KR101306432B1 - Auto welding system with six driving axis for angle overlap piece and auto welding method with six driving axis for angle overlap piece - Google Patents

Abstract

The present invention provides a six-axis automatic welding system of angle overlap regions. The six-axis automatic welding system of the angle overlap portion is disposed on the Elpgi carrier line, stacked in multiple stages, the movable portion capable of moving along different axis lines; A welding part installed in the moving part and movable along a plurality of axes, the welding part having a welding torch; And a welding control unit for recognizing a welding position formed at an arbitrary position and controlling driving of the moving unit and the welding unit to position the molten torch at the welding position to weld the welding position. The present invention also provides a six-axis automatic welding method of an angle overlap region using the six-axis automatic welding system of the angle overlap region.

Description

AUTO WELDING SYSTEM WITH SIX DRIVING AXIS FOR ANGLE OVERLAP PIECE AND AUTO WELDING METHOD WITH SIX DRIVING AXIS FOR ANGLE OVERLAP PIECE}

The present invention relates to a six-axis automatic welding system of the angle overlap portion, and more particularly to the six-axis automatic welding system of the angle overlap portion that can easily weld the weld line formed on the transport ship by controlling the welding portion moving along the six axes and It relates to a six-axis automatic welding method of the angle overlap region.

In general, welding is a method in which a joining portion of a base material is heated to be in a molten or semi-melt state and joined only by the base material or by fusing the base material and the filler metal.

The welding method includes a consumption type using an electrode and a non-consuming type using no electrode.

The non-consumable welding methods include gas tungsten arc welding and plasma welding, and are classified into manual or automatic welding according to their inherent measurement and usage.

Prior art related to the present invention has a Republic of Korea Patent No. 10-0607338, the prior art discloses a technique for plasma automatic welding device for drying the cargo tank cargo tank holding the membrane type liquefied cheon gas carrier equipped with a welding line tracking and member mounting device. .

Prior art documents, as shown in Figure 1, the carriage 22 is installed to be transported on the rail 21, the carriage 22 is installed so that the height can be adjusted to receive power from the plasma welding apparatus 400 for welding A welding head 24 for performing the welding, a welding torch 31 installed at a lower end of the welding head 24 to form a welding bead, and an inva tube 11 and an anchoring ring installed at one side of the lower end of the welding head 24. The welding torch is provided with a member pressurizing device 32 for pressing and mounting the bar 13 and a contact edge installed at the other end of the lower end of the welding head 24 to contact one end of the overlapping sheet portion 14. A welding line tracking device 33 for inducing the movement direction of the 31 and the carriage 22 are installed at one side and connected to the upper end of the welding head 24 to direct the welding head 24 in the inva tube 11 direction. It is composed of a spring adjustment mechanism 23 for close contact.

The preceding document can simultaneously perform the mounting of the work member and the welding line tracking without the member mounting work, it is possible to high-speed welding using the plasma welding technique.

However, the above-mentioned prior art has a problem in that it is not possible to provide four-axis control to provide more precise welding for welding of special zones, such as angle overlap regions, generated in the structure of a membrane type liquefied natural gas carrier.

SUMMARY OF THE INVENTION An object of the present invention is to provide a six-axis automatic welding system of an angle overlap portion that enables precise welding and reduces defects in welding quality of the angle overlap portion of a carrier or welder fatigue, thereby improving quality and productivity. It is to provide a six-axis automatic welding method of the angle overlap region.

Another object of the present invention is to provide a six-axis automatic welding system of the angle overlap region and a six-axis automatic welding method of the angle overlap region by performing welding by automatically tracking the welding position.

In one aspect, the present invention provides a six-axis automatic welding system of angle overlap regions.

The six-axis automatic welding system of the angle overlap portion is disposed on the Elpgi carrier line, stacked in multiple stages, the movable portion capable of moving along different axis lines; A welding part installed in the moving part and movable along a plurality of axes, the welding part having a welding torch; And a welding control unit for recognizing a welding position formed at an arbitrary position and controlling driving of the moving unit and the welding unit to position the molten torch at the welding position to weld the welding position.

The moving part is installed on a rail formed on the LLP carrier, a carriage movable along the rail, a first moving part installed on an upper end of the carriage and movable along a first axis, and the first moving part. A second moving part installed at an upper end and movable along a second axis, and a first driving part receiving electrical signals from the welding control part and moving the carriage, the first moving part, and the second moving part to a predetermined position; It is desirable to.

The welder may be installed at a welder moving part installed at the second moving part, a welder support installed at the welder movement and being elevated along a fourth axis by receiving an electrical signal from the welding control part, and installed at an end of the welder support. It is preferable to have a welding head portion to be used.

The welding head unit is installed at the end of the welder support, receiving the electrical signal from the welding control unit to lift and lift along the fifth axis, the lifting motor is installed on the lifting motor, and rotates along the sixth axis, It is preferred to have a welding torch connected to the rotary motor.

The welding control unit receives a laser vision sensor for recognizing a position value of a welding line formed at the welding position and a position value of the recognized welding line from the laser vision sensor, and the welding torch reaches the position value of the welding line. It is preferable to have a control part for controlling the drive of the said moving part and the said welding part so that it may be located in a position.

When the welding torch reaches a position where the welding torch reaches a position value of the welding line, the control unit preferably drives the welding torch for a predetermined time.

The laser vision sensor includes an image acquirer for acquiring image information of the weld line, and a calculator for calculating the position value of the weld line from the acquired image information and transmitting the calculated position value of the weld line to the controller. desirable.

In another aspect, the present invention provides a six-axis automatic welding method of an angle overlap portion.

The six-axis automatic welding method of the angle overlap region may include a first step of recognizing a position value of a welding line using a laser vision sensor; A second step of moving and positioning a welding torch along a plurality of axes, respectively, to a position value of the welding line; And a third step of performing welding along the welding line using the welding torch.

In the second step, by receiving an electrical signal from a welding control unit, the welding unit including the welding torch is positioned first along a plurality of axes on an LPI carrier line so that the welding torch is positioned above the welding line, and the electrical signal from the welding control unit. It is preferable to raise and rotate the welder support and the welding head for receiving the welding torch to be secondly moved to a position reaching the position value of the welding line.

When the welding torch reaches a position where the welding torch reaches a position value of the welding line, the welding controller preferably drives the welding torch for a predetermined time.

The present invention has the effect of enabling precision welding and reducing quality defects of weld quality or welder fatigue at angle overlapping portions of carriers, thereby improving quality and improving productivity.

In addition, the present invention has the effect of improving the accuracy of welding by performing the welding by automatically tracking the welding position.

1 is a view showing a conventional welding device.
Figure 2 is a perspective view showing a six-axis automatic welding system of the angle overlap portion of the present invention.
Figure 3 is a perspective view showing that the welding torch is moved to the welding position in the six-axis automatic welding system of the angle overlap portion of the present invention.
Figure 4 is a perspective view showing the welding is made in the six-axis automatic welding system of the angle overlap portion of the present invention.
5 is a flow chart showing six-axis automatic welding of the angle overlap region of the present invention.

Hereinafter, a six-axis automatic welding system of an angle overlap portion and a six-axis automatic welding method of an angle overlap portion will be described with reference to the accompanying drawings.

First, the structure of the 6-axis automatic welding system of the angle overlap part of this invention is demonstrated.

Figure 2 shows a six-axis automatic welding system of the angle overlap region of the present invention. Figure 3 shows the welding torch is moved to the welding position in the six-axis automatic welding system of the angle overlap region of the present invention. Figure 4 shows the welding is done in the six-axis automatic welding system of the angle overlap portion of the present invention.

5 is a flow chart showing six-axis automatic welding of the angle overlap region of the present invention.

Referring to FIG. 2, the six-axis automatic welding system of the angle overlap portion 1 includes a moving unit 100, a welding unit 200, and a welding control unit 300.

The moving part 100 is disposed on the LLP carrier, is stacked in multiple stages, and can be moved along different axis lines.

The moving part 100 includes a carriage 130, first and second moving parts 110 and 120, and a first driving part 140.

The carriage 130 is installed on the rail 150 provided on the LLP carrier. The rail 150 is formed along the first axis ①.

The carriage 130 is rail coupled on the rail 150.

Therefore, the carriage 130 is installed to be movable along the first axis ①.

The first moving part 110 is installed on the upper end of the carriage 130. The first moving part 110 may be linearly moved along the second axis ② perpendicular to the first axis ①.

The second moving part 120 is installed at an upper end of the first moving part 110. The second moving part 120 may be linearly moved along a third axis ③ orthogonal to the second axis ②.

The first driving unit 140 is a device such as a linear motor that linearly moves the carriage 130 and the first and second moving units 110 and 120.

Therefore, the carriage 130 and the first and second moving parts 110 and 120 included in the moving part 100 according to the present invention are linearly movable along their respective axes.

The welding part 200 is installed in the moving part 100, is movable along a plurality of axes, and includes a welding torch 233.

The welder 200 includes a welder moving part 210, a welder supporter 220, a welding head part 230, and a second driving part 240.

The welder moving part 210 is installed on the upper end of the second moving part 120.

The welder moving part 210 is formed as a structure having a predetermined height upward from the upper end of the second moving part 120.

The welder moving part 210 has a lifting hole 211 formed along the top and bottom. The welder moving part 210 is connected to the second driving part 240. The second driving unit 240 may be a device such as a motor.

The welder supporter 220 is coupled to the welder moving part 210.

The welder support 220 forms a predetermined length.

One end of the welder support 220 is coupled to the lifting hole 211 of the welder moving part 210 to be elevated.

The lifting direction of the welding support 220 is along the fourth axis ④. The fourth axis (④) forms a direction perpendicular to the third axis (③) upwards.

One end of the welder support 220 is moved up and down by driving of the second driving unit 240.

The welding head 230 is installed to be detachable from the other end of the welder support 220.

The welding head 230 includes a lifting motor 231, a rotating motor 232, and a welding torch 233.

The elevating head 230 includes a head fixture 230a.

The lifting motor 231 and the rotating motor 232 may be installed on the head fixture 230a.

The welding torch 233 is connected to the lower end of the rotary motor 232 is installed. The welding torch 233 serves to weld a portion by receiving an electrical signal from the outside.

The elevating motor 231 is operated to elevate along the fifth axis (⑤) along the same axis as the fourth axis (④), and the rotary motor 232 is the sixth axis (orthogonal to the fifth axis (⑤). Rotates along ⑥).

2 to 4, the welding controller 300 includes a laser vision sensor 310 and a controller 320.

The welding controller 300 controls the driving of the first driving unit 140 and the second driving unit 240. In addition, the operation of the lifting motor 231, the rotary motor 232 is controlled.

The laser vision sensor 310 recognizes the position value of the welding line formed at the welding position.

The controller 320 receives the position value of the recognized welding line from the laser vision sensor 310, and moves the welding torch 233 at a position reaching the position value of the welding line. And controlling the driving of the welding part 200.

The control unit 320 drives the welding torch 233 for a preset time when the welding torch 233 reaches a position reaching the position value of the welding line.

The laser vision sensor 310 calculates a position value of the weld line from the image acquirer 311 for acquiring image information of the weld line, and calculates a position value of the weld line from the acquired image information. It is composed of a calculator 312 to transmit to 320.

Here, '230b' is the head fixture.

Next, the automatic welding method using the 6-axis automatic welding system of the angle overlap part comprised as mentioned above is demonstrated.

Step 1

The welding control unit 300 recognizes a welding position.

The image acquirer 311 of the laser vision sensor 310 acquires image information about a welding line formed at a predetermined welding position.

The image acquirer 311 transmits the acquired image information to the calculator 312.

The calculator 312 calculates the position value of the welding line from the image information.

The calculator 312 transmits the calculated position value of the weld line to the controller 320.

Step 2

The welding controller 300 moves and positions the welding torch 233 along a plurality of axes, respectively, to the position value of the welding line.

The control unit 320 drives the first driving unit 110 such that the welding head 230 is positioned above the welding line.

Therefore, the carriage 130 is linearly moved to a predetermined position along the first axis ① of the rail 150.

In addition, the first moving part 110 installed at the upper end of the carriage 130 is linearly moved to a predetermined position along the second axis ②.

In addition, the second moving part 120 installed on the upper end of the first moving part 110 is linearly moved to a predetermined position along the third axis ③.

Therefore, the welding head 230 may be located at a certain level above the welding line.

In the embodiment according to the present invention, the welding head portion may be primarily positioned to be located above the welding line as described above.

The welding position according to the invention is formed at the angle overlap site.

Subsequently, the controller 320 controls the driving of the second driving unit 120, the lifting motor 231, and the rotating motor 232 so that the welding torch 233 is positioned on the welding line.

The second driving unit 120 receives the electrical signal from the control unit 320 to move the welder support 220 to a predetermined position up and down.

The lifting motor 231 receives the electrical signal from the control unit 320 and lowers the welding torch 233 so that the welding torch 233 is positioned on the welding line.

In addition, the rotation motor 231 receives the electrical signal from the control unit 320 to finely adjust the rotation position with respect to the welding position of the welding torch 233.

Embodiments in accordance with the present invention may be secondaryly positioned such that the welding torch is accurately positioned on the weld line as described above.

Embodiments in accordance with the present invention can control the movement position in multiple axes such that the welding torch is accurately positioned at the welding position.

In addition, the up and down and rotation operations of the welding torch 233 may be performed by an arc voltage controller (AVC).

Step 3

The welding control unit 300 performs welding along the welding line using the welding torch 233.

The controller 320 transmits an electrical signal to the welding torch 233. The welding torch 233 welds to the welding line at the moved position.

In this case, the controller 320 may control the driving of the twelfth driving parts 110 and 120 and the lifting motor 231 and the rotating motor 232 to continuously weld the welding torch 233 along the welding line. .

In addition, the controller 320 may drive the welding torch 233 for a preset time when the position reaches the position of the welding line.

Embodiments according to the invention can control the movement of the weld along six axes.

Therefore, the embodiment according to the present invention enables precise welding and can reduce the defects in the welding quality of the angle overlap portion of the carrier or the fatigue of the welder, thereby improving the quality and improving the productivity.

Embodiments according to the present invention can improve the accuracy of welding by automatically tracking the welding position to perform the welding.

100: moving unit 110: first moving unit
120: second moving unit 140: carriage
150: rail 200: weld
210: welding machine moving part 220: welding machine support
230: welder head portion 230a, 230b: head fixing portion
240: second driving unit 300: welding control unit
310: laser vision sensor 311: image acquirer
312: calculator 320: control unit
①: 1st axis ②: 2nd axis
③: 3rd axis ④: 4th axis
⑤: 5th axis ⑥: 6th axis

Claims (10)

A moving unit disposed on the LPI carrier and stacked in multiple stages and movable along different axis lines;
A welding part installed in the moving part and movable along a plurality of axes, the welding part having a welding torch; And
A welding control unit for recognizing a welding position formed at an angle overlapping portion and controlling the driving of the moving unit and the welding unit to position the welding torch at the welding position to weld the welding position,
The moving part is installed on a rail formed on the LLP carrier, a carriage movable along a first axis of the rail, a first moving part installed on an upper end of the carriage and movable along a second axis, and the first The first moving part is installed on the upper end of the moving part and movable along the third axis. The first moving part moves the carriage, the first moving part and the second moving part to a predetermined position by receiving an electrical signal from the welding control part. With a driving unit,
The welder may include a welder moving part installed in the second moving part, a welder support provided in the welder moving part and being elevated along a fourth axis by receiving an electrical signal from the welding control part, and an end portion of the welder support part. A welding head part installed in a standing position and detachably installed, and a second driving part installed in the welder moving part and lifting the welder support,
The welding head unit, a rod-shaped head fixing body detachably installed at the end of the welder support, and a lifting motor which is installed on the head fixing body and is lifted along the fifth axis by receiving an electrical signal from the welding control unit; And a rotary motor installed on the elevating motor and rotating along a sixth axis, and a welding torch connected to a lower end of the rotary motor.
The welding control unit receives a laser vision sensor for recognizing a position value of a welding line formed at the welding position and a position value of the recognized welding line from the laser vision sensor, and the welding torch reaches the position value of the welding line. A control unit for controlling driving of the moving unit and the welding unit to be positioned at a position;
When the welding torch reaches a position reaching the position value of the welding line, the control unit drives the welding torch for a predetermined time and continuously welds the welding line along the welding line. .
delete delete delete delete delete The method of claim 1,
The laser vision sensor,
An image acquirer for acquiring image information of the weld line;
And a calculator for calculating the position value of the weld line from the acquired image information and transmitting the calculated position value of the weld line to the control unit. delete delete delete

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