KR102018669B1 - Movable welding apparatus and control method for the same - Google Patents

Abstract

A mobile welding robot and a control method thereof are disclosed. Mobile welding robot according to an embodiment of the present invention is provided with a base portion having a plurality of wheels, the robot installation portion to move up and down from the base portion, the robot installation portion is rotatable, the robot equipped with a welding torch An arm, a height sensor for measuring the height of the robot installation unit, a distance sensor for measuring the distance between the robot installation unit and the front object and a driving unit for providing a driving force for the movement of the robot installation unit.

Description

Mobile welding device and its control method {MOVABLE WELDING APPARATUS AND CONTROL METHOD FOR THE SAME}

The present invention relates to a mobile welding device, and more particularly, to a welding device which is movable and equipped with a welding robot and a control method thereof.

Welding apparatus equipped with a welding robot performs a welding operation in various environments. The welding target or the welding request portion may be provided in various shapes, and the workspace where the welding target is located may also be configured in various environments.

Depending on the shape or type of the object to be welded, the space required for the welding device to perform the welding operation may vary, but the work space in which the welding object is located does not meet the spatial characteristics required to perform the welding operation. There can be.

Therefore, the optimum space utilization and the welding operation according to the welding request site or the welding method of the welding target are an important problem in the welding apparatus using a welding robot.

The matters described as the background art are only for the purpose of improving the understanding of the background of the present invention, and should not be taken as acknowledging that they correspond to the related art already known to those skilled in the art.

Embodiments of the present invention are to provide a mobile welding apparatus and a control method for effectively identifying and adjusting the working position of the welding robot, improving the structural stability and providing an effective working environment.

According to one aspect of the invention, the mobile welding device is provided with a base portion having a plurality of wheels, the robot installation portion moved up and down from the base portion, the robot installation portion is rotatable, the robot provided with a welding torch An arm, a height sensor for measuring the height of the robot installation unit, a distance sensor for measuring the distance between the robot installation unit and the front object and a driving unit for providing a driving force for the movement of the robot installation unit.

Lifting members coupled to the robot mounting portion, the lifting member and the base portion are alternately arranged, the plurality of guide rails extending in the vertical direction and the plurality of guide rails alternately arranged to face the plurality of guide rails And, may further include a guide block coupled to each of the sliding guide rail facing.

The driving part may include a hydraulic cylinder provided at the base part and having an end hinged to the lifting member to move the lifting member up and down.

The robot arm includes a first cable guide and a second cable guide through which a cable connected to the welding torch penetrates, and having a rotation axis perpendicular to the longitudinal direction of the robot arm, from the welding torch to the first cable guide. The second cable guide located farther apart may be provided to be slidable in a longitudinal direction of the robot arm and in a direction perpendicular to the rotation axis.

It may further include a brake device including a magnetic member moved up and down between the base portion and the bottom surface, and selectively restricts movement of the base portion.

In the horizontal welding mode in which the welding demand range of the welding object is located on a horizontal plane, the robot mounting portion is positioned higher than the welding object by a reference value, and the welding value is corrected when the welding demand range is out of the working range of the robot arm. The control unit may further include a.

The control unit derives a workable range of the robot arm from the distance from the welded object measured by the distance sensor in the vertical welding mode in which the weld demand range of the weld target is located on a vertical plane, and the weld request range is the work. When included in the possible range, the robot installation portion may be located in the center of the welding demand range.

The height sensor is provided in plural to measure the relative height of the robot mounting portion relative to the base portion, the control unit is determined as the relative height by averaging the measured value of each height sensor, the height of the base portion relative to the floor surface The final height may be calculated by summing the relative heights.

The distance sensor may be provided in plural, and the controller may derive the workable range based on the matched measurement value when the measured values of the respective distance sensors coincide with each other.

On the other hand, the control method of a mobile welding device according to an aspect of the present invention comprises the steps of determining whether the control unit is a horizontal welding mode or a vertical welding mode, when it is determined that the horizontal welding mode, the control unit using the height sensor robot installation unit Controlling the driving unit to be positioned higher by a reference value than the welding object, and when the welding demand range of the welding object is outside the working range of the robot arm installed in the robot mounting unit, the controller controls the height of the robot mounting unit to adjust the height. Including the welding requirements within the workable range.

After the step of including the welding request range, the control unit may further include the step of measuring the distance value for the obstacle in front of the distance sensor, and using the distance value to correct the workable range.

When the horizontal welding mode and the vertical welding mode are determined as the vertical welding mode, the control unit derives the workable range from the distance to the welding object measured by the distance sensor and the welding request range. When is included in the workable range, the control unit may further include the step of controlling the drive unit to be located in the center of the welding request range the robot installation unit.

Embodiments of the present invention as described above can improve structural stability and provide an effective working environment. Furthermore, it is possible to effectively grasp and adjust the working position of the welding robot according to the welding demand range.

1 is a view showing a mobile welding device according to an embodiment of the present invention.
Figure 2 is a view showing the robot installation portion in the mobile welding device according to an embodiment of the present invention.
Figure 3 is a view showing a lifting member is installed a guide rail in a mobile welding apparatus according to an embodiment of the present invention.
Figure 4 is a view showing a welding robot in a mobile welding device according to an embodiment of the present invention.
5 is a view showing a brake device in the mobile welding device according to an embodiment of the present invention.
6 is a view schematically showing the working range of the welding robot in the mobile welding device according to an embodiment of the present invention.
7 is a flow chart showing a control method of a mobile welding device according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention.

As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

In this specification, duplicate descriptions of the same components are omitted.

Also, in the present specification, when a component is referred to as being 'connected' or 'connected' to another component, the component may be directly connected to or connected to the other component, but in between It will be understood that may exist. On the other hand, in the present specification, when a component is referred to as 'directly connected' or 'directly connected' to another component, it should be understood that there is no other component in between.

Also, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Also, in this specification, the singular forms may include the plural forms unless the context clearly indicates otherwise.

Also, as used herein, the term 'comprises' or 'having' is only intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more. It is to be understood that it does not exclude in advance the possibility of the presence or addition of other features, numbers, steps, actions, components, parts or combinations thereof.

Also in this specification, the term 'and / or' includes any combination of the plurality of listed items or any of the plurality of listed items. In the present specification, 'A or B' may include 'A', 'B', or 'both A and B'.

1 illustrates a mobile welding robot and a welding target 50 according to an embodiment of the present invention. As shown in FIG. 1, the mobile welding robot includes a base part 100 provided with a plurality of wheels 110, a robot installation part 200 moved up and down from the base part 100, and the robot installation part ( It is provided to be rotatable in the 200, the robot arm 250 provided with a welding torch 252, the height sensor 210 for measuring the height of the robot installation unit 200, the robot installation unit 200 and the front It includes a distance sensor 230 for measuring the distance between objects and a driving unit 350 for providing a driving force for the movement of the robot installation unit 200.

The base unit 100 may be configured as a flat plate-shaped base plate spaced from the ground, and may further include a plurality of frames. The shape of the base part 100 may be variously determined as needed. In FIG. 1, a base part 100 including a base plate and a plurality of frames is illustrated.

The base unit 100 includes a plurality of wheels 110, and the wheels 110 may be provided as omni wheels 110 for omnidirectional movement, and the number thereof may be variously determined as necessary. 1 illustrates a base portion 100 having four omni wheels 110 provided at each corner side under the base portion 100 as an embodiment of the present invention.

On the other hand, the robot installation unit 200 is provided to be moved up and down on the base unit 100. The robot installation unit 200 may have a lifting structure capable of lifting and lowering, and may have a vertical movement structure in various ways.

2 shows a robot installation unit 200 of the mobile welding device shown in FIG. The robot installation unit 200 shown in Figs. 1 and 2 has a flat plate shape parallel to the ground so that the welding robot can be installed as an embodiment of the present invention, and has a mounting point where the welding robot is installed at one point. It has a lifting structure composed of rail type.

Robot mounting portion 200 is preferably located on the upper side of the base portion 100, more preferably the front end is located on the rear side than the front wheel 110 provided on the base portion 100. It is possible to suppress the inclination of the mobile welding apparatus according to the present invention forward by the load of the robot installation unit 200 including a welding robot.

On the other hand, the robot arm 250 may be provided to be rotatable in the robot installation unit 200. That is, the robot arm 250 has one end coupled to the installation point of the robot installation unit 200 in a rotatable structure, and a welding torch 252 is provided at the other end thereof, and the welding torch 252 is the installation point. It may have a sphere or circular working range 260 around. (See Figure 6)

In the present invention, the workable range 260 means a rotatable range in which the welding torch 252 of the robot arm 250 can perform welding. The robot arm 250 may be provided in various shapes, and FIG. 1 discloses a robot arm 250 having a plurality of pivotal joints as an embodiment of the present invention.

On the other hand, the height sensor 210 measures the height of the robot installation unit 200. The height sensor 210 may be provided in the base unit 100 or the robot installation unit 200, and may be provided in various types such as an ultrasonic wave, an infrared ray, and an image photographing device.

1 and 2 is provided with a pair of height sensors 210 as an embodiment of the present invention is provided on the lower surface of the robot installation unit 200, the distance from the object located below the robot installation unit 200 It is shown a state provided with a laser type sensor for measuring the.

In the present invention, the current height of the robot measuring unit can be derived through the measured value of the height sensor 210, and the height of the robot measuring unit is adjusted in consideration of the welding request ranges 52 and 54 of the welding object 50. .

The welding object 50 may vary, and a welding object 50 having a horizontal or vertical welding requirement range 52 or 54 with respect to the ground may be provided. 1, it is shown that the welding object 50 has a horizontal plane and a vertical plane where welding is required based on the ground.

In the present invention, the welding requirement ranges 52 and 54 mean a spatial range corresponding to a portion of the welding target 50 that requires welding, and may be defined on a horizontal plane or a vertical plane with respect to the ground.

Furthermore, in the case where the portion to be welded is presented in the form of a line as shown in FIG. 1, the welding request ranges 52 and 54 may correspond to the same concept as the length information of the welded portion including the spatial coordinates.

In FIG. 1, welding request ranges 52 and 54 are shown on the basis of a welding portion located on a plane of a welding object 50 parallel to the ground or on a wall surface 55 perpendicular to the welding object. The welding part may exist at the boundary line between the 50 and the wall surface 55 and the boundary line between the wall surface 55 and another neighboring wall, and in this case, the welding request range is set based on the welding part.

When the welding ranges 52 and 54 of the welding object 50 are not included in the workable range 260 of the robot arm 250, the robot is installed based on the measured value of the height sensor 210. By adjusting the height of the part 200, the welding ranges 52 and 54 may be included in the workable range 260.

On the other hand, the distance sensor 230 measures the distance between the robot installation unit 200 and the front object. The distance sensor 230 may be provided in the base unit 100 or the robot installation unit 200, and may be provided in various types such as an ultrasonic wave, an infrared ray, and an image photographing device.

1 and 2 as one embodiment of the present invention is provided with a pair of distance sensor 230 is provided on the upper end of the robot installation unit 200, the distance to the object located in front of the robot installation unit 200 It is shown a state provided with a laser type sensor for measuring the.

The object located in front of the robot installation unit 200 may be a wall surface 55 of the welding object 50, or may be an obstacle limiting the workable range 260, unlike the welding object 50.

When the welding demand range 52 of the welding object 50 is located on a horizontal plane with respect to the ground, the measured value measured by the distance sensor 230 corresponds to a distance from an obstacle limiting the workable range 260. When the welding demand range 54 is located on the wall 55 perpendicular to the ground, the measured value of the distance sensor 230 becomes a distance from the welding object 50 and the welding distance is adjusted by adjusting the corresponding distance. The coverage relationship between the range 54 and the workable range 260 can be adjusted.

On the other hand, the driving unit 350 provides a driving force for the movement of the robot installation unit 200. That is, the driving unit 350 may provide power for lifting the robot installation unit 200, and may be provided with various kinds of motors, hydraulic cylinders, pneumatic cylinders, and the like.

In addition, in addition to the driving unit 350 for elevating and lowering the robot installation unit 200, in one embodiment of the present invention, a driving unit for driving the base unit 100 may be separately provided as necessary.

1 shows a cylinder type driving unit 350 positioned at the rear of the robot mounting unit 200 and having a variable length and providing a displacement for raising and lowering the robot mounting unit 200 as one embodiment of the present invention. Is shown.

One embodiment of the present invention as described above accurately uses the distance sensor 230 and the height sensor 210 to accurately position the position relationship between the welding requirements range 52, 54 of the welding target 50 and the current robot installation unit 200 By moving the base portion 100 or adjusting the lifting height of the robot mounting portion 200 so that the welding request range (52, 54) can be included in the workable range (260) of the robot arm 250 Allows for optimal welding in confined spaces.

Meanwhile, FIG. 2 illustrates a lifting member 300 coupled to the robot installation unit 200 and a guide rail 310 installed at the base 100, and FIG. 3 guides the rear side of the lifting member 300. It is shown that the rail 310 is installed.

As shown in Figure 2 and 3, the mobile welding device according to an embodiment of the present invention is a lifting member 300, the lifting member 300 and the base portion 100 is coupled to the robot installation unit 200 Are alternately disposed on the lifting member 300 and the base part 100 so as to face the plurality of guide rails 310 and the plurality of guide rails 310 extending in the vertical direction. The guide rail 310 may further include a guide block 330 coupled to each other so as to be slidable.

The lifting member 300 is coupled to the robot installation unit 200 and is lifted up and down by receiving power or displacement from the driving unit 350. The robot installation unit 200 coupled with the lifting member 300 is lifted up and down together with the lifting member 300.

Lifting member 300 may be coupled to the rear end of the robot installation unit 200, the type or shape may vary, but may preferably have a flat plate shape extending in the vertical direction.

The guide rail 310 is provided to guide the lifting of the lifting member 300. The guide rail 310 is alternately disposed on the lifting member 300 and the base part 100, and is provided in a rail type extending in the lifting direction.

The guide rail 310 coupled to the lifting member 300 may be located at the rear side of the lifting member 300, and may be combined with the lifting member 300 to reinforce rigidity.

In addition, the guide rail 310 provided in the base portion 100 may be provided in a form extending upward from the lower portion of the base portion 100. The guide rail 310 of the base part 100 supports the lifting member 300 that is moved up and down while being fixed to the base part 100, thereby preventing the lifting member 300 from tilting and improving structural stability. You can.

On the other hand, the guide block 330 is coupled to the guide rail 310 to be slidable. In addition, the guide block 330 coupled to the guide rail 310 provided in the lifting member 300 is fixed to the base portion 100, the guide coupled to the guide rail 310 of the base portion 100 Block 330 is fixed to the lifting member 300.

That is, the lifting member 300 is coupled to the base portion 100 so as to be slidable or liftable using the guide rail 310 and the guide block 330. The guide block 330 of the base unit 100 may be provided on any one frame constituting the base unit 100.

2 shows a guide rail 310 installed in the base portion 100 according to an embodiment of the present invention. Meanwhile, FIG. 3 shows a pair of guide rails 310 provided at both ends of the base part 100. The guide rail 310 installed in the base part 100 may suppress tilting or shaking during the vertical movement of the lifting member 300, and the guide rail 310 installed in the lifting member 300 may lift the member 300. Flexural rigidity and the like in the longitudinal direction can be reinforced.

On the other hand, Figure 3 shows a driving unit 350 according to an embodiment of the present invention. In the mobile welding apparatus according to an embodiment of the present invention, the driving unit 350 is provided on the base unit 100, and an end 352 is hinged to the lifting member 300 to lift the lifting member 300. It may include a hydraulic cylinder for moving up and down.

In one embodiment of the present invention, the drive unit 350 is provided by an hydraulic cylinder is advantageously provided to support the load of the robot installation unit 200 including the robot arm 250. In addition, the hydraulic cylinder is installed in the base portion 100 extending in the vertical direction, the length thereof is variable while adjusting the height of the lifting member 300 or the robot mounting portion 200.

In addition, the hydraulic cylinder has an upper end 352 is hinged to the lifting member 300. Accordingly, even when the lifting member 300 is slightly inclined in the lifting process or deformation occurs at the coupling portion, the hydraulic cylinder can stably provide driving force for lifting to the lifting member 300.

4 illustrates a robot arm 250 installed in the robot installation unit 200 according to an embodiment of the present invention. In the mobile welding device according to an embodiment of the present invention, the robot arm 250 includes a cable through which a cable connected to the welding torch 252 passes and has a rotation axis perpendicular to the longitudinal direction of the robot arm 250. The first cable guide 256 and the second cable guide 257, the second cable guide 257 located further than the first cable guide 256 from the welding torch 252 is the robot arm It is slidable in the longitudinal direction of 250 and in a direction perpendicular to the axis of rotation.

A welding torch 252 may be provided at an end of the robot arm 250, and a cable for providing electric power or the like to the welding torch 252 is provided. However, according to various rotation situations of the robot arm 250, the cable may be wound around the robot arm 250, or may interfere with the operation of the robot arm 250, or the cable may be entangled in maintenance.

Robot cable 250 according to an embodiment of the present invention is provided with a plurality of cable guides 255 through the cable and having a rotation axis perpendicular to the longitudinal direction of the robot arm 250. Preferably, a first cable guide 256 and a second cable guide 257 may be provided on the robot arm 250.

The length of the robot arm 250 may be different depending on the joints. In this case, the robot arm 250 may be defined based on the length direction of the portion provided with the cable guide 255.

The first cable guide 256 and the second cable guide 257 may be of various types or shapes, but as shown in FIG. 4, the robot cable 250 is positioned on the same line as the embodiment of the present invention. It may be arranged so that, and the rotation axis may be arranged side by side with each other.

In one embodiment of the present invention, the second cable guide 257 is provided closer to the robot installation unit 200 than the first cable guide 256. That is, the first cable guide 256 is disposed closer to the welding torch 252 than the second cable guide 257.

The second cable guide 257 may be provided to be slidable to the robot arm 250. Specifically, the second cable guide 257 slides in the longitudinal direction of the robot arm 250 and in a direction perpendicular to the rotation axis. In FIG. 4, a structure in which the second cable guide 257 provided on the upper end side of the robot arm 250 slides to the left and right sides of the robot arm 250 is illustrated.

The sliding structure may be implemented as a rail type as shown in FIG. 4, and at this time, the second cable guide 257 including the rotating shaft may be provided to slide along the rail.

When the robot arm 250 is rotated, the second cable guide 257 located closer to the robot installation unit 200 allows the cable to move within a predetermined range through sliding, thereby reducing the tension that may act on the cable. You can.

Meanwhile, FIG. 5 specifically illustrates the brake device 150 shown in FIG. 1. 5, the movable welding apparatus according to the embodiment of the present invention includes a magnetic member 155 that is moved up and down between the base portion 100 and the bottom surface, and selectively moves the base portion 100. It may further include a brake device to limit to.

The brake device 150 serves to fix the base part 100 at a corresponding position when the movable base part 100 is welded. In one embodiment of the present invention, the brake device 150 includes the magnetic member 155 in consideration of a work space (for example, a ship interior) made of a metal member which may form a attraction force to the magnetic member 155. It is composed.

The magnetic member 155 may be a permanent magnet, but preferably may be provided as an electromagnet having an optional magnetism.

The brake device 150 is a magnetic member 155 is spaced apart from the ground in the moving state of the base portion 100, the magnetic member 155 is lowered to the ground in contact with the ground in the fixed state of the base portion 100 To form a magnetic force.

As shown in Figure 5, in one embodiment of the present invention, the brake device 150 is provided on one side of the base portion 100, a toggle lamp is provided to adjust the height of the magnetic member 155. In addition, the magnetic member 155, which is selectively formed magnetic, such as an electromagnet is provided to form a magnetic force in the fixed situation of the base portion 100 to fix the base portion 100 to the ground.

2 to 3 schematically show a control unit 400 according to an embodiment of the present invention. In the mobile welding robot according to one embodiment of the present invention, in the horizontal welding mode in which the welding demand range 52 of the welding target object 50 is located on a horizontal plane, the robot mounting unit 200 may be disposed in the welding object 50. The controller 400 may further include a controller 400 that is positioned as high as a reference value and corrects the reference value when the welding request range 52 is out of the workable range 260 of the robot arm 250.

The control unit 400 may be provided in the mobile welding apparatus according to the present invention, such as the base unit 100, or may be provided in a separate control console and the like separated from the mobile welding apparatus. The control unit 400 may be connected to the height sensor 210, the distance sensor 230, the driving unit 350, and the like to be capable of transmitting and receiving information.

Meanwhile, as described above, the welding demand ranges 52 and 54 of the welding object 50 may be located on a vertical plane or a horizontal plane with respect to the ground. When the welding demand range 52 exists on the horizontal plane (the In the case of the presence of welds on parallel plates, etc.) in the horizontal welding mode, in the case where the welding requirement range 54 exists on the vertical plane (when the weld site exists on the wall surface 55 perpendicular to the ground, etc.) Is defined as the vertical welding mode.

The horizontal welding mode and the vertical welding mode may be selected by an operator operating a control console, or may be determined by the controller 400 through analysis of measured values of a sensor or analysis of image information of a camera.

In the horizontal welding mode, the controller 400 positions the height of the robot installation unit 200 to be higher than a welding target 50 having the welding request range 52 parallel to the ground by a predetermined reference value. The reference value may be preset in the control unit 400 using statistical and experimental results, and the relative height with the welding object 50 in which the welding operation by the robot arm 250 can be effectively implemented in the horizontal welding mode. Means.

However, the controller 400 does not include the welding request range 52 of the welding object 50 in the workable range 260 of the robot arm 250 in the robot installation unit 200 whose height is determined according to the reference value. In this case, the height of the robot installation unit 200 is adjusted by correcting the reference value.

6 schematically shows the workable range 260 of the robot arm 250. The controller 400 adjusts the height of the robot installation unit 200 by a reference value higher than the horizontal plane in which the portion requiring welding in FIG. 1 exists, and then derives the workable range 260 as shown in FIG. 6 from the corresponding position. In addition, it is determined whether or not the welding required range 52 of the welding object 50 is included in the workable range 260.

The determination of the workable range 260 and the welding demand range 52 is possible by comparing the height value of the welding object 50 with the current height of the robot installation unit 200. This will be described in detail as follows.

First, the control unit 400 specifies the welding request range 52 through the height of the welding object 50 and the length of the welding site, which the operator inputs through the control console or the like or confirms through the sensor or the camera.

In this case, the information input to the control unit 400 is specifically in the horizontal welding mode or vertical welding mode, the height of the bottom of the welding object 50 or the wall 55, the distance to the wall surface 55 or the front obstacle, the welding portion Length, distance to the welded portion, and the like.

In particular, in the horizontal welding mode, information such as the height of the welding object 50, the distance to the front obstacle, the distance to the welding site, the length of the welding site, and the like may be input to the controller 400 by an operator, a camera, or a sensor.

In addition, in the vertical welding mode, information such as the height of the bottom of the wall surface 55, the length of the welded portion, the distance to the wall surface, and the like may be input to the controller 400 by an operator, a camera, or a sensor.

On the other hand, the control unit 400 controls the drive unit 350 so that the robot installation unit 200 is located at a position as high as a reference value with respect to the height of the welding object 50. However, since the reference value is a set value generally set in the welding operation, the welding request range 52 may not be included in the workable range 260 depending on the length of the welding site or the working environment. .

As described above, when the welding requirement range 52 is not included in the workable range 260, the controller 400 may include the welding demand range 52 between the working ranges 260 of the robot arm 250. By adjusting the preset reference value according to the current working situation, and adjusting the height of the robot installation unit 200 to the corrected reference value to set the height of the robot installation unit 200 for each situation.

The reference value is corrected for each job, and the controller 400 may reset the reference value to the initial value when any one welding job is finished.

On the other hand, in the mobile welding device according to an embodiment of the present invention, the control unit 400 in the vertical welding mode in which the welding demand range 54 of the welding object 50 is located on the vertical surface or the wall surface 55, the distance The workable range 260 of the robot arm 250 is derived from the distance from the welding object 50 measured by the sensor 230, and the welding demand range 54 is included in the workable range 260. If so, the robot installation unit 200 is located in the center of the welding request range (54).

The welding object 50 of FIG. 1 has a welding part requiring welding on a wall surface 55 perpendicular to the ground, and corresponds to a vertical welding mode when welding is performed on the wall surface 55. In the vertical welding mode, the control unit 400 specifies the welding request range 54 through the length of the welding portion of the welding object 50 that the operator inputs through a control console or the like or checks through a sensor or a camera.

Thereafter, the control unit 400 determines whether the welding demand range 54 is included in the workable range 260 at the current robot measuring unit position through the distance sensor 230. At this time, in the embodiment in which the movement of the base unit 100 is performed by the controller 400, the controller 400 directly adjusts the distance, and in the embodiment in which the movement of the base unit 100 is performed by an operator, the controller ( 400 is displayed to the worker through the alarm sound or screen for the included state of the workable range 260 and the welding request range (54).

On the other hand, when the workable range 260 includes a welding request range 54 at a distance from the welding target 50, the controller 400 controls the robot installation unit 200 of the welding request range 54. Centered Robot arm 250 is rotated on the basis of the installation point for the robot installation unit 200, the workable range 260 is set up and down equal to the robot installation unit 200, according to the welding requirements range The robot installation unit 200 is positioned at the center of 54 to optimize the welding work up and down.

On the other hand, in one embodiment of the present invention shown in Figures 1 to 2, the height sensor 210 is provided in plurality. In particular, the robot installation unit 200 is positioned so as to overlap the upper portion of the base portion 100, accordingly the height sensor 210 measures the relative height of the robot installation portion 200 relative to the base portion 100. do.

In one embodiment of the present invention, the front end of the robot installation unit 200 is located behind the front end of the base portion 100 can be provided to suppress the generation of the moment forward due to the load of the robot arm 250, etc. Thereby, the height sensor 210 measures the height from the base portion 100 instead of the height from the ground.

On the other hand, the control unit 400 determines the relative height between the current robot installation unit 200 and the base unit 100 by averaging the measured values of each of the plurality of height sensors (210). Accordingly, the height of the robot installation unit 200 can be measured with high reliability.

In addition, the height difference between the base portion 100 and the bottom surface or the ground may be determined in advance according to the size of the wheel 110, the control unit 400 is to adjust the relative height to the height of the base portion 100 relative to the bottom surface. By summing up the final height of the robot installation unit 200.

Meanwhile, in one embodiment of the present invention, a plurality of distance sensors 230 are provided as shown in FIGS. In addition, when the measured values of the distance sensors 230 coincide with each other, the controller 400 may derive the workable range 260 from the matched measured values.

For example, in the vertical welding mode, when the distance sensor 230 is used, even if the workable range 260 satisfies the welding demand range 54, the mobile welding apparatus is a wall surface 55 corresponding to the welding object 50. There may be situations where you do not stare at).

In this case, the controller 400 determines that the working condition is satisfied, but the actual workable range 260 is different from the welding demand range 54, and further, the wall surface 55 in the driving state of the robot arm 250. There is a possibility of collision with the product.

When a plurality of distance sensors 230 are provided as in one embodiment of the present invention, the controller 400 determines whether the measured values of the plurality of distance sensors 230 are the same to each other, so that the mobile welding device is currently welded 50. You can determine if you are facing the front.

Accordingly, when the plurality of distance sensors 230 present the same measured value, the control unit 400 performs a welding process such as deriving a workable range 260 with the corresponding value.

On the other hand, Figure 7 is a flow chart for a control method of a mobile welding device according to an embodiment of the present invention. In the control method of a mobile welding device according to an embodiment of the present invention, the control unit 400 determines whether the horizontal welding mode or the vertical welding mode (S100), and when it is determined that the horizontal welding mode, the control unit 400 Using the height sensor 210 to control the driving unit 350 so that the robot installation unit 200 is positioned by the reference value higher than the welding target 50 (S200) and the welding requirement range 52 of the welding target 50 ) Outside the workable range 260 of the robot arm 250 installed in the robot installation unit 200, the control unit 400 adjusts the height of the robot installation unit 200 to the workable range ( Including step 210, the welding requirement range 52 is included.

In detail, the controller 400 determines whether the welding mode is a horizontal welding mode or a vertical welding mode through analysis of a signal directly input by a worker through a control console or information received through a camera or a sensor.

When it is determined that the horizontal welding mode, the control unit 400 controls the drive unit 350 so that the robot installation unit 200 is positioned by the reference value higher than the welding target 50 by using the height sensor 210, by the reference value When the workable range 260 in the robot installation unit 200 moved to a high position does not include the welding request range 52, the controller 400 corrects the reference value and the robot installation unit 200 of the robot installation unit 200. The height is adjusted to include the welding demand range 52 in the workable range 260.

On the other hand, the control method of a mobile welding device according to an embodiment of the present invention after the step (S210) including the welding request range 52, the control unit 400 is located in the front using the distance sensor 230. The method may further include measuring a distance value for the front member, and correcting the workable range 260 by using the distance value (S220).

The controller 400 may recognize an object in front of the object 50 that is detected by the distance sensor 230 in addition to the welding object 50 positioned on the horizontal plane in the horizontal welding mode as an obstacle for the welding operation. (In the vertical welding mode, the front object corresponds to the welding object 50.)

Even if the current workable range 260 satisfies the welding demand range 52 by adjusting the height of the robot installation unit 200, there is an obstacle ahead and the workable range 260 depending on the distance. ) Needs to be limited by the obstacle.

Accordingly, in the horizontal welding mode, when the distance value is measured through the distance sensor 230, the controller 400 determines that an obstacle exists in front of the robot arm 250 through the distance to the obstacle. The possible range 260 is limited.

If the distance sensor 230 does not exist in the horizontal welding mode, it may be determined that an obstacle does not exist.

On the other hand, the control method of a mobile welding device according to an embodiment of the present invention, when it is determined that the vertical welding mode in the step (S100) of determining the horizontal welding mode and the vertical welding mode, the controller 400 is a distance sensor Deriving the workable range 260 from the distance to the welding object 50 measured through 230 (S300) and the welding request range 54 is included in the workable range 260 The control unit 400 may further include controlling the driving unit 350 so that the robot installation unit 200 is positioned at the center of the welding request range 54 (S310).

Specifically, in the vertical welding mode, the control unit 400 detects the distance to the welding target 50 through the distance sensor 230 and derives the workable range 260 of the robot arm 250 according to the distance. do. On the other hand, when the welding request range 54 identified by the operator's input or the sensor or the camera is out of the workable range 260, the working range 260 by making a beep or moving the position of the base unit 100 It is to be included in the welding requirements range 54.

When the distance to the wall surface 55 and the like to be the welding object 50 is adjusted as described above, the control unit 400 is effective by adjusting the height of the robot installation unit 200 to the height of the center side of the welding request range (54). Configure your work environment.

If the height of the center side of the welding request range 54 exceeds the maximum height of the robot installation unit 200, the control unit 400 may adjust the height of the robot installation unit 200 to the maximum height, the maximum height In the case where the welding demand range 54 is out of the workable range 260, a warning sound or the like may be sent to the worker.

While the invention has been shown and described with respect to particular embodiments, it will be appreciated that various changes and modifications can be made in the art without departing from the spirit of the invention provided by the following claims. It will be self-evident for those of ordinary knowledge.

50: welding target 52, 54: welding range
100: base portion 110: wheel
150: brake device 155: magnetic member
200: robot installation unit 210: height sensor
230: distance sensor 250: robot arm
252: welding torch 255: cable guide
256: first cable guide 257: second cable guide
260: working range 300: lifting member
310: guide rail 330: guide block
350: driving part 352: (hydraulic cylinder) end
400: control unit

Claims (8)

A base part provided with a plurality of wheels;
A robot installation unit moving up and down from the base unit;
A robot arm provided to be rotatable and provided with a welding torch;
A height sensor measuring a height of the robot installation unit;
A distance sensor for measuring a distance between the robot installation unit and a front object; And
And a driving unit providing a driving force for the movement of the robot installation unit.
The robot arm includes a first cable guide and a second cable guide through which a cable connected to the welding torch passes and having a rotation axis perpendicular to the longitudinal direction of the robot arm.
The first cable guide is located closer to the welding torch than the second cable guide is fixed,
The second cable guide positioned closer to the robot installation portion than the first cable guide is provided to be slidable along the rail in a direction perpendicular to the longitudinal direction of the robot arm and the rotation axis. The method according to claim 1,
A lifting member coupled to the robot installation unit;
A plurality of guide rails alternately disposed in the lifting member and the base part and extending in a vertical direction;
And a guide block alternately disposed on the lifting member and the base part so as to face the plurality of guide rails, the guide block being slidably coupled to the opposing guide rails, respectively. delete The method according to claim 1,
In the horizontal welding mode in which the welding demand range of the welding object is located on a horizontal plane, the robot mounting portion is positioned higher than the welding object by a reference value, and the welding value is corrected when the welding demand range is out of the working range of the robot arm. A mobile welding device further comprising a control unit. The method according to claim 4,
The control unit derives a workable range of the robot arm from the distance from the welded object measured by the distance sensor in the vertical welding mode in which the weld demand range of the weld target is located on a vertical plane, and the weld request range is the work. A mobile welding device for positioning the robot installation portion in the center of the welding demand range when included in the possible range. The method according to claim 4,
The height sensor is provided in plurality to measure the relative height of the robot installation portion relative to the base portion,
The control unit averages the measured values of each height sensor to determine the relative height, the mobile welding device for calculating the final height of the robot installation unit by adding the relative height to the height of the base portion relative to the floor surface. In the control method of the mobile welding device of claim 1,
Determining whether the controller is in a horizontal welding mode or a vertical welding mode;
If it is determined that the horizontal welding mode, the control unit using the height sensor to control the drive unit so that the robot installation unit is positioned by the reference value higher than the welding object; And
If the welding range of the welding object is outside the workable range of the robot arm installed in the robot mounting unit, adjusting the height of the robot mounting unit to include the welding request range within the workable range; Control method of a mobile welding device comprising. The method according to claim 7,
In the determining of the horizontal welding mode and the vertical welding mode, deciding the workable range from the distance from the welding object measured by the distance sensor by the controller; And
And controlling the driving unit so that the robot installation unit is located at the center of the welding request range when the welding request range is within the workable range.

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