliding block fixed to the first guide member and slidably coupled along the second guide member; And A support unit movable on the second guide member along a second guide member, fixed to a specific position of the second guide member, and fixing the second guide member to a welding site; The main body, A welding unit in which a welding rod is rotatably disposed around a rotation axis orthogonal to the longitudinal direction of the welding rod; A coupling unit slidably coupled with the welding unit such that the welding unit can move in the front-rear direction with respect to the welding part in a state opposite to the welding part; And And a sensor unit connected to the coupling unit so as to be movable in the horizontal direction along the first guide member, the sensor unit capable of recognizing a shape of a welding portion. A main body including a welding rod; A first guide member slidably coupled to the main body such that the main body moves in a left and right direction with respect to the welded part while facing the welded part; A second guide member extending in a direction orthogonal to an extending direction of the first guide member; A sliding block fixed to the first guide member and slidably coupled along the second guide member; And A support unit movable on the second guide member along a second guide member, fixed to a specific position of the second guide member, and fixing the second guide member to a welding site; The second guide member may include two guide rails disposed parallel to each other; And at least one crossbar fixed to each of the guide rails to maintain a spacing between the guide rails. A main body including a welding rod; A first guide member slidably coupled to the main body such that the main body moves in a left and right direction with respect to the welded part while facing the welded part; A second guide member extending in a direction orthogonal to an extending direction of the first guide member; A sliding block fixed to the first guide member and slidably coupled along the second guide member; And A support unit movable on the second guide member along a second guide member, fixed to a specific position of the second guide member, and fixing the second guide member to a welding site; The support unit, And a magnet provided at an end thereof so as to fix the second guide member by using magnetic force to the metal material. 3. The method of claim 2, The sensor unit, An automatic welding robot, comprising: a laser sensor capable of recognizing the shape of a welded portion; and a cover covering the portion in which the laser sensor is embedded so as to protect the beam radiating portion of the laser sensor during a welding operation. .

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