KR20080066417A - Lug welding robot system and welding method - Google Patents

Abstract

An automatic lug welding robot system capable of performing boxing welding and multilayer welding is provided to improve welding quality and productivity, and a lug welding method using the automatic lug welding robot system is provided. A lug welding robot system comprises: a lug welding robot(100) including a plurality of welding robot units(2), a robot transfer unit(6) for transferring respective welding robot units in the welding direction, a lifting unit(7) for vertically moving the welding robot units and the robot transfer unit, a traveling transfer car(8) for moving the units to a welding position of a lug(1) in a state that the above units are mounted on the traveling transfer car, and a control instrument panel(9) including an instrument panel mounted on an inner part of the traveling transfer car to control respective parts; a welding apparatus including a welding machine, a wire feeder, and a welding torch; crash sensors(3) installed on parts at which the welding robot units and the welding torch are joined with each other; wire cutters(4) and nozzle cleaners(5) installed on a top part of the lifting unit; a pendant(10) connected to the control instrument panel; and a touch sensor(11), a power supply panel(12), the welding machine, and the wire feeder that are respectively installed outside the system.

Description

Lug welding robot system and welding method

1 is a view showing a lug welding robot system of the present invention.

2 is an exploded perspective view of the lug welding robot of the lug welding robot system of the present invention.

3 is a view showing a welding robot apparatus of the lug welding robot shown in FIG.

4 is a flow chart showing a welding method using a lug welding robot system of the present invention.

            <Explanation of symbols for main parts of the drawings>

1: lug 2: welding robot device

3: shock sensor 4: wire cutter

5: nozzle cleaner 6: robot transfer device

7: lifting device 8: running cart

9: control board 10: pendant

11: touch sensor 12: power panel

13: welding machine 14: wire feeder

15: welding torch 16: weaving motor

17: rotation compensation motor 18: z axis compensation motor

19: robot rotation motor 20: y-axis correction motor

21, 22, 23, 25: linear guide 24: harmonic driver

100: lug welding robot

The present invention relates to a lug welding robot system and a welding method capable of improving welding quality and productivity by providing an automatic lug welding robot system capable of turning welding and multi-layer welding.

To move a large steel structure to a crane, lugs are attached to the structure to connect ropes or wires.

Since the lugs vary in size and shape depending on the weight of the moving object and the application location, and work on the lower part due to the characteristics of the work, the attachment of the lugs is made by manual welding of all the masses, and the worker works with the welding position.

Lugs are attached to their corners to move large steel structures such as blocks. This is the part connected to the crane hook, etc., so the welder must weld because the reliability of the welded joint is very important.

The welding operation of attaching the lug to the block is usually carried out with multilayer welding to strengthen the joint.

Multi-layer welding means to weld over the welded bead surface and the number of multi-layer welding depends on the size and shape of the lug.

In addition, it cannot be automated because it requires consideration of various conditions such as the entry angle, the depth of entry, the current, the voltage, the welding speed, and the presence of weaving motion.

As the worker welds with the welding position, there is a risk of musculoskeletal disorders such as back, shoulders and arms.

For this reason, productivity is inadequate because workers work alternately. In addition, slugs and spatters falling during welding pose a threat to the safety of workers and the work area.

The present invention devised to solve the above problems, by providing an automatic lug welding robot system capable of turning welding, multi-layer welding provides a lug welding robot system and a welding method that can improve the welding quality and productivity as well as work safety. It aims to do it.

The present invention for achieving the above object is a lug welding robot for automatically welding the lug; A pendant, which is connected to a controller, a control PC, a motor and a servo drive, a control board equipped with electrical equipment, and a control board, used to manually manipulate each part of a lug welding robot or input a welding condition; A welding device including a welder, a welding torch and a wire feeder; A touch sensor for generating a digital signal and extracting a welding line when the welding wire is in contact with the welding member; It provides a lug welding robot system including a lug welding robot system and a power panel for supplying power to a welder and a touch sensor.

In addition, the present invention is composed of a five-axis robot welding robot device for performing a welding operation by correcting the position of the welding torch in the up / down, front / back direction; A robot transfer device for transferring the welding robot device in a welding direction; A lifting device for moving the welding robot device and the robot transfer device up and down; A traveling cart that can be steered and driven by mounting the welding robot device, the robot transporting device, and the lifting device; And it provides a lug welding robot including a control board mounted on the inside of the traveling trolley, the control board is installed for controlling each part.

Preferably, the lug welding robot is mounted between the end of the welding robot device and the welding torch and a shock sensor for stopping the system when suddenly impacted, and formed on top of the lifting device to the length of the welding wire from the welding torch It further comprises a wire cutter for cutting the welding wire to maintain a constant, and a nozzle cleaner for removing foreign matter on the nozzle of the welding torch.

In addition, the welding robot device is formed in plural to be able to weld both sides of the lug at the same time, as well as turning welding, multi-layer welding is possible.

In addition, the present invention generates a weaving motion during welding and weaving motor for controlling the weaving width and weaving speed; A rotation correction motor and a rotation shaft linear guide which perform forward and backward to maintain a constant distance from the rotation welding member; A z-axis correction motor and a z-axis linear guide that accurately tracks the weld line when the member and the welding robot device are not parallel in the z-axis direction, or corrects a gap with the member in the z-axis direction when the multilayer welding is performed; Robot rotating motor and harmonic driver used for turning welding by rotating welding torch; And a y-axis correction motor and a y-axis linear guide that accurately tracks the welding line when the member and the welding robot device are not parallel in the y-axis direction, or corrects the gap with the member in the y-axis direction when the multilayer welding is performed. To provide.

In addition, the present invention comprises the steps of: (a) moving the robot system under the block in which the lug is located by manipulating the traveling cart; (b) using a lifting device to raise the robot feeder and the two welding robots mounted thereon to a position where welding can be performed; (c) inputting information of a lug to be welded; (d) extracting a welding line by teaching a welding start point and an end point using a touch sensor; (e) determining the number of multilayer welding in consideration of improvement and thickness of the lug; (f) determining whether to weave according to the characteristics of each layer; (g) determining the welding current, voltage and speed according to the bead properties of each layer; (h) storing welding information of each layer to be multi-layer welded in a database; (i) moving the robot to a welding start position; (j) determining whether there is weaving information, and if there is weaving information, performing welding while performing weaving motion; (k) completing welding, cutting the wire and cleaning the welding torch when the end position is reached; And (l) determining whether the finished layer is the last layer and, if determined to be the last layer, resetting the system position.

Preferably, in the step (j), if there is no weaving information, further comprising the step of performing a welding operation without the weaving motion.

In addition, in step (l), if it is determined that it is not the last layer, the next layer welding information is confirmed from the database, and the process proceeds to step (i).

In order to fully understand the present invention, the advantages of the operability of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings which illustrate preferred embodiments of the present invention and the contents described in the accompanying drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference numerals in the drawings denote like elements.

1 is a view showing a lug welding robot system of the present invention.

Referring to Figure 1, the lug welding robot system of the present invention is a pair or a plurality of welding robot device (2) arranged opposite to the left, right, each of the welding robot device 2 in the welding direction (for example, x-axis Direction), the robot transporting device 6 for transporting, the lifting device 7 for moving the welding robot device 2 and the robot transporting device 6 up and down, and the device being mounted and moved to the position where the lug 1 is to be welded. And a lug welding robot (100) composed of a control board (9) mounted inside the driving cart (8), and a control board (9) provided with a board for controlling each unit.

The driving cart 8 may be configured in a manual rolling method using a handle, or may be configured in a motor driving method in which steering and driving are semi-automatically performed by an operator's operation.

Welding device of the welding device 13, the wire feeder 14 and the welding robot device 2 connected to the welding device in the description of the present invention or in the following claims by applying a coupling method corresponding to a known welding type. It includes.

The shock sensor 3 is further installed at a portion where the welding robot device 2 and the welding torch 15 are coupled.

The wire cutter 4 and the nozzle cleaner 5 are installed at the top of the lifting device 7.

Pendant 10 is connected to the control board 9, the touch sensor 11, the power board 12, the welding machine 13, the wire feeder 14 are each installed outside the system.

Hereinafter, the operation of the lug welding robot system will be described.

The traveling trolley 8 is a semi-automatic device capable of steering and traveling by the operator's operation and moves the lug welding robot system to the working position. The lifting device 7 lifts the robot transporting device 6 and the two welding robotic devices 2 to the working position after the traveling cart 8 is fixed below the working position.

The robot conveying device 6 is provided with a ball screw and a ball screw having a ball screw shaft and a ball screw nut block so as to convey each welding robot device 2 in the traveling direction on the lifting device 7 during welding. A motor connected by a bevel gear or the like to transmit power has an x-axis linear guide 21 slidably operable on the x-axis rail 6a between the lifting device 7 and the robot transfer device 6 around the ball screw. (See FIG. 2 or FIG. 3).

The shock sensor 3 is mounted between the end of the welding robot device 2 and the welding torch to allow the system to stop when a sudden shock is received.

During welding, the welding robot device 2 serves to correct the position of the welding torch in the up / down, front / back directions, and welding is performed by the robot transfer device 6 traveling in the welding progress direction. If welding is performed only by the welding robot device 2, the work radius may be restricted, but any large lugs may be welded according to the length of the robot transfer device 6. Furthermore, since the two welding robot apparatuses 2 can perform various operations, not only can weld both sides of the lug at the same time, but also can replace the work of a skilled welder such as spin welding and multi-layer welding. This can shorten the working time.

On the other hand, the wire cutter (4) performs a function to cut the wire to a predetermined length to maintain a constant length of the welding wire, the nozzle cleaner (5) removes foreign matter on the nozzle of the welding torch.

The control board 9 is installed in the empty space inside the running cart 8 to shorten the length of the cable not only to reduce the cost, but also to reduce the inconvenience of having to carry long and heavy cables per work. Also, less interference from electrical noise. The control board 9 is provided with a main controller, a robot and a lifting device 7, and a motor, a servo drive, a DIO, and an AIO terminal of the robot transfer device 6.

The controller is programmed to control the motion of the welding robot and the robot transfer device and to perform welding control according to the welding conditions, and to compare, judge, input data (eg, welding information) mentioned in the welding method described below, or It is involved in general operation control such as reading, storing welding information, etc. in database.

The pendant 10 is used to lift the lifting device or to teach the welding line when manually operating the welding robot device. It is also used to input welding condition of lug or to set welding condition.

The touch sensor 11 is used to extract a welding line as a sensor that knows the coordinates of the contacted position by generating a digital signal when the welding wire contacts the welding member. The power board 12 supplies power to the welding machine 13 and the control board (9).

The power required for each part is supplied again from the control board 9.

Wire feeder 14 may be used in the present invention in plurality in order to supply a wire to the welding torch of each welding robot device (2).

Figure 2 is an exploded perspective view of the lug welding robot of the lug welding robot system of the present invention, Figure 3 is a view showing a welding robot device of the lug welding robot shown in FIG.

Referring to FIG. 2, the lug welding robot 100 includes a plurality of welding robot apparatuses 2 and a plurality of robot transfer apparatuses 6 (for example, two pairs are arranged opposite to left and right) as described above. ), A mechanical configuration consisting of a lifting device 7, a traveling cart 8, and a control board 9 corresponding to the control unit.

In particular, referring to FIG. 3, each welding robot apparatus 2 preferably has a configuration of a multi-joint or multi-axis robot that actually welds the lug 1 shown in FIG. 1.

For example, the welding robot device 2 includes a welding torch 15, a weaving motor 16, a rotation correction motor 17, a z-axis correction motor 18, a robot rotation motor 19, and a y-axis correction motor 20. And multi-axis welding, turning welding, or pre-planned welding methods in actual welding operations, including turning shafts, z-axis, y-axis linear guides (22, 23, 25) and harmonic drivers (24). Axis (A1 ~ A5) can be configured as a robot.

The weaving motor 16 generates a weaving motion during welding and controls the weaving width and the weaving speed by using a known welding automation method or a feedback control method.

The rotation correction motor 17 and the rotation shaft linear guide 22 perform the forward and reverse to maintain a constant distance from the rotation welding member.

The z-axis correction motor 18 and the z-axis linear guide 23 accurately track the weld line when the member and the welding robot device are not parallel in the z-axis direction, or correct the gap with the member in the z-axis direction when multi-layer welding is performed. Function

The robot rotating motor 19 and the harmonic driver 24 serve to rotate the welding torch 15 and are used for turning welding.

The y-axis correction motor 20 and the y-axis linear guide 25 accurately track the welding line when the member and the welding robot device are not parallel in the y-axis direction, or correct the gap with the member in the y-axis direction when the multilayer welding is performed. Perform the function.

4 is a flow chart showing a welding method using a lug welding robot system of the present invention.

Referring to FIG. 4, the operator first moves the lug welding robot under the block where the lug is located by manipulating the traveling cart, and when the correct position is determined, it is fixed not to move (S100).

The worker raises the robot transfer device and the two welding robot devices mounted thereon to a position where the welding operation can be performed using the lifting device (S110).

Thereafter, information on the target lug to be welded is input (S120). Then, the welding line is extracted by teaching the welding start point and the end point using the touch sensor (S130).

Determine the number of multi-layer welding in consideration of the improvement and the thickness of the lug (S140). This is then determined whether the weaving according to the characteristics of each layer (S150).

The welding current, voltage, and speed are determined according to the bead characteristics of each layer (S160). In addition, the welding information of each layer to be multi-layered welding is stored in the database (S170).

The welding robot apparatus moves to the welding start position (S180). It is determined whether there is weaving information when welding the current layer (S190). If there is no weaving information, the welding operation is performed (S200), and if there is the weaving information, the welding is performed while weaving motion (S210).

And when the end position reaches the welding is completed (S220). Then, the wire cutting (S230), cleaning the nozzle of the welding torch (S240), and then moves back to the welding start position. Since it is determined whether the current welded layer is the last layer (S250).

In addition, if it is determined that it is not the last layer, the next layer welding information is confirmed from the database (S260), and then the process proceeds back to S180.

On the other hand, in step S250, when it is determined that the last floor, all the work is finished, the robot transporting device performs an operation (for example, linear movement by a ball screw) to move the welding robot device to the initial position so that the system can move. The device operates in descending direction and resets the system position by moving the driving cart to the next lug position (S270).

Although the present invention has been described with reference to one embodiment shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. . Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

The present invention provides an automatic lug welding robot system capable of turning welding and multi-layer welding, and a lug welding robot thereof, a welding robot device which is an important part of the lug welding robot, and a lug welding method using them, thereby improving welding quality and productivity. There is an advantage to improve work safety.

Claims (9)

A lug welding robot for automatically welding lugs; A controller and control PC equipped with S / W for controlling the lug welding robot, a motor and servo drive for driving, and a control electric board mounted with various electric appliances; A pendant which is connected to the control battle board and used to manually manipulate each part of the lug welding robot or input a welding condition; A welding device including a welder, a welding torch and a wire feeder; A touch sensor for generating a digital signal and extracting a welding line when the welding wire is in contact with the welding member; A power panel for supplying power to the lug welding robot system and the welder and the touch sensor; Lug welding robot system comprising a. A welding robot device having a five-axis structure, capable of turning welding and multi-layer welding by correcting the position of the welding torch in the up / down and forward / backward directions; A transfer device for transferring the lug welding robot in a welding direction; A lifting device for moving the lug welding robot and the transfer device up and down; A traveling cart on which the welding robot device, the conveying device, and the lifting device are mounted and which can be steered and driven; And A control board mounted inside the traveling cart and having a board installed to control each unit; Lug welding robot comprising a. The method of claim 2, A shock sensor mounted between an end of the welding robot device and a welding torch to stop the system when a sudden impact is received; A wire cutter formed on an upper end of the lifting device to constantly cut the length of the welding wire; The lug welding robot further comprises a nozzle cleaner for removing foreign matter from the nozzle of the welding torch. The method of claim 2, The welding robot apparatus is formed of a plurality of lug welding robot, characterized in that coupled to perform welding at the same time, turning welding, multi-layer welding of both sides of the lug. The method of claim 2, Lug welding robot, characterized in that it further comprises a protective cover installed to protect the various devices from the slug, spatter generated during welding. A weaving motor and a first harmonic driver generating a weaving motion during welding and controlling the weaving width and the weaving speed; A rotation correction motor and a first linear guide which perform forward and backward to maintain a constant distance from the rotation welding member; A z-axis correction motor and a second linear guide that accurately tracks the welding line when the member and the welding robot device are not parallel in the z-axis direction, or corrects a gap between the member and the welding robot in the z-axis direction; A robot rotating motor and a second harmonic driver used for turning welding by rotating the welding torch; And A y-axis correction motor and a third linear guide that accurately tracks the weld line when the member and the welding robot device are not parallel in the y-axis direction, or corrects a gap between the member and the welding robot in the y-axis direction. Welding robot apparatus comprising a. (a) manipulating the traveling cart to move and secure the robot system under the block where the lug is located; (b) using a lifting device to raise the robot feeder and the two welding robots mounted thereon to a position where welding can be performed; (c) inputting information of a lug to be welded; (d) extracting a welding line by teaching a welding start point and an end point using a touch sensor; (e) determining the number of multilayer welding in consideration of improvement and thickness of the lug; (f) determining whether to weave according to the characteristics of each layer; (g) determining the welding current, voltage and speed according to the bead properties of each layer; (h) storing welding information of each layer to be multi-layer welded in a database; (i) moving the robot to a welding start position; (j) determining whether there is weaving information, and if there is weaving information, performing welding while performing weaving motion; (k) completing welding, cutting the wire and cleaning the welding torch when the end position is reached; And (l) determining whether the completed floor is the last floor, and if determined to be the last floor, resetting the system location; Lug welding method comprising a. The method of claim 7, wherein In the step (j), If there is no weaving information, the lug welding method further comprises the step of performing a welding operation without weaving motion. The method of claim 7, wherein In step (l), If it is determined that it is not the last layer, the next layer welding information is confirmed from the database, and the lug welding method, characterized in that proceeds to step (i).

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