KR20070066061A - The continuous automatic welding device for horizontal and vertical fillet welding groove - Google Patents

Abstract

An automatic welding equipment which makes it not necessary for a worker to carry out an additional adjusting operation according to positional selection of the equipment when continuously tracking fillet weldments formed in vertical and horizontal directions is provided. An automatic welding equipment for continuous welding of vertical and horizontal fillet weldments comprises: an X-axis base drive part(10) moved abreast with the horizontal fillet weldment through traveling wheels(12); a W-axis rotary drive part(20) rotatably installed on an upper surface of the X-axis base drive part; a Y-axis guiding part(30) fixed to an upper surface of the W-axis rotary drive part and interlocked with the W-axis rotary drive part; a Y-axis sliding drive part(40) slid forward and backward along a length direction of the Y-axis guiding part; a Z-axis guiding part(50) fixed to an upper surface of the Y-axis sliding drive part and interlocked with the Y-axis sliding drive part; a Z-axis sliding drive part(60) slid up and down along a length direction of the Z-axis guiding part; a torch clamp(70) which is driven by an A-axis that is installed at one side of the Z-axis sliding drive part and that is rotated in a vertical direction relative to the Y-axis as much as a predetermined tilt angle from the Z-axis sliding drive part; and drive motors(11,21,41,61,71) for providing the respective drive parts with independent drive sources through signals of a control part by which tracking positions of the vertical and horizontal fillet weldments are sensed in advance.

Description

Automatic welding device for continuous welding of vertical and horizontal fillet welds {THE CONTINUOUS AUTOMATIC WELDING DEVICE FOR HORIZONTAL AND VERTICAL FILLET WELDING GROOVE}

1 is a schematic view showing the vertical and horizontal fillet welds of the ship block structure to which the present invention is applied

Figure 2 is a working view showing the working sequence of the vertical and horizontal fillet welds in accordance with the present invention

Figure 3 is an exemplary view for showing the configuration of the automatic welding apparatus according to the present invention

4a and 4b are a plan view and a side view showing the step of setting the initial position through the welding device according to the invention

5a to 5c is an operation view showing an operating state according to the operation of the vertical fillet welds according to the present invention.

Figure 5d is an operation showing the weaving operation performed during the operation of the vertical fillet welds according to the present invention

6a to 6c is an operation view showing an operating state according to the operation of the horizontal fillet welds according to the present invention.

Figure 6d is an operation showing the weaving operation performed during the operation of the horizontal fillet welds in accordance with the present invention

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

(10): X axis base drive part

(20): W axis rotating drive part

(30): Y-axis guide

40: Y-axis sliding drive unit

50: Z axis guide

(60): Z axis sliding drive

70: torch clamp (A-axis driving part)

(T): welding torch

(A1, A3): Vertical fillet weld

(A2): Horizontal fillet weld

The present invention relates to a device capable of continuously and automatically welding the vertical and horizontal fillet welds, and more specifically, the base material to be welded is formed in a row in contact with each other to perform continuous welding toward the vertical, horizontal welds. The present invention relates to an automatic welding device that can be used.

Shipbuilding that the applicant is doing up to form a hull through a block forming a multi-layer structure, these blocks, as shown in Figure 1, the abacus, the lateral reinforcement, longitudinal longitudinal reinforcement through each other butt welding It will form a single block that is hermetically closed (shown to show the inner welds as open zones).

As described above, the welded parts that are butted together by the horizontal main plate, the horizontal reinforcement material and the vertical reinforcement material (the welded parts where the base materials are butted to each other at right angles are called fillet welds) are hereinafter referred to as 'fillet welded parts'. It is formed in the vertical direction and the horizontal direction.

The conventional welding work, which is dualized into the vertical and horizontal fillet welds, has been performed by separate welding work along the vertical and horizontal using two simple welding devices which can easily track the welding line.

In this case, after installation of the welding device for the line work, after the first welding work along the tracked welds and then dismantled again, the second welding work along the remaining unwelded welds as a whole welding The result is a low productivity of work.

The present invention has been made to solve the above-mentioned conventional problems, the object is to provide a simple welding device that can continuously carry out the tracking of the weld formed in the sealed area difficult to weld robot operation to implement a multi-axis drive. Is in.

In particular, when continuously performing the tracking of the fillet welds formed in the vertical direction and the horizontal direction, it is to provide an automatic welding device that does not require the operator to perform a separate adjustment according to the position of the device.

In the present invention to achieve the object as described above and to perform the problem for removing the conventional defects in the welding apparatus for performing the welding of the fillet welds arranged in the vertical and horizontal directions,

An X-axis base driving part which moves in parallel with the horizontal fillet welding part through a driving wheel;

A W-axis rotation driving unit rotatably installed on an upper surface of the X-axis base driving unit;

A Y-axis guide part installed and fixed to an upper surface of the W-axis rotation driving part,

Y-axis sliding drive unit which slides before and after the Y-axis guide portion in the longitudinal direction,

A Z-axis guide part interlocked with and fixed to the Y-axis sliding drive part;

A Z-axis sliding drive part which slides up and down along the longitudinal direction of the Z-axis guide part;

A torch clamp installed at one side of the Z-axis driving unit and driven to the A-axis by a predetermined inclination angle in a vertical direction with respect to the Y-axis from the Z-axis driving unit;

A drive motor for providing an independent drive source to each of the driving units through a signal of a control unit which previously senses the tracking positions of the fillet welding units in the vertical and horizontal directions;

It is characterized by including the configuration.

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

Figure 2 shows a working diagram using the automatic welding device according to the present invention, the present invention provides an automatic welding device that can perform continuous welding of the fillet welding portion (A1, A2, A3) having a vertical and horizontal direction To provide, the welding torch installed in the welding apparatus according to the present invention is a linear drive for the X-axis, Y-axis, Z-axis, and rotates about the A-axis, the Z-axis to rotate by a predetermined inclination angle with respect to the Y-axis It provides rotational drive about the W axis.

First, through the X, Y, Z, A, W axis drive as described above, the automatic welding device continuously tracks the vertical and horizontal fillet welds through the arc sensing function commonly used in automatic welding robots. At this time, the welding drive of the automatic welding device of the 5-axis drive according to the present invention is implemented from the signal of the controller (not shown) which receives the set value of the sensed welding line (welding part).

As shown in Fig. 3, the automatic welding device according to the present invention includes: an X-axis base driving portion 10 which is placed on the main plate 1 as a base for supporting the apparatus and which is parallel to the horizontal fillet welding portion; A W-axis rotation driver 20 rotatably installed on an upper surface of the X-axis base driver 10; A Y-axis guide part 30 installed and fixed to an upper surface of the W-axis rotation driving part 20; A Y-axis sliding driver 40 sliding along the longitudinal direction of the Y-axis guide part 30; A Z-axis guide part 50 installed and fixed to the Y-axis sliding drive part 40; A Z-axis sliding drive unit 60 sliding along the longitudinal direction of the Z-axis guide part 50; Torch clamp 70 of the A-axis drive is rotatably installed by a predetermined inclination angle with respect to the Y-axis from one side of the Z-axis sliding drive unit 60. At this time, the welding torch T is clamped on the torch clamp 70 in parallel with the Y-axis guide part 30.

More specifically, the X-axis base driving unit 10 senses the distance between the transverse reinforcement (2) located in the front and the longitudinal reinforcement (3, 3 ') located on both sides to sense the distance to maintain a predetermined interval The driving wheel 12 is provided with a sensor (not shown) on the outer surface, and maintains a distance detected by the distance sensor using the driving motor 11 as a driving source, and drives the driving wheel 12 in parallel with the horizontal fillet welding part A2. It is provided in a bottom part.

The W-axis rotary drive unit 20 is a turntable structure that is rotated using the drive motor 12 installed in the X-axis base drive unit 10 as a drive source, and the Y-axis guide unit 30 having a longitudinal direction on the upper surface is fixed and interlocked. Will rotate.

The Y-axis sliding drive unit 40 is seated on the rail formed in the Y-axis guide unit 30, the drive motor 41 provided on one side to the drive source in the longitudinal direction of the Y-axis guide unit 30, After sliding drive.

The upper surface of the Y-axis sliding drive unit 40 is fixed to the Z-axis guide unit 50 provided corresponding to the height of the vertical fillet welds (A1, A3) is linked to the Y-axis sliding drive unit (40).

The Z-axis sliding drive unit 60 is seated on the rail formed on the Z-axis guide unit 50, the drive motor 61 provided on one side as a drive source in the longitudinal direction of the Z-axis guide unit 50, Under sliding drive.

On one side of the Z-axis sliding drive unit 60, the drive motor 71 installed in the Z-axis sliding drive unit 60 as a drive source, the sliding of the Y-axis sliding drive unit 40 from one side of the Z-axis sliding drive unit 60 The torch clamp 70 (A-axis) is configured to rotate by a predetermined inclination angle up and down with respect to the direction. That is, the welding torch T mounted on the torch clamp 70 is installed in parallel with the Y-axis direction.

The sliding means according to the linear motion of the Y-axis and the Z-axis and the publicly known and omitted details, and the rotary movement means of the W-axis and the A-axis are linear slides (L / M guide) or screw used as a conventional automatic control means Adopt a combination.

Each of the X-, Y-, Z-, W-, and A-axis driving units includes drive motors 11, 12, and 41 that are operated independently from preset values sensed according to the arc sensing welding line tracking function of a controller (not shown). The weld line tracking of the welding torch T is performed through, 61, 71.

The welding line tracking function of the welding torch by the arc sensing is a technology that can be applied only when the welding torch performs the operation of weaving with respect to the center of the welding improvement surface, and the welding current and the welding current through the left and right weaving operation of the welding torch during welding. It finds the center by recognizing the pattern of welding current that depends on the shape of improvement by receiving the welding voltage as the center of the improvement of welding. In other words, when weaving around the welding line during one cycle of weaving, the current is generated at the edge and the center. Since it is formed and fed back differently, it is a general technique to calculate the average welding current value during the weaving cycle, and to continuously track the weld line by correcting the position of the welding torch using the set current value and the difference value. However, implementing these algorithms is somewhat different for each developer. Therefore, in the practical stage, many differences in welding quality occur. Especially, many algorithms have been developed and applied when welding using robots. Detailed description of the publicly known technical configuration will be omitted below.

Referring to the operation according to the welding operation of the present invention through the configuration as described above are as follows.

Figure 2 shows the initial position selection of the fillet welds through the automatic welding device according to the present invention, it is upward relative to the selected vertical fillet welds of the two vertical fillet welds (vertical member: 3, 3 ') located on both sides Performing the welding (step 1), then performing the horizontal fillet welding part (step 2), and then performing the upward welding on the remaining vertical fillet welding part (step 3). Will be performed continuously.

First, in order to perform the welding operation of the vertical fillet weld corresponding to the process 1, the initial automatic welding device places the X-axis base driving unit 10 at the initial position P set in the control unit, and then during the welding operation of the vertical fillet weld. The X-axis base drive unit 10 takes a fixed position. Then, as shown in Figures 4a and 4b, the Z-axis sliding drive unit 60 is lowered as much as possible, the W-axis rotary drive unit 20 and the Y-axis sliding drive unit 40 by operating the welding torch (T). Move to the vertical fillet weld side. Then, the A-axis driving of the torch clamp 70 and the tip of the welding torch T inclined through the Y-axis sliding driver 40 are perpendicular to a point at which the lowering is no longer possible through the Z-axis sliding driver 60. Position it at the start of the lower weld of the fillet weld.

As shown in FIG. 5A, when the welding torch T is in parallel with the main plate 1 as shown in FIG. 5A, the vertical fillet weld is tracked by arc sensing from the initial setting state as described above. A-axis driving and Y-axis sliding driving unit 40 of the torch clamp 70 are simultaneously driven to a point located parallel to the sliding driving unit 40 to perform welding (welding line tracking) of section a, and FIG. 5B. As in, through the Z-axis sliding drive unit 60 to raise the welding torch T to a height not to interfere from the upper sealing surface to perform the welding of section b. Thereafter, as shown in FIG. 5C, the A-axis driving and the Y-axis sliding driving unit 40 of the torch clamp 70 are simultaneously driven at a point where the Z-axis driving is no longer possible due to the interference of the upper sealing surface. Welding (welding line tracking) will be performed.

As shown in Fig. 5d, the welding area between the light bulbs of the vertical fillet welds is traced and corresponding to the welding thickness through the W-axis rotation driving unit 20 by the weaving action required and corresponding to the welding thickness of the welding member during the welding operation. Weaving work of the welding torch T at one angle is realized.

Subsequently, after the process 1 of the vertical fillet weld is finished as described above, the automatic welding device is returned to the initial position through the reverse driving in the process 1 and moved to the start position of the horizontal fillet weld, and the horizontal fillet weld according to the process 2 is performed. 6, the welding torch T is in parallel with the longitudinal stiffeners 3 and 3 '(the point perpendicular to the driving direction of the X-axis base driving part) until the W-axis is aligned. Simultaneously driving the rotary drive unit 20 and the Y-axis sliding drive unit 40 performs welding of the d section (welding line tracking), and then as shown in Figure 6b, through the driving drive of the X-axis base drive unit 10 Welding of section e (welding line tracking) is performed. Thereafter, as shown in FIG. 6C, the W-axis rotation driver 20 and the Y-axis sliding driver 40 are moved to a point at which the X-axis base driver 10 cannot be driven due to the interference of the longitudinal stiffeners 3 and 3 ′. Simultaneous driving is performed to perform welding in the section f (welding line tracking).

As shown in Figure 6d, weaving action of the welding torch (T) required during the welding operation to track the welding area between the entire fillet of the horizontal fillet welding corresponding to the welding thickness through the A-axis drive of the torch clamp 70 We will implement weaving at each angle.

Subsequently, the welding operation of the vertical fillet welded portion of the process 3 which is simultaneously executed as the process 2 of the horizontal fillet welded portion is finished as described above is realized through the same operation as the process 1 described above.

The present invention is not limited to the above-described specific preferred embodiments, and various modifications can be made by any person having ordinary skill in the art without departing from the gist of the present invention claimed in the claims. Of course, such changes will fall within the scope of the claims.

As described above, the present invention provides a welding apparatus, which is arranged corresponding to the conventional welding position, by means of a welding apparatus for 5-axis driving for welding line tracking in the vertical and horizontal directions. Irrespective of the position, it is possible to perform continuous welding work from the initial installation position, thereby significantly improving the productivity of the work.

In addition, there is an effect that can improve the welding quality due to the loss of the welding operation and the non-welding section.

Claims (2)

In the welding apparatus for welding the fillet welds arranged in the vertical and horizontal directions, An X-axis base driving part which moves in parallel with the horizontal fillet welding part through a driving wheel; A W-axis rotation driving unit rotatably installed on an upper surface of the X-axis base driving unit; A Y-axis guide part installed and fixed to an upper surface of the W-axis rotation driving part, Y-axis sliding drive unit which slides before and after the Y-axis guide portion in the longitudinal direction, A Z-axis guide part interlocked with and fixed to the Y-axis sliding drive part; A Z-axis sliding drive part which slides up and down along the longitudinal direction of the Z-axis guide part; A torch clamp installed at one side of the Z-axis driving unit and driven to the A-axis by a predetermined inclination angle in a vertical direction with respect to the Y-axis from the Z-axis driving unit; A drive motor for providing an independent drive source to each of the driving units through a signal of a control unit which previously senses the tracking positions of the fillet welding units in the vertical and horizontal directions; Automatic welding device for performing continuous welding of vertical and horizontal fillet welds comprising a configured. The method of claim 1, The weaving drive required to correspond to the thickness of the vertical and horizontal fillet welds is performed by the operation of the W-axis rotational drive and the A-axis driven torch clamp, respectively. Performing automatic welding device.

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