KR102574209B1 - Concrete mixer drum automatic welding device and method thereof - Google Patents

Abstract

An embodiment of the present invention provides a concrete mixer drum automatic welding device and method. An automatic welding machine for a concrete mixer drum according to an embodiment of the present invention includes a turntable in which a mixing drum is rotatably supported and driven to rotate, and a rotational position of the mixing drum is fixed; a welding carriage located on the inner bottom of the mixing drum, installed on a blade spirally welded to the inner surface of the mixing drum, and having a welding torch; and a control unit for controlling the rotational speed of the mixing drum on the turntable and the relative speed of the welding carriage with respect to the blades to maintain the welding position of the welding torch on the blades.

Description

Concrete mixer drum automatic welding device and its method {CONCRETE MIXER DRUM AUTOMATIC WELDING DEVICE AND METHOD THEREOF}

The present invention relates to an apparatus and method for automatically welding a concrete mixer drum, and more particularly, to an apparatus and method for automatically welding a concrete mixer drum for automatically welding a blade to the inside of a concrete mixer drum.

In general, ready-mixed concrete is a term that refers to concrete that is pre-mixed in a factory and transported to the site to be poured. It is usually transported by a dedicated truck called a concrete mixer car, truck mixer or agitator.

The ready-mixed concrete vehicle is equipped with a mixing drum that mixes and transports concrete. This mixing drum includes a rotating drum body and blades for performing mixing therein. The blades are spirally installed inside the drum body.

The welding work in which the blades are spirally installed inside the drum body requires an operator to enter the inside of the drum body and perform welding while moving the welding torch along the spirally fixed blade.

In this existing mixing drum, blade welding work is entirely dependent on manual work, so productivity is low, work difficulty is high according to closed space, safety environment problems may occur, and quality deviation occurs due to worker's work skill, resulting in poor quality management. There are difficulties.

Moreover, since the welding posture is scattered in the direction of 360 degrees along the spiral direction of the blade, it is difficult to change the welding conditions for each angle, so only skilled workers can work, and the continuity of work is reduced and the fatigue of workers is increased, resulting in productivity. There was a problem with this lowering.

Korean Patent Publication No. 10-2006-0113654

An object of the present invention to solve the above problems is to automatically change the process, which was entirely dependent on manual work, to improve productivity, and to weld without operator intervention even in a closed space to solve the safety environment problem by the operator, Provided is a concrete mixer drum automatic welding device and method that can be welded regardless of the worker's work skill level and can be produced without the need for a separate skilled person.

The technical problem to be achieved by the present invention is not limited to the above-mentioned technical problem, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

Configuration of the present invention for achieving the above object, doedoe mixing drum is rotatably supported and driven to rotate, the turntable in which the rotational position of the mixing drum is fixed; a welding carriage located on the inner bottom of the mixing drum, installed on a blade spirally welded to the inner surface of the mixing drum, and having a welding torch; and a control unit for maintaining the welding position of the welding torch on the blade by controlling the rotational speed of the mixing drum on the turntable and the relative speed of the welding carriage with respect to the blade.

In an embodiment of the present invention, the welding carriage may include a carriage body which is relatively movable and detachably installed on the top of the blade; Torch movement units provided on both sides of the carriage body and vertically moving the welding torch; one or more welding position sensors provided on the carriage body and measuring position and attitude angles of the welding torch; and an angle sensor positioned at a central portion of the carriage body and measuring a relative speed of the carriage body with respect to the blade.

In an embodiment of the present invention, the carriage body is detachable from the upper end of the blade, and includes an operating lever for detachment operation, and a clamp in which the angle sensor is disposed facing the upper surface of the blade; a plurality of clamping rollers provided inside both sides of the clamp and brought into contact with the blade by the operation lever; And it is provided on the outside of both sides of the clamp, it may include a vertical slide for guiding the vertical movement of the torch moving unit.

In an embodiment of the present invention, the plurality of clamping rollers may be arranged so that the rotation center line is inclined with respect to the horizontal line so that the clamp relatively moves in an inclined downward direction from the blade.

In an embodiment of the present invention, the torch moving unit, the welding torch is fixed to the position in the vertical direction, the torch holder coupled to be vertically movable to the slide; And it is coupled to the torch holder may include a vertical driving unit for moving the torch holder up and down.

In an embodiment of the present invention, the welding position sensor, located on the upper portion of the carriage body, member recognition displacement sensor for measuring the height of the blade; and a height control displacement sensor positioned below the carriage body and measuring a height of the welding torch.

In an embodiment of the present invention, the control unit is connected to the welding position sensor and the angle sensor to align the welding torch to a welding position, and relatively moves the carriage body with respect to the blade to position the carriage body on the blade. can keep

In an embodiment of the present invention, the turntable may include a table bed on which the mixing drum is located; one or more turning rolls located on the upper surface of the table bed and supporting the lower surface of the mixing drum by rolling; stopper rolls located on both sides of the table bed and supporting lower ends of both sides of the mixing drum to prevent movement of both sides of the mixing drum along a center line of rotation; and a turning driver for rotationally driving the turning roll.

In an embodiment of the present invention, the control unit may include: a carriage control module for controlling a relative speed of the carriage body with respect to the blade; and a turning roll control module controlling a rotational speed of the mixing drum in the turntable.

Another configuration of the present invention is to arrange a mixing drum on a turntable, and install a welding carriage having a welding torch on a blade located on the inner bottom of the mixing drum and spirally welded to the inner surface of the mixing drum. ; setting a welding speed in a control unit that controls a rotational speed of the mixing drum and a relative speed of the welding carriage with respect to the blade on the turntable, and starting welding by driving the turntable; The control unit measures the position and attitude angle of the welding torch from one or more welding position sensors provided on the carriage body, and controls a torch moving unit that moves the welding torch up and down to determine the height of the welding torch in the welding carriage. aligning to the welding position; measuring, by the control unit, a relative speed of the welding carriage with respect to the blade from an angle sensor provided on the carriage body, and measuring a height displacement of the blade from the one or more welding position sensors; and maintaining the welding position of the welding torch on the blade by the control unit controlling the rotational speed of the mixing drum on the turntable and the relative speed of the welding carriage relative to the blade based on the relative speed of the welding carriage. It is characterized by including.

In another embodiment of the present invention, the welding position sensor is located on the top of the welding carriage, a member recognition displacement sensor for measuring the height of the blade; and a height control displacement sensor positioned below the welding carriage and measuring a height of the welding torch, wherein in the step of adjusting the height of the welding torch to a welding position, the control unit receives the height control displacement sensor from the height control displacement sensor. The height of the welding torch may be controlled by detecting the height of the welding torch.

In another embodiment of the present invention, maintaining the welding position of the carriage body may include aligning the height of the welding torch by the control unit when the value of the angle sensor is within a preset range, and the angle sensor Repeating the step of collecting the relative speed value and the height value of the member recognition displacement sensor, and correcting the top coating speed of the blade of the carriage body when the angle sensor value is not within a preset range; and aligning the height of the welding torch and collecting the relative speed value of the angle sensor and the height value of the member recognition displacement sensor when the height value of the member recognition displacement sensor is within a preset range by the control unit. Repeat, and if the height value of the member recognition displacement sensor is not within a preset range, welding may be completed.

The effect of the present invention according to the above configuration is that it is possible to improve productivity by automatically changing the process that was entirely dependent on manual work, and it is possible to weld without operator intervention even in a closed space, solving the safety environment problem caused by the operator, and It is possible to provide a concrete mixer drum automatic welding device and method that can be welded regardless of work skill level and can be produced without the need for a separate skilled person.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be inferred from the detailed description of the present invention or the configuration of the invention described in the claims.

1 is a schematic front view of a concrete mixer drum automatic welding device according to an embodiment of the present invention.
FIG. 2 is a schematic cross-sectional view of FIG. 1 .
3 is a conceptual diagram in which the welding carriage is installed on the blade in FIG. 2;
FIG. 4 is a conceptual diagram in which a control unit is connected to FIG. 2 .
5 is an inner side view of the carriage body of FIG. 3;
6 is a clamping state diagram of FIG. 5;
7 is a flowchart of an automatic welding method for a concrete mixer drum according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention can be implemented in many different forms, and therefore is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this is not only "directly connected", but also "indirectly connected" with another member in between. "Including cases where In addition, when a part "includes" a certain component, it means that it may further include other components without excluding other components unless otherwise stated.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

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

1 is a schematic front view of a concrete mixer drum automatic welding device according to an embodiment of the present invention, FIG. 2 is a schematic cross-sectional view of FIG. 1, FIG. 3 is a conceptual view in which a welding carriage is installed on a blade in FIG. 2, FIG. 4 is a conceptual diagram in which a control unit is connected to FIG. 2 .

1 to 4, the concrete mixer drum automatic welding device according to an embodiment of the present invention includes a turntable 100 for rotating the mixing drum 10 and a welding carriage for welding on the blade 20 ( 110), and a control unit 150 for controlling the welding carriage 110 as a main component.

First, the turntable 100 is rotationally driven while the mixing drum 10 is rotatably supported, and the rotational position of the mixing drum 10 is fixed. ) provides a rolling contact surface corresponding to the bottom surface of the

The turntable 100 includes a table bed 101 on which the mixing drum 10 is located at the top, and a plurality of turning surfaces located on both sides of the upper surface of the table bed 101 and supporting the lower surface of the mixing drum 10 by rolling A stopper roll 103 located at both ends of the roll 102 and the table bed 101 and preventing movement of both sides along the rotation center line of the mixing drum 10 by supporting both lower ends of the mixing drum 10 by rolling includes

The table bed 101 includes a turning driver 105 that rotates and drives the turning roll 102 .

The plurality of turning rolls 102 are rotationally driven by the turning driving unit 105 after welding starts, thereby rotating the mixing drum 10 supported so as to be in rolling contact.

The stopper roll 103 is supported in rolling contact in the axial direction of the mixing drum 10 at both end sides of the mixing drum 10, and while the mixing drum 10 is rotated by the turning roll 102, the mixing drum ( 10) is prevented from moving left and right in the axial direction.

Accordingly, the mixing drum 10 is prevented from being separated from the turning roll 102 during rotation and is rotated at a predetermined position.

The welding carriage 110 is located on the inner bottom of the mixing drum 10, is installed on a blade 20 spirally welded to the inner surface of the mixing drum 10, and has a welding torch 116.

The welding carriage 110 maintains the welding position while moving in the opposite direction to the moving direction of the blade 20 while the mixing drum 10 rotates, and the blade 20 and the mixing drum ( The inner wall of 10) is welded.

The welding carriage 110 is provided on both sides of the carriage body 111, which is relatively movable and detachably installed on the upper part of the blade 20, and the carriage body 111 and moves the welding torch 116 up and down. The moving part 120, provided on the carriage body 111, and one or more welding position sensors 130 for measuring the position and attitude angle of the welding torch 116, and located in the center of the carriage body 111, the blade ( 20) and an angle sensor 140 for measuring the relative speed of the carriage body 111.

FIG. 5 is an inner side view of the carriage body of FIG. 3 , and FIG. 6 is a view of the clamping state of FIG. 5 .

3 to 6, the carriage body 111 is detachable from the upper end of the blade 20 and has an operation lever 113 for detachment operation, facing the upper surface of the blade 20, the angle sensor 140 ) is disposed on the inside of both sides of the clamp 112, a plurality of clamping rollers 114 provided on both sides of the clamp 112 and in contact with the blade 20 by the operating lever 113, and on the outside of both sides of the clamp 112 It is provided and may include a vertical slide 115 for guiding vertical movement of the torch moving unit 120 .

The clamp 112 is a “c”-shaped clamping mechanism installed to surround the upper end of the blade 20 having a plate-shaped cross section and capable of adjusting the width of the blade 20 by an operating lever 113 rotatably provided at the top. ), the width of the left and right parts is adjusted.

When the operating lever 113 is rotated from the upper position to the lower position, the clamp 112 is narrowed in width with respect to the blade 20 and comes into contact with the blade 20 to limit left and right shaking with respect to the blade 20. The position is fixed so that relative movement is possible along (20).

The clamping roller 114 is substantially in rolling contact with both side surfaces of the blade 20 in the clamp 112, and makes the clamp 112 relative to the blade 20 capable of relative movement.

For example, four of the plurality of clamping rollers 114 may be disposed on inner walls of both sides of the clamp 112, and the center line of rotation is a horizontal line so that the clamp 112 relatively moves in an inclined downward direction from the blade 20. It can be placed inclined with respect to.

When the clamping roller 114 is driven and rotated as the clamping roller 114 is inclined, the clamp 112 has a direction to move in a downward oblique direction of the blade 20 .

The orientation of the clamp 112 causes the welding carriage 110 to be positioned in the direction of gravity at the bottom of the mixing drum 10, while the relative speed is properly adjusted with respect to the blade 20. The stability of the welding position is ensured.

That is, the inclined arrangement of the clamping roller 114 makes the same welding conditions by ensuring that the welding carriage 110 is fixed to the blade 20 of the rotating mixing drum 10 and is always directed in the direction of gravity. Thus, solving the problem that the welding conditions vary according to the angle of the welding carriage 110 and preventing the wire twisting of the welding torch 116 mounted on the welding carriage 110 is solved.

On the other hand, the upper and lower slides 115 are provided on the outer walls of both sides of the clamp 112 for stable vertical movement of the welding torch 116, and may be provided in the shape of upper and lower rails that are slide-coupled with the torch moving unit 120.

A torch moving unit 120 for vertically moving the welding torch 116 is installed on the vertical slide 115 .

The torch moving unit 120 is coupled to the torch holder 121 in which the welding torch 116 is positioned in the vertical direction and coupled to the slide to be movable vertically, and the torch holder 121 to move the torch holder 121 up and down. It may include a vertical driving unit 125 for moving to.

The torch holder 121 is movably coupled to the rail structure of the upper and lower slides 115, and may have a structure in which the welding torch 116 is firmly gripped or detachably coupled to be fixed in position.

The vertical driving unit 125 may be provided as a combination of a motor for linear vertical driving, a female screw, and a lead screw, but is not limited thereto, and may be implemented with a linear motor and a linear cylinder capable of adjusting the vertical position. Although the components of the vertical driving unit 125 are not shown in detail, it is assumed that a mechanism necessary for linear operation is inherent.

Meanwhile, a plurality of welding position sensors 130 capable of measuring the heights of the blade 20 and the torch holder 121 are disposed on the upper and lower slides 115 .

The plurality of welding position sensors 130 are located on the upper part of the carriage body 111 and the member recognition displacement sensor 131 for measuring the height of the blade 20, and the lower part of the carriage body 111 and welding A height control displacement sensor 132 for measuring the height of the torch 116 is included.

The member recognition displacement sensor 131 is fixed to the upper part of the upper and lower slides 115, and the upper and lower heights of the carriage body 111 moving up and down according to the spiral shape of the blade 20 are set to the bottom of the mix drum 10. measured from wealth.

The member recognition displacement sensor 131 calculates the welding position on the blade 20 and the state of the welding carriage 110 together with the angle sensor 140 and provides the control unit 150 with a measurement value for controlling the accurate welding position. used to do

The height control displacement sensor 132 is fixed at the lower part of the upper and lower slide 115 and measures the distance with the torch holder 121 according to the vertical movement of the torch holder 121, thereby moving the torch holder 121 from the upper and lower slide 115. Up and down position information of is provided to the control unit 150 .

On the other hand, the control unit 150 is connected to the angle sensor 140 and the member recognition displacement sensor 131 to calculate the position of the welding carriage 110 on the blade 20 and align it to the welding position, the height control displacement sensor ( 132) to align the welding torch 116 to the welding position by collecting the height on the upper and lower slide 115 of the torch holder 121.

As such, the control unit 150 can maintain the position of the carriage body 111 on the blade 20 by moving the carriage body 111 relative to the internally rotated blade 20 when the mixing drum 10 rotates. .

In addition, the control unit 150 controls the rotational speed of the mixing drum 10 on the turntable 100 and the relative speed of the welding carriage 110 with respect to the blades 20 so that welding of the welding torch 116 on the blade 20 It serves to keep the position constant, and adjusts the height of the welding torch 116 to be properly maintained with respect to the welding point.

The control unit 150 as described above controls the carriage control module 151 for controlling the relative speed of the carriage body 111 with respect to the blade 20 and the rotational speed of the mixing drum 10 in the turntable 100. A turning roll control module 152 may be included.

7 is a flowchart of an automatic welding method for a concrete mixer drum according to an embodiment of the present invention.

1 to 7, in the method of automatically welding a concrete mixer drum according to an embodiment of the present invention, the mixing drum 10 is rotatably supported and driven to rotate, but the rotational position of the mixing drum 10 is fixed. It may begin by placing the mixing drum 10 on a possible turntable 100 .

After this, the welding carriage 110 having a welding torch 116 is installed on the blade 20 located on the inner bottom of the mixing drum 10 and helically welded to the inner surface of the mixing drum 10 Step (S100); And welding by setting the welding speed in the control unit 150 that controls the rotational speed of the mixing drum 10 and the relative speed of the welding carriage 110 with respect to the blade 20 in the turntable 100 and driving the turntable 100 Initiating step (S200) proceeds.

After welding is started as described above, the control unit 150 measures the position and attitude angle of the welding torch 116 from one or more welding position sensors 130 provided on the carriage body 111, and the welding torch 116 A step of aligning the height of the welding torch 116 to the welding position in the welding carriage 110 by controlling the torch moving unit 120 for moving the up and down is performed (S300).

Next, the control unit 150 measures the relative speed with respect to the blade 20 of the welding carriage 110 from the angle sensor 140 provided on the carriage body 111, and the blade from one or more welding position sensors 130. The step (S400) of measuring the height displacement of (20) proceeds.

After this, the control unit 150 controls the rotational speed of the mixing drum 10 and the relative speed of the welding carriage 110 with respect to the blades 20 in the turntable 100 based on the relative speed of the welding carriage 110 A step of maintaining a constant welding position of the welding torch 116 on the blade 20 (S500) proceeds.

The welding position sensor 130 used in the method according to the present embodiment above is located above the welding carriage 110 and includes a member recognition displacement sensor 131 for measuring the height of the blade 20; and a height control displacement sensor 132 positioned below the welding carriage 110 and measuring the height of the welding torch 116 .

In the step of adjusting the height of the welding torch 116 to the welding position (S300), the control unit 150 detects the height of the welding torch 116 from the height control displacement sensor 132, and the height of the welding torch 116 can control.

Meanwhile, in the step 500 of maintaining the welding position of the carriage body 111, the controller 150 aligns the height of the welding torch 116 when the value of the angle sensor 140 is within a preset range. (S300) and the step (S400) of collecting the relative speed value of the angle sensor 140 and the height value of the member recognition displacement sensor 131 (S400) are repeated, and if the value of the angle sensor 140 is not within the preset set value range , correcting the top coating speed of the blade 20 of the carriage body 111 (S510); And if the height value of the member recognition displacement sensor 131 is within a preset range, the control unit 150 aligns the height of the welding torch 116 (S300) and the relative speed value of the angle sensor 140 and the member The step of collecting the height value of the recognition displacement sensor 131 (S400) is repeated, and if the height value of the member recognition displacement sensor 131 is not within a preset range, the welding is completed (S520). can do.

The concrete mixer drum automatic welding method according to an embodiment of the present invention automatically changes the process of welding the blade 20 inside the mixing drum 10, which was entirely dependent on manual work, and requires operator intervention even in a closed space. By providing position control of the welding carriage 110 and the welding torch 116 that can be welded without the need, it solves the safety environment problem caused by the operator's manual work, and enables a certain level of welding regardless of the operator's work skill level, so that a separate skilled person makes it possible to produce without the need for

The above description of the present invention is for illustrative purposes, and those skilled in the art can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, the embodiments described above should be understood as illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included in the scope of the present invention.

10: mixing drum 20: blade
100: turntable 101: table bed
102: turning roll 103: stopper roll
105: turning drive unit 110: welding carriage
111: carriage body 112: clamp
113: operating lever 114: clamping roller
115: up and down slide 116: welding torch
120: torch moving unit
121: torch holder 125: up and down driving unit
130: welding position sensor 131: member recognition displacement sensor
132: height control displacement sensor 140: angle sensor
150: control unit 151: carriage control module
152: turning roll control module

Claims (12)

a turntable in which a mixing drum is rotatably supported and rotated, and a rotational position of the mixing drum is fixed;
a welding carriage located on the inner bottom of the mixing drum, installed on a blade spirally welded to the inner surface of the mixing drum, and having a welding torch; and
a control unit for controlling the rotational speed of the mixing drum on the turntable and the relative speed of the welding carriage with respect to the blade to maintain the welding position of the welding torch on the blade;
The welding carriage,
a carriage body that is relatively movable and detachably installed on the top of the blade;
Torch movement units provided on both sides of the carriage body and vertically moving the welding torch;
one or more welding position sensors provided on the carriage body and measuring position and attitude angles of the welding torch; and
The concrete mixer drum automatic welding device further comprises an angle sensor located in the center of the carriage body and measuring a relative speed of the carriage body with respect to the blade.
delete The method of claim 1,
The carriage body,
A clamp that is detachable from the upper end of the blade and has an operating lever for a detachable operation, and the angle sensor is disposed facing the upper surface of the blade;
a plurality of clamping rollers provided inside both sides of the clamp and brought into contact with the blade by the operating lever; and
Concrete mixer drum automatic welding device, characterized in that it is provided on the outside of both sides of the clamp, and includes a vertical slide for guiding the vertical movement of the torch moving unit.
The method of claim 3,
The plurality of clamping rollers, the concrete mixer drum automatic welding device, characterized in that the rotating center line is disposed inclined with respect to the horizontal line so that the clamp moves in an inclined downward direction from the blade.
The method of claim 3,
The torch moving part,
a torch holder in which the welding torch is fixed in a vertical direction and movably coupled to the upper and lower slides; and
Concrete mixer drum automatic welding device, characterized in that it comprises a vertical driving unit coupled to the torch holder to move the torch holder up and down.
The method of claim 1,
The welding position sensor,
a member-recognizing displacement sensor located on an upper portion of the carriage body and measuring a height of the blade; and
A concrete mixer drum automatic welding device, characterized in that it comprises a height control displacement sensor located at the lower part of the carriage body and measuring the height of the welding torch.
The method of claim 6,
The control unit is connected to the welding position sensor and the angle sensor to align the welding torch to the welding position, and relatively moves the carriage body with respect to the blade to maintain the position of the carriage body on the blade. Mixer drum automatic welding device.
The method of claim 1,
The turntable,
a table bed on which the mixing drum is located;
one or more turning rolls located on the upper surface of the table bed and supporting the lower surface of the mixing drum by rolling;
stopper rolls located on both sides of the table bed and supporting lower ends of both sides of the mixing drum to prevent movement of both sides of the mixing drum along a center line of rotation; and
Concrete mixer drum automatic welding device comprising a turning driving unit for rotationally driving the turning roll.
The method of claim 8,
The control unit,
a carriage control module for controlling a relative speed of the carriage body with respect to the blade; and
Concrete mixer drum automatic welding device comprising a turning roll control module for controlling the rotational speed of the mixing drum in the turntable.
arranging a mixing drum on a turntable, and installing a welding carriage having a welding torch on a blade located on an inner bottom of the mixing drum and spirally welded to an inner surface of the mixing drum;
setting a welding speed in a control unit that controls a rotational speed of the mixing drum and a relative speed of the welding carriage with respect to the blade on the turntable, and starting welding by driving the turntable;
The control unit measures the position and attitude angle of the welding torch from one or more welding position sensors provided on the carriage body, and controls a torch moving unit that moves the welding torch up and down to determine the height of the welding torch in the welding carriage. aligning to the welding position;
measuring, by the control unit, a relative speed of the welding carriage with respect to the blade from an angle sensor provided on the carriage body, and measuring a height displacement of the blade from the one or more welding position sensors; and
maintaining the welding position of the welding torch on the blade by the control unit controlling the rotational speed of the mixing drum on the turntable and the relative speed of the welding carriage relative to the blade based on the relative speed of the welding carriage. Concrete mixer drum automatic welding method, characterized in that.
The method of claim 10,
The welding position sensor,
a member recognition displacement sensor positioned above the welding carriage and measuring a height of the blade; and
Located in the lower part of the welding carriage, including a height control displacement sensor for measuring the height of the welding torch,
In the step of adjusting the height of the welding torch to the welding position, the control unit detects the height of the welding torch from the height control displacement sensor and controls the height of the welding torch. Automatic welding method for a concrete mixer drum, characterized in that.
The method of claim 11,
Maintaining the welding position of the carriage body,
When the angle sensor value is within a preset range, the control unit repeats the steps of aligning the height of the welding torch and collecting the relative speed value of the angle sensor and the height value of the member recognition displacement sensor. correcting the top coating speed of the blade of the carriage body when the angle sensor value is not within a preset range; and
When the height value of the member recognition displacement sensor is within a preset range, the control unit repeats the steps of aligning the height of the welding torch and collecting the relative speed value of the angle sensor and the height value of the member recognition displacement sensor. And, when the height value of the member recognition displacement sensor is not within a preset range, the concrete mixer drum automatic welding method comprising the step of completing the welding.

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