KR20090025417A - Automatic welding system for steel frame - Google Patents

Automatic welding system for steel frame Download PDF

Info

Publication number
KR20090025417A
KR20090025417A KR1020070090265A KR20070090265A KR20090025417A KR 20090025417 A KR20090025417 A KR 20090025417A KR 1020070090265 A KR1020070090265 A KR 1020070090265A KR 20070090265 A KR20070090265 A KR 20070090265A KR 20090025417 A KR20090025417 A KR 20090025417A
Authority
KR
South Korea
Prior art keywords
welding
steel
work
lifting
robot
Prior art date
Application number
KR1020070090265A
Other languages
Korean (ko)
Inventor
노태성
박찬구
배정호
신준협
Original Assignee
주식회사 윈젠
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 윈젠 filed Critical 주식회사 윈젠
Priority to KR1020070090265A priority Critical patent/KR20090025417A/en
Publication of KR20090025417A publication Critical patent/KR20090025417A/en

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0294Transport carriages or vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426Fixtures for other work
    • B23K37/0452Orientable fixtures
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/095Monitoring or automatic control of welding parameters
    • B23K9/0956Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00Gripping heads and other end effectors
    • B25J15/0052Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00General purpose image data processing
    • G06T1/0014Image feed-back for automatic industrial control, e.g. robot with camera
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/28Beams

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steel structure automatic welding system, and to a steel structure automatic welding system that automatically welds through a multi-joint welding robot by rotating, pivoting and lifting a connection part such as an H-beam and a steel pipe.
The present invention, a welding robot for welding the connection of the steel structure, and provided on one side of the welding robot, the steel structure automatic welding system consisting of one or more positioner units for rotating, turning, lifting the work platform on which the steel structure is mounted The positioner unit includes: a rotating device for rotating the worktable horizontally; A turning device to rotate the work table vertically; It is provided on one side of the workbench, comprising a lifting device for moving the workbench up and down, the lifting device is provided on one side of the workbench, the lifting motor for generating a rotational force; A ball screw coupled to the lifting motor and rotating by the rotational force of the lifting motor; It is provided on one side of the workbench, characterized in that it comprises a screw nut coupled to the ball screw to convert the rotational movement of the ball screw into a linear motion. According to this invention which has such a structure, there exists an advantage that workability improves.

Description

Automatic welding system for steel structure {Automatic welding system for steel frame}
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steel structure automatic welding system, and more particularly, to a steel structure automatic welding system which is automatically welded through a multi-joint welding robot by rotating, pivoting and lifting a connection part such as an H-beam and a steel pipe.
In general, steel structures for buildings form the skeleton of the building using a variety of beam (Beam) or steel pipe.
However, various beams and steel pipes are limited in length, and in order to form a long and large scale steel structure, various beams and steel pipes are welded and used.
And, such welding work is performed manually by a person of the following problems.
As the steel structure is heavier in weight and longer in length, it is not easy to weld the steel structure, and if the welding is wrong, a complicated and complicated correction work must be applied.
In addition, the quality of the welding operation is determined according to the skill of the operator, and there is a problem in that it takes a considerable time to weld the entire upper, lower, left, and right sides of the beam and the steel pipe.
And, if performed by hand, there is a problem that the weld may be missing depending on the state of the day of the operator.
An object of the present invention is to solve the problems of the prior art as described above, if the steel structure of the welded state is placed on the worktable, the worktable can be rotated, swiveled, and lifted to enable automatic welding through the welding robot It is to provide a structure automatic welding system.
Another object of the present invention, the rotation, turning, lifting of the worktable is configured to be operated by the action of the servo motor and gears and ball screw, to provide a steel structure automatic welding system that not only improves the precision of the operation but also reduces noise will be.
Steel structure automatic welding system according to the present invention for achieving the object as described above, is formed of a plurality of joints, the welding robot for welding the connecting portion of the steel structure, and is provided on one side of the welding robot, A steel structure automatic welding system composed of at least one positioner unit for rotating, turning, and elevating a raised work table, wherein the positioner unit is provided on one side of the work table to rotate the work table horizontally; A turning device provided at one side of the work table to allow the work table to rotate vertically; It is provided on one side of the workbench, comprising a lifting device for moving the workbench up and down, the lifting device is provided on one side of the workbench, the lifting motor for generating a rotational force; A ball screw coupled to the lifting motor and rotating by the rotational force of the lifting motor; It is provided on one side of the workbench, characterized in that it comprises a screw nut coupled to the ball screw to convert the rotational movement of the ball screw into a linear motion.
In another aspect, the present invention is formed with a plurality of joints, welding robot for welding the connection of the steel structure, and provided on one side of the welding robot, one or more positioners for rotating, turning, lifting the work platform on which the steel structure is mounted In the automatic welding system of steel structure composed of a unit, one side of the welding robot is provided with a moving means for moving the welding robot to one or more positioner units, the moving means is provided on the lower side of the welding robot, A robot plate to which the robot is fixed; A moving device provided at one side of the robot plate to selectively move the robot plate; Coupled with the moving device, characterized in that it comprises a guide rail for forming a movement path of the robot plate.
According to the steel structure automatic welding system according to the present invention as described above, the welding work of the steel structure is automatically performed by the welding robot as the work table is rotated, swiveled, and lifted, there is an advantage that the safety of the work is improved.
In addition, since the quality of the welding operation does not change according to the skill of the operator and is always kept constant, there is an advantage that the welding operation is firmly performed.
In addition, when welding the same steel structure, a large amount of work is possible, and the working time is also shortened.
Hereinafter, a specific embodiment of the present invention will be described with reference to the drawings.
1 is a block diagram schematically showing the configuration of a steel structure automatic welding system according to the spirit of the present invention.
Referring to FIG. 1, the steel structure automatic welding system is provided in front of the positioner unit 10 and the positioner unit 10 and the position of the steel structure connecting portion, that is, the base material to be welded, rotated, swiveled and lifted, and It comprises a welding unit 20 for welding the base material, and the control unit 30 for controlling the operation of the positioner unit 10 and the welding unit 20, the positioner unit 10 is described in detail below Let's take a look.
The welding unit 20 is a welding robot 22 composed of multiple joints to weld the base material placed on the positioner unit 10, a wire 26 and carbon dioxide gas supplied to the welding robot 22. , 24, and a welding machine 28 for supplying power for welding the welding robot 22.
The welding robot 22 has a joint composed of multiple joints, that is, six servo-motors (AC-Servo motors), and can operate in three dimensions such as a curved line and a straight line, and is mounted on the positioner unit 10. Will be welded. In addition, an end portion of the welding robot 22 may be further provided with an image camera to configure a welding operation in real time.
On the other hand, the control unit 30 is a setting box 32 for setting an operation for welding, such as rotation, turning, lifting and lowering of the welding robot 22 and the positioner unit 10, and the setting box 32 A controller 34 that controls the operation of the welding robot 22 and the positioner unit 10 and an operation box 36 that controls the start, end, emergency stop, and the like of the controller 34 according to the input order. It is configured to include).
The setting box 32 is a configuration for inputting the movement coordinates of the welding robot 22 and the operation coordinates of the positioner unit 10 according to the size and type of the base material, such setting is performed by the operator at each step. Or you can set all steps sequentially at once so that the welding work is done automatically from start to finish.
On the other hand, the control unit 30 may be further connected to a computer that displays a graph of the current and voltage waveforms of the welder output during welding, through which the operator can check the state of the welder (28). In addition, by connecting the computer and the image camera installed at the end of the welding robot 22 to the computer can be configured to check the welding state in real time or to store the working image.
Hereinafter, the positioner unit will be described in detail with reference to FIGS. 2 to 6.
Figure 2 is a perspective view showing the appearance of the welding robot and the positioner unit of the main portion of the present invention, Figure 3 is an exploded perspective view showing the configuration of the positioner unit of the main portion of the present invention. Figure 4 is an exploded perspective view showing the configuration of the rotating device of the main component of the present invention, Figure 5 is an exploded perspective view showing the configuration of the pivoting device of the main component of the present invention, Figure 6 is a configuration of a lifting device that is a main component of the present invention Is an exploded perspective view.
2 and 6, the welding robot 22 is composed of a joint operated by six servomotors, the lower end is fixed to the work table or the ground, the upper end is provided with a torch 23 for welding work. . One side of the welding robot 22 is provided with a positioner unit 10 which is raised, rotated, and lifted by a base material.
The positioner unit 10 includes a work table 100 on which a base material is placed, a rotating device 200 for rotating the work table 100 horizontally, a turning device 300 for vertically rotating the work table 100, and It is configured to include a lifting device 400 for moving the work table up and down.
In detail, the right side (as seen in FIG. 2) of the torch 23 is provided with a work table 100 on which a base material is placed. The work bench 100 includes a work bench ring 120 formed of a donut-shaped disk having a predetermined diameter and a work bench frame 140 supporting a load of the work bench ring 120.
The work ring ring 120 is coupled to the rotary gear 240 which is one component of the rotating device 200 to be described below is configured to be rotatable horizontally, the upper position of the work ring ring 120 is the exact position of the base material It is further provided with a guide guide position 122, and a fixing clip 124 to prevent the base material guided by the position guide 122 is not moved.
The exact position guide 122 is a pair of iron rod having a predetermined length of two bends, fixed to the work ring ring 120 so that the bent portion is directed downward, thereby preventing the horizontal movement of the base material To perform. In addition, the positioning guide 122 is further provided with a fixing piece 123 that is adjustable to correspond to the width of the base material.
That is, the interval between the fixing piece 123 provided on both sides of the position guide 122 is the same as the interval of the base material to prevent the flow of the base material. And, the fixed clip 124 serves to prevent the fall of the base material when the work table 100 is rotated 180 degrees by the turning device 300, that is, to prevent the vertical movement of the base material. Therefore, the base material placed on the work table by the fixing piece 123 and the fixing clip 124 is always maintained in the correct position to prevent the flow due to rotation, turning and lifting.
On the other hand, the workbench frame 140 serves to support the load of the base material and the like placed on the workbench 100, a predetermined space is formed therein is accommodated in the rotary device 200 to be described below. In detail, the left side of the workbench frame 140 is formed in a circular perforated center corresponding to the shape of the workbench ring 120, and the right side of the workbench ring 120 has a rotating motor 220 to be described below. The rotating motor accommodating hole 144 is accommodated is formed, the right side of the rotating motor accommodating hole 144 is formed a connecting portion 142 coupled to the turning device swing frame 302 to be described below, vertically Is rotatably coupled.
The rotating device 200 is provided in the inner space of the workbench frame 140. The rotary device 200 is a rotary motor 220 for generating a rotational force, a rotary motor gear 230 is coupled to the rotary shaft of the rotary motor 220, the rotary motor gear 230 is geared to rotate It is configured to include a rotary gear 240.
In detail, the rotation motor 220 is preferably composed of a servo motor (AC-Servo Motor) capable of precise speed control and position control, and is fixed to the rotation motor accommodating hole 144. In addition, a rotating motor gear 230 having gears formed on an outer circumferential surface thereof is fixed to the rotating shaft of the rotating motor 220. The rotary gear 240 is provided on the left side of the rotary motor gear 230.
The rotary gear 240 is formed in a shape corresponding to the work ring ring 120 on the lower side of the work ring ring 120, the gear is coupled to the rotary gear 240, by the rotation of the rotary motor 220 The worktable ring 120 is fixed to the workbench frame 140 by a bearing to rotate 360 degrees.
On the other hand, the pivoting device swivel frame 302 is provided on the right side of the connecting portion 142. The swing device swing frame 302 is formed in a substantially disk shape, and is coupled to the genital connector 142.
The right side of the turning device swivel frame 302 is provided with a turning gear 340, which is one component of the turning device 300, the turning gear 340 is the turning device front cover 308 and the turning device rear frame 304 It is accommodated in the space between and is configured not to be exposed to the outside.
Swivel motor gear hole 206 is accommodated in the center of the side of the swivel device rear frame 304, the slewing motor gear 330 coupled to the rotating shaft of the swivel motor 320 which is one component of the swivel device 300 to be described below ) Is punched, and the swing motor fixing hole 305 to which the swing motor 320 is fixed is drilled at one side of the swing motor gear hole 206.
On the other hand, the swing device 300 includes a swing motor 320 for generating a rotational force, and a swing gear 340 is rotated in gear coupling with the swing motor gear 330 coupled to the rotary shaft of the swing motor 320. It is configured by.
In detail, the swing motor 320 is preferably composed of a servo motor capable of precise speed control and position control. The swing motor 320 is fastened and fixed to the swing motor fixing hole 305 of the rear frame 304 of the swing device. The swing motor 320 is configured not to be exposed to the outside by the swing motor cover 322.
In addition, the swing motor gear 330 is coupled to the rotation shaft of the swing motor 320. The swing motor gear 330 is gear-coupled with the swing gear 340 to rotate the work table 100 coupled to the swing device swing frame 302 vertically by 180 degrees to the swing frame rear frame 304. The bearing is coupled to and fixed. And, the swinging device rear frame 304 is coupled to the lifting device 400, is configured to be moved up and down.
The elevating device 400 is a lifting motor 420 for generating a rotational force, a ball screw 440 is rotated by being coupled to the lifting motor 420 and the rotational force of the ball screw 440 is converted into a linear motion It is configured to include a screw nut 460 to move the swinging device rear frame 304 up and down.
The elevating device 400 is accommodated and fixed inside the elevating frame 402 having a front surface having an approximately "⊃" shape with a side cross section, and a support frame 408 is further provided below the elevating frame 402. Thus, the overall balance of the positioner unit 10 is maintained.
In detail, the lifting motor through hole 403 is formed on the upper end of the lifting frame 402 to accommodate the rotation shaft of the lifting motor 420, and the rotation shaft passes through the lifting motor through hole 403. The lifting motor 420 is fixed. The lifting motor 420 is preferably configured as a servo motor (AC-Servo motor) to enable precise speed control and position control.
A ball screw 440 having a thread formed on an outer circumferential surface thereof is fixed to the rotation shaft of the lifting motor 420. The ball screw 440 is formed to extend up and down the lifting frame 402, both ends of the ball screw 440 is further provided with a support bearing 442, the rotation by the rotational force of the lifting motor 420 It is fixed to the lifting frame 402 to enable.
Meanwhile, a screw nut 460 is provided on the outer circumferential surface of the ball screw 440. A screw thread coupled to the ball screw 440 is formed on an inner circumferential surface of the screw nut 460, and an outer side thereof is coupled to the turning frame rear frame 304. Accordingly, the screw nut 460 moves the swing frame rear frame 304 up and down by the rotation of the ball screw 440.
On the other hand, the lifting motor cover 422 is further provided on the upper side of the lifting frame 402, the lifting motor 420 is configured not to be exposed to the outside, the lifting frame 402 in the opening front of the lifting frame The front cover 404 is further provided, so that the inside of the lifting frame 402 is not exposed as the work table 100 moves up and down.
Hereinafter, the operation of the automatic welding system for steel structures according to the present invention having the above configuration will be described with reference to FIGS. 1 to 9.
7 to 9 is a perspective view showing the operation of the steel structure automatic melting point system according to the spirit of the present invention.
First, when the base material to be welded and put it on the workbench, it becomes a state as shown in FIG. Thereafter, the welding robot 22 and the positioner unit 10 operate according to the movement order and movement coordinates input using the setting box 32.
In detail, the welding robot 22 welds the upper surface of the base material mounted on the work table 100, and the work table 100 rotates at a speed corresponding to the welding work of the welding robot 22. ) Rotates 360 degrees.
When the upper surface welding of the base material is completed as mentioned above, the base material is rotated 90 degrees by the turning device 300, and it will be in the state like FIG. In addition, the welding robot 22 is welded to the side of the base material, the work table 100 is rotated by the rotating device 200 at a speed corresponding to the welding operation of the welding robot 22.
When the side welding of the base material is completed as described above, the base material is further rotated 90 degrees by the turning device 300, and the state is as shown in FIG. In addition, the welding robot 22 is to weld the lower surface of the base material, the work table 100 is rotated by the rotating device 200 at a speed corresponding to the welding operation of the welding robot 22, Welding work is completed. In some cases, the work platform 100 is moved up and down by the elevating device 400 may be configured to perform a precise welding operation.
Then, the work table 100 is returned to its original state by the turning device 300, and separates the base material on which the welding work is completed from the work table 100.
Hereinafter, look at another embodiment of a steel structure automatic welding system according to the spirit of the present invention.
10 is a plan view schematically showing another embodiment of a steel structure automatic welding system according to the spirit of the present invention. Reference numerals to the same configuration as described above apply the same, and only look for the additional configuration.
Referring to FIG. 10, at least one positioner unit 10 is provided to rotate, pivot, and elevate a steel structure, that is, a worktable 100 on which a base material is placed, and to the left of the positioner unit 10 (as shown in FIG. 10). ) Is provided with a welding robot 22 for welding the base material mounted on the positioner unit 10. The welding robot 22 is moved by the moving means 500, and is configured to weld the base material mounted on the positioner unit 10, respectively.
The moving means 500 includes a robot plate 520 coupled to the lower side of the welding robot 22, a moving device 530 for selectively moving the robot plate 520, and a movement of the moving device 530. It is configured to include a guide rail 540 to form a movement path.
The robot plate 520 is formed of a substantially rectangular plate, and is coupled to the lower surface of the welding robot 22 to support the load of the welding robot 22.
The left rear end of the robot plate 520 is provided with a moving device 530 forcing the movement of the robot plate 520. Although not shown, the moving device 530 includes a moving motor generating a rotational force and a moving motor pulley connected to the moving motor and rolling the upper surface of the guide rail 540.
The movement device 530 is set by the above-described setting box 32, the operation coordinates to move by the interval of the positioner unit 10, this setting is configured to control the operation by the controller 34.
On the other hand, the lower side of the moving device 530 is provided with a pair of guide rails 540 for guiding the movement of the robot plate 520, the welding robot 22 by the guide rail 540, respectively Move to a position corresponding to the positioner unit 10 of the guide to guide the base material mounted on the plurality of positioner units 10 to be welded.
The scope of the present invention is not limited to the above-exemplified embodiments, and many other modifications based on the present invention may be made by those skilled in the art within the above technical scope.
1 is a block diagram schematically showing the configuration of a steel structure automatic welding system according to the spirit of the present invention.
Figure 2 is a perspective view showing the appearance of the welding robot and the positioner unit which is a main component of the present invention.
Figure 3 is an exploded perspective view showing the configuration of the positioner unit which is a main component of the present invention. Figure 4 is an exploded perspective view showing the configuration of a rotating device of the main component of the present invention.
5 is an exploded perspective view showing the configuration of a turning device which is a main component of the present invention.
Figure 6 is an exploded perspective view showing the configuration of the elevating device which is a main component of the present invention.
7 to 9 is a perspective view showing the operation of the steel structure automatic melting point system according to the spirit of the present invention.
10 is a plan view schematically showing another embodiment of a steel structure automatic welding system according to the spirit of the present invention.
<Description of Symbols for Main Parts of Drawings>
10. Positioner Unit 20. Welding Unit
22. Welding Robot 30. Control Unit
100. Workbench 120. Workbench ring
140. Workbench frame 200. Rotator
220. Rotating Motor 230. Rotating Motor Gear
240. Rotating gear 300. Slewing device
320. Slewing motor 330. Slewing motor gear
340. Slewing gear 400. Lifting device
420. Lifting motor 440. Ball screw
460. Screw Nut 500. Vehicle
520. Robot plate 530. Mobile device
540. Guide rails

Claims (7)

  1. A steel structure is formed by a plurality of joints, welding robot for welding the connection of the steel structure, and is provided on one side of the welding robot, the steel structure automatic consisting of one or more positioner units for rotating, turning, lifting the work platform on which the steel structure is mounted In the welding system,
    The positioner unit,
    A rotary device provided at one side of the work table to rotate the work table horizontally;
    A turning device provided at one side of the work table to allow the work table to rotate vertically;
    It is provided on one side of the work table, and comprises a lifting device for moving the work table up and down,
    The lifting device,
    A lifting motor provided at one side of the work table to generate a rotational force;
    A ball screw coupled to the lifting motor and rotating by the rotational force of the lifting motor;
    It is provided on one side of the workbench, the steel structure automatic welding system comprising a screw nut coupled to the ball screw to convert the rotational movement of the ball screw into a linear movement.
  2. The method of claim 1, wherein the rotating device,
    A rotation motor provided on one side of the work table to generate a rotational force;
    A rotating motor gear coupled to the rotating shaft of the rotating motor and having gears formed on an outer circumferential surface thereof;
    The steel structure automatic welding system which is geared with the rotary motor gear, comprising a rotary gear to rotate the worktable horizontally
  3. According to claim 1, The turning device,
    A swing motor provided on one side of the work table to generate a rotational force;
    A swing motor gear coupled to the rotation shaft of the swing motor and having gears formed on an outer circumferential surface thereof;
    The steel structure automatic welding system, which is geared with the swing motor gear and includes a swing gear to rotate the work table vertically.
  4. The method of claim 1,
    The rotating device is a steel structure automatic welding system, characterized in that rotatable 360 degrees
  5. The method of claim 1,
    The turning device is a steel structure automatic welding system, characterized in that rotatable 180 degrees
  6. The method of claim 1,
    The welding robot of the steel structure further comprises a camera showing the welding state of the steel structure at the end of the welding robot.
  7. A steel structure is formed by a plurality of joints, welding robot for welding the connection of the steel structure, and is provided on one side of the welding robot, the steel structure automatic consisting of one or more positioner units for rotating, turning, lifting the work platform on which the steel structure is mounted In the welding system,
    One side of the welding robot is provided with a moving means for moving the welding robot to one or more positioner units,
    The means for moving,
    A robot plate provided below the welding robot to fix the welding robot;
    A moving device provided at one side of the robot plate to selectively move the robot plate;
    Coupled with the moving device, the steel structure automatic welding system, characterized in that it comprises a guide rail for forming a movement path of the robot plate.
KR1020070090265A 2007-09-06 2007-09-06 Automatic welding system for steel frame KR20090025417A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020070090265A KR20090025417A (en) 2007-09-06 2007-09-06 Automatic welding system for steel frame

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020070090265A KR20090025417A (en) 2007-09-06 2007-09-06 Automatic welding system for steel frame

Publications (1)

Publication Number Publication Date
KR20090025417A true KR20090025417A (en) 2009-03-11

Family

ID=40693749

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020070090265A KR20090025417A (en) 2007-09-06 2007-09-06 Automatic welding system for steel frame

Country Status (1)

Country Link
KR (1) KR20090025417A (en)

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102079029A (en) * 2011-01-24 2011-06-01 重庆勤牛工程机械有限责任公司 Bucket robot welding fixture
CN102848122A (en) * 2012-08-23 2013-01-02 中国北车集团大连机车车辆有限公司 Welding tooling for transformer shell of electric locomotive
CN103170745A (en) * 2013-04-11 2013-06-26 深圳市大族激光科技股份有限公司 Laser welding device
KR101354183B1 (en) * 2013-07-18 2014-01-22 정상식 Valve welding assistive devices
KR101499748B1 (en) * 2014-11-19 2015-03-06 주식회사 태광 A clamping device for welding workpiece
KR101668197B1 (en) * 2015-09-24 2016-10-20 (주)경성엠티 Positioner for welding flange
CN107695607A (en) * 2017-10-18 2018-02-16 常州大学 Electronic rotation weld jig
KR101882376B1 (en) 2018-01-15 2018-07-26 에이제이동양메닉스 주식회사 System for manufacturing steel structure and its method
CN109014579A (en) * 2018-10-30 2018-12-18 谢明仿 A kind of laser welding All-dimensional manipulator arm
CN109014505A (en) * 2018-09-03 2018-12-18 广州创研自动化设备有限公司 A kind of robot welding system
CN109332954A (en) * 2018-11-23 2019-02-15 东台市高科技术创业园有限公司 A kind of electronic components welder
CN109332953A (en) * 2018-11-23 2019-02-15 东台市高科技术创业园有限公司 A kind of revolvingly driven type electronic components welder
CN109332952A (en) * 2018-11-23 2019-02-15 东台市高科技术创业园有限公司 A kind of electronic components welder with air channel
CN109848633A (en) * 2018-12-05 2019-06-07 江苏春都钢结构工程有限公司 A kind of structural steelwork component rotation device
CN110202299A (en) * 2019-06-24 2019-09-06 王霞 A kind of workbench welding robot
CN110744235A (en) * 2019-10-30 2020-02-04 合肥真谊机械制造有限公司 Vertical circular seam welding machine
CN110883472A (en) * 2019-12-18 2020-03-17 安徽双骏智能科技有限公司 Numerical control four-axis welding manipulator
KR102115581B1 (en) 2019-12-09 2020-06-05 황호열 Automation device for manufacturing steel structures

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102079029A (en) * 2011-01-24 2011-06-01 重庆勤牛工程机械有限责任公司 Bucket robot welding fixture
CN102848122A (en) * 2012-08-23 2013-01-02 中国北车集团大连机车车辆有限公司 Welding tooling for transformer shell of electric locomotive
CN103170745A (en) * 2013-04-11 2013-06-26 深圳市大族激光科技股份有限公司 Laser welding device
CN103170745B (en) * 2013-04-11 2015-01-28 大族激光科技产业集团股份有限公司 Laser welding device
KR101354183B1 (en) * 2013-07-18 2014-01-22 정상식 Valve welding assistive devices
KR101499748B1 (en) * 2014-11-19 2015-03-06 주식회사 태광 A clamping device for welding workpiece
KR101668197B1 (en) * 2015-09-24 2016-10-20 (주)경성엠티 Positioner for welding flange
CN107695607A (en) * 2017-10-18 2018-02-16 常州大学 Electronic rotation weld jig
CN107695607B (en) * 2017-10-18 2019-05-28 常州大学 Electronic rotation welding fixture
KR101882376B1 (en) 2018-01-15 2018-07-26 에이제이동양메닉스 주식회사 System for manufacturing steel structure and its method
CN109014505A (en) * 2018-09-03 2018-12-18 广州创研自动化设备有限公司 A kind of robot welding system
CN109014579A (en) * 2018-10-30 2018-12-18 谢明仿 A kind of laser welding All-dimensional manipulator arm
CN109332954A (en) * 2018-11-23 2019-02-15 东台市高科技术创业园有限公司 A kind of electronic components welder
CN109332953A (en) * 2018-11-23 2019-02-15 东台市高科技术创业园有限公司 A kind of revolvingly driven type electronic components welder
CN109332952A (en) * 2018-11-23 2019-02-15 东台市高科技术创业园有限公司 A kind of electronic components welder with air channel
CN109848633A (en) * 2018-12-05 2019-06-07 江苏春都钢结构工程有限公司 A kind of structural steelwork component rotation device
CN110202299A (en) * 2019-06-24 2019-09-06 王霞 A kind of workbench welding robot
CN110744235A (en) * 2019-10-30 2020-02-04 合肥真谊机械制造有限公司 Vertical circular seam welding machine
KR102115581B1 (en) 2019-12-09 2020-06-05 황호열 Automation device for manufacturing steel structures
CN110883472A (en) * 2019-12-18 2020-03-17 安徽双骏智能科技有限公司 Numerical control four-axis welding manipulator

Similar Documents

Publication Publication Date Title
KR20090025417A (en) Automatic welding system for steel frame
KR20090095041A (en) Automatic welding system
US4937427A (en) Apparatus and method for automatically welding a T-junction connector to a main pipe
US4294440A (en) Holding device
KR101143747B1 (en) Welding positioner for the machine welding
CN103433591A (en) Portable unlimited rotary numerical control beveled opening pipe cutting machine and beveled opening processing method
JP3026790B2 (en) Drive positioning device for robots and workpieces
CN203956365U (en) Oil platform leg welding equipment
CN106041379B (en) A kind of phase passes through the surface trimming welder of part
KR102092588B1 (en) An automatic welding device about curved steel pipes
WO2021036351A1 (en) Rotary automatic welding robot and welding method thereof
KR102085231B1 (en) Multi-axial welding equipment for welding free form surface
KR101218790B1 (en) a manipulator of auto welding in pipe
KR20150144513A (en) Automatic welding apparatus for pipe and flange
KR101141133B1 (en) Lug attaching equipment
KR20090024540A (en) Auto welding system
US20080246204A1 (en) Positioning Device for the Fabrication of Compressor Impellers
KR101199858B1 (en) A fixing machine by multi-DOF positioning control
JP4596767B2 (en) Method of preventing workpiece collision with workpiece holding device
KR20110046642A (en) Jig device for simulating circle welding and simulation method using the same
JP5498854B2 (en) Seam welding equipment
JPH10230393A (en) Jig for flanged short pipe
EP0446253A1 (en) An arrangement for bringing the tool-carrying end of a robot beam to a desired one of a plurality of possible, predetermined positions
JP2003117692A (en) Work suspending device
JP2632630B2 (en) Temporary welding jig for steel pipes with flanges at both ends

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E90F Notification of reason for final refusal
E601 Decision to refuse application