KR101724424B1 - The automatic equipment for welding ship's curve block and method of operating the same - Google Patents

The automatic equipment for welding ship's curve block and method of operating the same Download PDF

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Publication number
KR101724424B1
KR101724424B1 KR1020150169726A KR20150169726A KR101724424B1 KR 101724424 B1 KR101724424 B1 KR 101724424B1 KR 1020150169726 A KR1020150169726 A KR 1020150169726A KR 20150169726 A KR20150169726 A KR 20150169726A KR 101724424 B1 KR101724424 B1 KR 101724424B1
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KR
South Korea
Prior art keywords
welding
robot
base platform
respective members
members
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Application number
KR1020150169726A
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Korean (ko)
Inventor
이정형
박희환
강성원
이종건
이재승
추길환
Original Assignee
대우조선해양 주식회사
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Priority to KR1020150169726A priority Critical patent/KR101724424B1/en
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Publication of KR101724424B1 publication Critical patent/KR101724424B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0217—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being fixed to the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0247—Driving means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones

Abstract

The present invention relates to an apparatus (100) for automatically performing member welding in a curved block of a ship, comprising: a base platform (110) secured to a bottom surface of a workpiece to allow the apparatus to perform welding; A sensor unit 120 for measuring the inclination and arrangement of the respective members for welding in the work zone; In correspondence to the inclination of the respective members located on the side of the apparatus measured by the sensor unit 120 so as to prevent interference and collision between the robot 150 and the respective members mounted on the base platform 110, A tilting frame part 130 for adjusting the posture of the robot 150; The arrangement state of the respective members disposed at the front of the apparatus measured by the sensor unit 120 so as to prevent interference and collision between the robot 150 and each member mounted on the tilting frame unit 130 A horizontal driving unit 140 that can correct the working radius of the robot 150 corresponding to different application periods of the vertical / horizontal slopes of the respective members correspondingly; And a robot (150) mounted on the horizontal driving part (140) and performing welding. According to the present invention, the productivity and working conditions of the welding work can be greatly improved by measuring the inclination and the arrangement state of the various and complex curved block U-cell section internal materials, and automatically performing the welding based on the measurement.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic welding apparatus for a member in a curved block of a ship,

[0001] The present invention relates to an apparatus for automatically welding a member in a curved block of a ship and a method of operating the same, and more particularly, to a method for automatically welding a member called a U- And an operation method thereof.

Since the workpiece and each T-bar longevity and frame are arranged vertically, it is relatively easy to apply a multi-axis robot or a carriage-type simple welding device based on the design data for the work area. In contrast, in the case of a tune block, the curved shape of the workpiece of the corresponding block varies depending on the shape of the ship, and accordingly, the shape of each block also varies. In addition, even in one block, the T-bar loops and the frames are arranged at different slopes in each U-cell section. Therefore, the apparatus applied to the flat block can not be applied because it does not correspond to various shape changes of the block.

In terms of welding conditions, the flat block also has a simple horizontal / vertical weld, which allows the operator to weld relatively easily. In the case of the curved block, the welding environment It is necessary to develop a welding automation device which can improve work productivity and improve work environment.

Fig. 1 is a photograph showing a U-cell welding section of a curved block, Fig. 2 is a photograph showing manual welding of a U-cell section of a curved block, and Fig. 3 is a photograph showing automatic welding of a U- In Fig. 1, α represents the vertical slope of the T-bar longevity vertical slope based on the workpiece, β represents the vertical slope of the T-bar longevity reference frame, and γ represents the vertical slope of the workpiece reference frame.

On the other hand, in the case of an automatic welding apparatus for a flat block U-cell section applied in an overseas shipyard, a multi-axis robot attached to a rail part is configured to perform welding after performing workpiece teaching using a one-dimensional laser sensor. However, it is possible that each member is disposed vertically with respect to the workpiece, and in the case of a tune block in which the T-bar rung is tilted, a collision problem with the robot mechanism occurs. Moreover, since the recognition of the work member is performed using the one-dimensional laser sensor, it takes a long time to teach, and it is impossible to recognize whether the gap between the members and the improvement (chamfer) are processed. In addition, even when the frame members are arranged while being inclined, it is impossible to cope with a problem exceeding the working radius of the robot. That is, there must be additional functions that can accommodate the various member placement of the tune block.

For reference, a general work member shape recognition is performed by a method of recognizing the shape of a work member by detecting an arc generated when the welding wire at the end of the torch contacts the work member. In addition, a method of recognizing a member to be operated in a non-contact manner by applying a one-dimensional displacement sensor to the end of the robot in addition to the touch sensor is applied, so that the shape recognition can be performed more quickly than when only the touch sensor is applied. If all the members, such as the flat block member, are mounted vertically on the workpiece, it is possible to teach the touch sensor and the one-dimensional displacement sensor based on previously stored design data. That is, if the operator inputs general information about the work member such as collar plate, scallop, slot hole, and thickness of the member, the welding robot uses the welding line information formed based on the input information, It is possible to recognize the intersections of the rungs, the frame members and the like and the weld lines in order.

However, in the case of the tune block, it is impossible to match the design data to the corresponding work section because the mounting states of the work members are different for every work section. In other words, in order to weld a member in a tongue block, the welding apparatus must know the thickness and spacing information of the members, the collar plate and the arrangement of the scallop and the slot hole in the weld zone to be primarily welded. Further, information on the vertical / horizontal inclination of the T-bar longevity member, the vertical / horizontal inclination of the frame member, and the distance from the apparatus to the T-bar longevity member are required. Furthermore, it is necessary to grasp the degree of gap of the welded portion and whether or not the improvement process is performed on the characteristic of the curved block, so that welding can be performed without defects.

As a related art patented technique, a carriage driven longitudinally or laterally along a fillet weld; A displacement sensor provided on the upper side of the vertical workpiece to have a proximity sensing unit for measuring a lateral distance between the vertical sensing member and the vertical workpiece; And deriving a slope of the vertical workpiece from a horizontal separation distance between a measurement point of the displacement sensor on the vertical workpiece on which the lateral displacement measurement is made by the displacement sensor and a vertical line passing through the reference point, And a torch controller for tracking the lateral displacement of the fillet weld with respect to a vertical line passing through the reference point and controlling and adjusting the position and angle of the weld torch so as to maintain a set distance from the fillet weld, And a method of operating the carriage apparatus is disclosed (see Patent Document 1).

Korean Patent Publication No. 10-2010-0056069

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems and it is an object of the present invention to provide a welding automation apparatus and a method for operating the same in a curved block of a ship capable of improving welding productivity and working conditions through welding automation for a curved block U- The purpose is to provide.

In order to achieve the above object, an automatic welding apparatus for a member in a curved block of a ship according to the present invention is an apparatus for automatically performing member welding in a curved block of a ship, A base platform that allows the user to perform the following: A sensor unit capable of measuring a tilt and an arrangement state of each member for welding in a work section; A tilting frame capable of adjusting a posture of the robot in accordance with a tilt of each member located on the side of the apparatus measured by the sensor unit so as to prevent interference and collision between the respective members mounted on the base platform and the robot, Wealth; The vertical / horizontal inclination of each member corresponding to the arrangement state of the respective members disposed in front of the apparatus measured by the sensor unit so as to prevent interference and collision between the respective members mounted on the tilting frame unit and the robot, A horizontal driving unit capable of correcting a working radius of the robot according to different application intervals; And a robot mounted on the horizontal driving unit for performing welding, wherein the sensor unit comprises: a tilt sensor installed on the base platform for measuring a tilt of each member positioned on a side of the apparatus; A plurality of distance sensors provided on the base platform for measuring a vertical / horizontal inclination of each member positioned at the front of the apparatus so as to grasp the arrangement state of the members, and based on the arrangement state of the members measured by the distance sensor And a line laser for displaying an installation position of the base platform in accordance with the tilt-related member arrangement information of the identified member.

Here, on / off permanent magnets may be installed on the lower part of the base platform.

In addition, it is also possible to arrange the base platform at an intermediate position between the respective members located on both sides of the apparatus, and also to sense the horizontal inclination between the base platform and the respective members and to detect vertical / horizontal inclination of each member measured by the plurality of distance sensors And a pair of distance sensors provided on both sides of the tilting frame so as to obtain relative position information between the base platform and the respective members in association with each other.

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In order to achieve the above-mentioned object, the present invention provides an apparatus for automatically welding a member in a curved block of a ship, comprising: A base platform to allow welding to be performed; A sensor unit capable of measuring a tilt and an arrangement state of each member for welding in a work section; A tilting frame capable of adjusting a posture of the robot in accordance with a tilt of each member located on the side of the apparatus measured by the sensor unit so as to prevent interference and collision between the respective members mounted on the base platform and the robot, Wealth; The vertical / horizontal inclination of each member corresponding to the arrangement state of the respective members disposed in front of the apparatus measured by the sensor unit so as to prevent interference and collision between the respective members mounted on the tilting frame unit and the robot, A horizontal driving unit capable of correcting a working radius of the robot according to different application intervals; And a robot mounted on the horizontal driving unit to perform welding. The robot is configured as a multiaxial robot having multiple degrees of freedom. In order to reduce the teaching time of the welding part, the state of the workpiece including the welding line and gap information is promptly And a two-dimensional sensor is installed so as to perform accurate sensing.

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In order to accomplish the above object, a method of operating an automatic welding apparatus for a member in a curved block of a ship according to the present invention is a method for welding a member including a T-bar longevity member and a frame member to a workpiece, A method of operating a welding automation apparatus, comprising: inputting design information including a thickness and a separation distance of a target member for welding in a work section; Detecting a vertical / horizontal inclination of the members including the T-bar longevity member and the frame member; Sensing target member shape information by sensing a distance between the welding automation apparatus and the members; Acquiring target member precision shape information using a two-dimensional sensor; And performing a welding operation based on the precise shape information.

According to the present invention, it is possible to quickly and precisely measure the inclination and the arrangement state of the inner material of the various and complicated curved block U-cell sections which can not be applied to the welding automation apparatus, and automatically perform the welding based on this, Can greatly improve.

Fig. 1 is a photograph showing a U-cell welding section of a song block. Fig.
Fig. 2 is a photograph showing a manual welding of the U-block section of a song block.
FIG. 3 is a photograph showing the automatic welding of the flat block U-cell section. FIG.
4 is a conceptual diagram of an automatic welding apparatus for members in a curved block of a ship according to the present invention.
FIG. 5 is a view showing the state of use of an automatic welding apparatus for members in a curved block of a ship according to the present invention. FIG.
FIGS. 6 to 9 are views showing the use state of the tilting frame portion according to the present invention. FIG.
10 is a view illustrating a state of use of a distance sensor installed on a base platform according to the present invention.
11 is a use state diagram of a line laser according to the present invention.
12 is a view showing a state of use of a distance sensor provided on both side surfaces of a tilting frame portion according to the present invention.
13 to 14 are views showing the state of use of the horizontal driving unit according to the present invention.
15 is a use state diagram of a two-dimensional sensor according to the present invention.
16 is a flowchart for explaining a method of operating an automatic welding apparatus for members in a curved block of a ship according to the present invention.
17 is a view for explaining a process of calculating a vertical / horizontal inclination of a frame member located in front of the apparatus using a plurality of distance sensors.
18 is a diagram for explaining a process of calculating a horizontal slope of a base platform reference T-bar runner member using a pair of distance sensors.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

FIG. 4 is a conceptual diagram of a welding automation apparatus for welding members in a curved block according to the present invention, FIGS. 5 to 8 are views showing the state of use of an automatic welding apparatus for members in a curved block of a ship according to the present invention, Fig. 10 is a view showing the state of use of the distance sensor provided on the base platform according to the present invention, Fig. 11 is a view showing the state of use of the line laser according to the present invention, Fig. FIGS. 13 to 14 are views showing the state of use of the horizontal drive unit according to the present invention, and FIG. 15 is a state of use of the two-dimensional sensor according to the present invention.

The technical idea of the present invention is to provide a welding automation apparatus for a member in a curved block of a ship, which is capable of significantly improving the productivity and working conditions of the welding work through welding automation for a curved block U-cell section.

As shown in the drawings, an apparatus for automatically welding a member in a curved block of a ship according to the present invention and a method of operating the same 100 is an apparatus for automatically performing welding on a member in a curved block of a ship, A sensor unit 120, a tilting frame unit 130, a horizontal driving unit 140, and a robot 150.

The base platform 110 is fixed to the bottom surface of the workpiece 10 so that the apparatus 100 can smoothly perform welding. At this time, a permanent magnet 111 is installed under the base platform 110 to turn on / off the magnetic force to more easily fix or separate the bottom surface of the workpiece 10 .

The sensor unit 120 includes a torsion bar 20 and a torsion bar 30 which are positioned at the side of the apparatus and a T-bar runner 20 positioned at the side of the apparatus, And the placement state.

Specifically, the sensor unit 120 includes a tilt sensor 121 mounted on the base platform 110, a plurality of distance sensors 122, and a pair of tilting frames 130 installed on both sides of the tilting frame 130, The distance sensor 123 may be provided.

The tilt sensor 121 measures the tilt of the T-bar long member 20, which is a member positioned on the side of the apparatus.

6-9, when the tilt sensor 121 measures the inclination of the T-bar runner 20, the tilt sensor 121 detects the inclination of the T- The driving part of the tilting frame part 130 is operated by the inclination of the T-bar runge member 10 to automatically change the attitude of the robot 150 according to the inclination of the T-bar runner 20, Thereby preventing the robot 150 from colliding with or interfering with the left / right T-bar runner member 20 during installation and operation of the apparatus.

The plurality of distance sensors 122 may be installed vertically and horizontally. The vertical and horizontal inclination of the frame member 30, which is a member positioned in front of the apparatus, is measured to determine the arrangement state of the members.

To explain the operation of the plurality of distance sensors 122, as shown in FIG. 10, a plurality of distance sensors 122 sense the vertical / horizontal inclination of the frame member 30 located at the front of the apparatus, Since the arrangement information can be grasped, it is possible to cope with the shape of the tune block having a different arrangement for each work section. For example, when two or more distance sensors 122 are vertically installed, the distance between the frame members 30 at the front of the apparatus is measured by two pairs of distance sensors 122 on the basis of the set base platform 110, Dimensional straight line can be formed through the straight line. Therefore, the vertical / horizontal inclination information of the frame member 30 can be obtained.

The line laser 160 may further include a line laser 160 for displaying an installation position of the base platform 110 according to the tilt-related member placement information of the member based on the arrangement state of the member measured by the distance sensor 122 .

To explain the operation of the line laser 160, as shown in FIG. 11, the installation position is automatically displayed by the line laser tilting driver so that the operator can easily move the apparatus to the designated position.

As shown in FIG. 12, the pair of distance sensors 123 are arranged such that the base platform 110 is disposed at an intermediate position of a T-bar long member 20, which is a member disposed on both sides of the apparatus, The base platform 110 senses the horizontal inclination between the base platform 110 and each of the members and correlates with the vertical / horizontal inclination of each member measured by the plurality of distance sensors 122, Relative position information between the members can be obtained. Thus, a first teaching (shape recognition) operation is performed between the apparatus and the workpiece simultaneously with the setting of the apparatus 100.

The tilting frame unit 130 is mounted on the base platform 110 and is mounted on the sensor unit 120 to prevent interference and collision between the respective members positioned on the side of the apparatus 100 and the robot 150. [ And adjusts the posture of the robot 150 corresponding to the inclination of the members 20 and 30 located at the apparatus side 100 measured at the side of the apparatus.

The horizontal driving unit 140 is installed to be driven in a rack and pinion structure in the longitudinal direction of the workpiece 10 in a direction perpendicular to the tilting frame unit 130. The horizontal driving unit 140 includes the members 20 Corresponding to the arrangement of the members 20 and 30 positioned in front of the device 100 measured by the sensor unit 120 so as to prevent interference and collision between the robot 150 and the robot 100, The vertical / horizontal inclination of the member serves to correct the working radius of the robot 150 according to different application periods.

That is, unlike the flat blocks, where the welding lines are longitudinally oriented, the curved blocks may approach or stay away from the length of the device 100, depending on the slope between the members. On the other hand, since the robot 150 performing welding performs welding work without interference and collision between the T-bar runners 20 on both sides, it needs to be downsized, so that the working radius is not wide. Therefore, as shown in FIG. 10, the horizontal driving unit 140 interlocks with the robot 150 to expand the working radius of the robot 150.

The robot 150 may be mounted on the horizontal driving unit 140 to perform welding, and may be configured as a multi-axis robot having multiple degrees of freedom since it is required to be able to perform all-position welding. At this time, a two-dimensional sensor 151 may be installed at the end of the robot 150 to quickly and accurately sense the state of the workpiece including the welding line and gap information to reduce the welding part teaching time.

In other words, the inclination of the T-bar longevity member 20 and the inclination of the frame member 110 on the basis of the base platform 110 are detected by the distance sensors 122 and 123 installed in the left / The vertical / horizontal inclination of the robot 150, and the distance information are obtained. Thus, as shown in FIG. 15, based on this information, the robot 150 moves along the welding line 1 The two-dimensional information of the 2D sensor such as the improvement angle and the gap between the members of the welding line together with the movement position of the robot 150 can be combined in real time to obtain precise shape information. Therefore, it is possible to drastically reduce the time required for teaching one by one using the existing touch sensor in the vicinity of the member shape, thereby improving the working efficiency.

FIG. 16 is a flowchart illustrating a method of operating an automatic welding apparatus for a member in a curved block of a ship according to the present invention. FIG. 17 is a flowchart illustrating a method for calculating vertical / horizontal inclination of a frame member located in front of the apparatus using a plurality of distance sensors 18 is a view for explaining a process of calculating a horizontal slope of a base platform reference T-bar longitude member using a pair of distance sensors.

16 to 18, a method for operating an automatic welding apparatus for members in a curved block of a ship according to the present invention will be described.

For reference, in the case of a tune block, it is impossible to match the design data to the corresponding work section because the mounting states of the work members are different for every work section. That is, in order for the apparatus 100 to weld the members in the curved block, it is necessary to know how the arrangement of the thickness and spacing information of the members, the collar plate, the scallop, and the slot hole is configured in the welding section to be primarily welded . In addition, vertical / horizontal inclination of the T-bar long member 20 based on the welding apparatus 100, vertical / horizontal inclination of the frame member 30, and distance from the apparatus are required. Furthermore, it is necessary to grasp the degree of gap of the welded portion and whether or not the improvement process is performed on the characteristic of the curved block, so that welding can be performed without defects.

In order to quickly and efficiently perform such a complicated shape recognition process, the method for operating the welding automation apparatus according to the present invention performs a primary shape recognition operation at the time of installing the apparatus and performs a second precise shape recognition after installation of the apparatus present.

Referring to FIG. 16, first, an input device (not shown) such as a touch panel provided in the welding automation apparatus 100 is used to process target members for welding in a work section, that is, a T-bar runner member Design information including the thickness and the spacing distance of the frame member 30 positioned at the front of the apparatus or the like is input at step S110.

After the base platform 110 is placed on the face of the T-bar longevity member 20, the tilt of the T-bar longevity member 20 is detected by using the tilt sensor 121 installed on the base platform 110 The horizontal inclination is sensed (S120, S130).

Then, the base platform 110 is moved to the two T-bars (not shown) so as to prevent interference or collision with the T-bar runner member 20 located on the side of the apparatus based on the horizontal slope of the detected T- And is installed between the lounger members 20 (S140).

Next, the vertical / horizontal inclination of the frame member 30 located at the front of the apparatus is sensed using a plurality of distance sensors 122 installed on the base platform 110 (S150).

Thereafter, in order to prevent the frame member 30 from interfering with or colliding with the frame member 30 in accordance with the vertical / horizontal inclination of the detected frame member 30, The base platform 110 is installed at one position (S160).

Next, the horizontal inclination of the T-bar longevity member 20, the distance between the T-bar longevity member 20 and the device, the distance between the T-bar longevity member 20 and the device using the tilt sensor 121 and the distance sensors 122, The vertical / horizontal inclination, and the distance between the frame member 30 and the apparatus are detected to acquire object member shape information (S170). This step is a first-order teaching step of recognizing the target member shape information as a primary step. The horizontal inclination of the T-bar runout member 20, the distance between the T-bar runout member 20 and the frame member 30, And information on the vertical / horizontal inclination are combined to obtain three-dimensional shape information.

The base platform 110 may be positioned at the center of the workpiece 10 so that the base platform 110 is positioned at the center of the workpiece 10. In this case, -bar The tilt information of the T-bar long member 20 can be easily obtained through the inclination sensor 121 provided on the rear portion of the base platform 110 by placing the bar on the face portion of the member 20, Since the tilting frame unit 130 is automatically tilted, it is easy to install the base platform 110 between the two T-bar runners 20.

The vertical and horizontal inclination of the frame member 30 is an element that directly affects the workspace of the apparatus 100. The vertical and horizontal inclination of the frame member 30 is a factor that directly affects the workspace of the apparatus 100, It is necessary to work to match. This can be detected by a plurality of sensors 122 installed on the front surface of the base platform 110. That is, the distance between the frame members 30 is calculated through the plurality of sensors 122, which are displacement sensors, so that a plurality of three-dimensional coordinate points are generated, and at least two straight lines are derived therefrom.

Therefore, the vertical / horizontal inclination of the frame member 30 can be calculated through the inclination between the straight lines. 17, coordinate data of P 1 to P 4 are formed on the frame member by the four sensors 122, and a straight line denoted by L 1 to L 4 is derived in a three-dimensional space. The vertical slope of the straight line designated by L 3 or L 4 becomes the vertical slope of the frame member 30 and the horizontal slope of the straight line designated by L 1 or L 2 is the horizontal slope of the frame member 30.

The line laser 160 provided on the front part of the base platform 110 automatically displays the installation position based on the vertical / horizontal inclination of the frame member 30, .

When the movement of the base platform 110 is completed, two pairs of distance sensors 123, which are displacement sensors provided on the tilting frame unit 130, are detected based on the moved final position, and distance sensors 122 Dimensional shape information can be obtained. That is, the two distance sensors 123 provided in the tilting frame unit 130 sense the displacement between the device and the T-bar runner member 20 on the left and right of the device, respectively, and one straight line is calculated. The horizontal inclination between the device and the T-bar long member 20 is calculated. In addition, the two distance sensors 123 can detect the position of the apparatus 100 between the T-bar runners 20.

Referring to FIG. 18, coordinate points P 5 to P 8 are formed on the T-bar long member 20 by the distance sensor 123 on the left and right sides of the tilting frame portion 130, respectively. L 5 , and L 6 , respectively. Thus, the horizontal slope of the straight line of L 5 and L 6 becomes the horizontal slope of the base T-bar runner member 20 of the base platform 110.

A plurality of distance sensors 122 provided on the front portion of the base platform 110 measure the vertical and horizontal inclination and the separation distance of the frame member 30 once again in the same manner as the method for mounting the base platform 110 Thereby updating the information between the members at the final position of the apparatus 100. [

The three-dimensional shape of the work members 20 and 30 can be recognized through the sensors 122 and 123 when the apparatus is installed. In particular, since the second-order precision teaching operation is performed, it is possible to acquire only rough shape information with a slight error without acquiring accurate member shape information in the first-order teaching step. Therefore, It is possible to obtain three-dimensional shape information on the work member.

When the installation of the base platform 110 is completed, a robot 150 for performing an actual welding operation is mounted on the horizontal driving unit 140 (S180).

Next, the target member precise shape information is obtained using the two-dimensional sensor 151 installed in the robot 150, and then the welding operation is performed based on the obtained precise shape information (S190, S200).

In other words, when the installation of the base platform 110 is completed, a welding robot 150 for performing an actual work is mounted, and a two-dimensional sensor 151, which is a displacement sensor provided at an end of the welding robot 150, Secondary precision teaching is performed. The second precision teaching is performed by the operator on the basis of the arrangement manner of the collar plate, slot hole, scallop, thickness information of the work member, and the actual welding line calculated on the basis of the three-dimensional member information obtained by the first- Is performed quickly and simply.

That is, since the two-dimensional sensor 151 provided at the end of the welding robot 150 is not a contact type but can acquire two-dimensional information at a distance distant from the target object by a certain distance, It is possible to more precisely recognize the state of the member and the gap between the members based on the end of the robot. Since the welding robot 150 acquires the two-dimensional shape information by moving only the welding line to be welded without recognizing the work member, the teaching time is much faster and more accurate than the conventional one-dimensional displacement sensor and the touch sensor. .

Thus, the end position data of the robot moved by the welding robot 150 and the two-dimensional shape information acquired by the two-dimensional sensor 151 are matched in real time, thereby enabling the more accurate three-dimensional shape and gap information of the workpiece And the welding robot 150 can automatically perform the welding operation based on the obtained precise shape information.

As described above, according to the present invention, when the automatic welding apparatus and its operating method for a member in a tune block of a ship are applied, the tilt and the arrangement state of the various and complicated tile block U-cell section inner member are sensed, By automatically performing welding without interference or collision with the members, productivity and working conditions of the welding work can be greatly improved.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the invention is not limited to the disclosed exemplary embodiments, And various modifications, alterations, and changes may be made without departing from the scope of the present invention.

Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

100: welding automation device 110: base platform
111: permanent magnet 120: sensor part
121: tilt sensor 122, 123: distance sensor
130: tilting frame part 131: tilting frame drive motor
132: timing belt & pulley 133: tilting frame drive shaft
140: horizontal driving part 141: horizontal driving part frame
142: Robot connection bracket 150: Robot
151: two-dimensional sensor 160: line laser
161: Line laser tilting driving unit

Claims (7)

An apparatus (100) for automatically performing member welding in a curved block of a ship,
A base platform (110) secured to a bottom surface of the workpiece to allow the apparatus to perform welding;
A sensor unit 120 for measuring the inclination and arrangement of the respective members for welding in the work zone;
In correspondence to the inclination of the respective members located on the side of the apparatus measured by the sensor unit 120 so as to prevent interference and collision between the robot 150 and the respective members mounted on the base platform 110, A tilting frame part 130 for adjusting the posture of the robot 150;
The arrangement state of the respective members disposed at the front of the apparatus measured by the sensor unit 120 so as to prevent interference and collision between the robot 150 and each member mounted on the tilting frame unit 130 A horizontal driving unit 140 that can correct the working radius of the robot 150 corresponding to different application periods of the vertical / horizontal slopes of the respective members correspondingly;
And a robot (150) mounted on the horizontal driving part (140) and performing welding,
The sensor unit 120 includes:
A tilt sensor 121 installed on the base platform 110 so as to measure a tilt of each member located at a side of the apparatus;
And a plurality of distance sensors (122) installed on the base platform (110) so as to measure the vertical / horizontal inclination of each member located at the front of the apparatus so as to grasp the arrangement state of the members,
And a line laser 160 for displaying an installation position of the base platform 110 according to the tilt-related member arrangement information of the member based on the arrangement state of the member measured by the distance sensor 122 Automated Welding Welding Device in the Curved Block of a Ship. The method according to claim 1,
And an on / off permanent magnet (111) is installed below the base platform (110). delete delete The method according to claim 1,
The base platform 110 is disposed at an intermediate position between the respective members disposed on both sides of the apparatus and the horizontal tilt between the base platform 110 and each member is sensed and the angles measured by the plurality of distance sensors 122 And a pair of distance sensors 123 installed on both sides of the tilting frame part 130 so as to obtain relative position information between the base platform 110 and the respective members in association with the vertical / Wherein the apparatus comprises: An apparatus (100) for automatically performing member welding in a curved block of a ship,
A base platform (110) secured to a bottom surface of the workpiece to allow the apparatus to perform welding;
A sensor unit 120 for measuring the inclination and arrangement of the respective members for welding in the work zone;
In correspondence to the inclination of the respective members located on the side of the apparatus measured by the sensor unit 120 so as to prevent interference and collision between the robot 150 and the respective members mounted on the base platform 110, A tilting frame part 130 for adjusting the posture of the robot 150;
The arrangement state of the respective members disposed at the front of the apparatus measured by the sensor unit 120 so as to prevent interference and collision between the robot 150 and each member mounted on the tilting frame unit 130 A horizontal driving unit 140 that can correct the working radius of the robot 150 corresponding to different application periods of the vertical / horizontal slopes of the respective members correspondingly;
And a robot (150) mounted on the horizontal driving part (140) and performing welding,
The robot 150 is composed of a multi-axis robot having multiple degrees of freedom,
And a two-dimensional sensor (151) is installed at the end of the vessel so that the state of the workpiece including the welding line and gap information can be quickly and precisely sensed in order to reduce the welding part teaching time. Device. A method of operating an automatic welding apparatus (100) in a curved block of a vessel for welding members including a T-bar longevity member (20) and a frame member (30) to a workpiece (10)
Inputting design information including a thickness and a separation distance of target members for welding in a work section;
Sensing a vertical / horizontal slope of the members including the T-bar longevity member 20 and the frame member 30;
Detecting the distance between the welding automation apparatus 100 and the members to obtain target member shape information;
Acquiring target member precision shape information using the two-dimensional sensor 151;
A method of operating a member welding automation device in a curved block of a ship, comprising the step of performing a welding operation based on precise shape information.
KR1020150169726A 2015-12-01 2015-12-01 The automatic equipment for welding ship's curve block and method of operating the same KR101724424B1 (en)

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KR20200069713A (en) 2018-12-07 2020-06-17 대우조선해양 주식회사 Method for generating operation path for welding robot
KR20210004527A (en) 2019-07-05 2021-01-13 대우조선해양 주식회사 Welding robot apparatus for producing curved blocks of hull
KR20210004485A (en) 2019-07-04 2021-01-13 주식회사 신독 Multi-joint robot tilting device for working radius extension
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KR20240043269A (en) 2022-09-27 2024-04-03 한화오션 주식회사 Automatic welding method for block inner materials of ships
KR20240045594A (en) 2022-09-30 2024-04-08 한화오션 주식회사 Curved Block Welding Method Using 3D Depth Measurement Sensor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200069713A (en) 2018-12-07 2020-06-17 대우조선해양 주식회사 Method for generating operation path for welding robot
KR20210004485A (en) 2019-07-04 2021-01-13 주식회사 신독 Multi-joint robot tilting device for working radius extension
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KR20240045594A (en) 2022-09-30 2024-04-08 한화오션 주식회사 Curved Block Welding Method Using 3D Depth Measurement Sensor

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