KR20090034426A - Automatic welding device and method for joining block - Google Patents

Abstract

An automatic welding device for a butt joint part and a method thereof are provided to improve productivity by automatically performing V-groove welding of butt joint in which two length direction armatures and two abacuses meet. An automatic welding method for a butt joint part comprises: a step selecting one between a visual sensor and a touch sensor to trace a weld line(S1); a step inputting longi width, longi height and a groove shape to a controller of an automatic welding device(S2); a step producing a basic program(S3); a step moving the automatic welding device the beginning and the end part of the weld line and recognizing the welding part groove shape(S4); a step determining a weld bead laminating method from the recognized groove shape(S5); a step producing a final program(S6); and a step operating an automatic welding device and performing welding(S7).

Description

Automatic welding device and method for Joining block for welding butt joints between unit blocks

The present invention relates to an automatic welding device and an automatic welding method using the same, and more particularly, to an automatic welding device and an automatic welding method for welding a unit block constituting a hull and a joint of a unit block in a ship construction process.

In general, a method of building a ship is mainly used to fabricate the hull into a plurality of unit blocks (block), and then to assemble each of the manufactured blocks in the dock (dock).

In general, one large unit block includes a plurality of unit work cells, and a perspective view showing the configuration of a unit work cell is illustrated in FIG. 1. Referring to FIG. 1, one unit work cell A is generally composed of a main plate 10 and a longitudinal longitudinal stiffener 20 placed on the main plate 10. (A) is repeated continuously to form one large unit block.

2 is a perspective view showing a state of two unit work cells facing each other when the two unit blocks are connected, and FIG. 3 is a perspective view showing a welded site shape of two unit work cells facing each other. 2 and 3, when assembling (connecting) the unit block and the unit block, the unit work cells formed in the two unit blocks face each other to form a welding part 30, and the welding part 30 is usually butt-butted. The joints have a V-groove shape, and the joining between unit blocks is performed by manual welding by an operator.

On the other hand, Korean Patent Application Publication No. 10-2007-0066061 filed and filed by the present applicant has an automatic welding device for automatically welding the connection part of the main plate and the transverse reinforcement of the unit block and the connection of the longitudinal reinforcement and the transverse reinforcement The joints of the abacus and the transverse stiffeners and the joints of the longitudinal and stiffeners are usually formed as fillet joints and have a structure suitable for the automatic welding of such fillet joints. have.

4 is a perspective view showing the configuration of the automatic welding device. Referring to FIG. 4, the automatic welding device is installed above the X-axis base driver 41 having a driving wheel and the X-axis base driver 41, and vertically extends upwardly of the X-axis base driver 41. W-axis rotary drive unit 42 rotates about the W-axis to be formed, the Y-axis guide unit installed on the upper portion of the W-axis rotary drive unit 42 and the Y-axis sliding drive unit 43 is combined with the Y-axis guide unit to move And, the Z-axis guide portion installed on the upper portion of the Y-axis sliding drive portion 43 and the Z-axis sliding drive portion 44 moving in combination with the Z-axis guide portion, and installed on one side of the Z-axis sliding drive portion 44 And a torch clamp 45 rotatably installed around the A axis extending from the Z axis sliding driving part 44 in parallel with the X axis, and a driving motor not shown to operate the respective driving parts.

However, the automatic welding device as described above, since the mechanism is configured for welding the fillet welds where the abacus, the transverse reinforcement and the longitudinal reinforcement and the transverse reinforcement meet, as described above, when connecting the unit block and the unit block For butt welding between two opposite main plates or two longitudinal reinforcements, the mechanism of operation of the mechanism is not adequate and therefore difficult to apply.

More specifically, horizontal butt welding may be performed for welding two abacus facing each other using the automatic welding device, but in the case of vertical butt welding for welding two longitudinal stiffeners facing each other, a separate additional axis may be used. Welding cannot be performed without adding. In addition, if additional shafts are added, the weight of the device increases so that it is not feasible for the operator to easily handle the field application.

Next, the connection parts of two opposite main plates or two longitudinal stiffeners have a V-groove shape with butt joints, and the welding of these connections should be performed by multi-layer welding. There is a problem that can not perform a multi-layer welding to a single pass welding of.

The present invention has been made in consideration of the above problems, and an object of the present invention is to automatically perform a V-groove welding of butt joints where two abacus and two longitudinal reinforcing members facing each other when the unit block and the unit block are connected. The present invention provides an automatic welding device for welding butt joints between unit blocks and an automatic welding method.

The present invention to achieve the object as described above and to perform the problem for eliminating the drawbacks of the prior art is a driving drive unit having a plurality of driving wheels for movement;

A Z-axis driver vertically mounted on an upper portion of the driving driver;

A Y-axis driver installed horizontally extending from the Z-axis driver in a lateral direction of the driving driver and moving up and down by operation of the Z-axis driver;

A rotation driver installed at an end of the Y-axis driver and rotating about an A-axis extending horizontally from the Y-axis driver;

A welding torch installed in the rotation driving unit;

A driving module provided in each driving unit to operate the respective driving units;

A unit block configured to generate a program for controlling the automatic welding apparatus according to the information of the welding unit input by the operator and the information detected from the provided visual sensor or the touch sensor, and to control the respective driving units according to the generated program. It features an automatic welding device for welding butt joints.

In addition, the present invention is a traveling drive unit moving in the X-axis direction parallel to the weld line, the Z-axis drive unit provided perpendicular to the travel drive unit, the Y-axis drive unit provided horizontally from the Z-axis drive unit, and the end of the Y-axis drive unit For the assembly of the hull using an automatic welding device having a rotary drive unit installed, a welding torch installed in the rotary drive unit, a drive module installed in each drive unit to operate the respective drive unit, and a control unit for operating the drive module. In the automatic welding of butt joint V-groove welds formed by two unit blocks facing each other,

A selection step (S1) of selecting whether to use a visual sensor or a touch sensor to recognize the welding line;

An input stage P (S2) for inputting the long width, the long height, and the improved shape to the control unit of the automatic welding device;

A basic program generation step (S3) of generating a basic work program for performing automatic welding according to the information input through the input step (S2);

Recognition step (S4) of the automatic welding device is moved to the starting end of the welding line by the work program generated through the step (S3) to recognize the improved shape of the welding site;

A determination step (S5) of determining a welding bead lamination method from the improved shape recognized through the step (S4);

A final program generation step (S6) of generating a final work program for controlling the drive module of each drive unit to move the welding torch according to the welding bead stacking method determined through the step (S5); And

The welding step (S7) for performing welding by operating the automatic welding device according to the final work program generated through the step (S6); characterized in that the automatic welding method between the butt joints consisting of unit blocks.

In the automatic welding device and the automatic welding method of the present invention having the above characteristics, a vertical butt joint formed by two longitudinal stiffeners facing a horizontal butt joint formed by two main plates facing each other when connecting the unit block and the unit block. There is an effect of increasing the productivity by enabling the automatic welding by removing the negative welding from the conventional manual welding.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the present invention, if it is determined that the detailed description of the related known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted.

Figure 5 shows a perspective view of the automatic welding device according to a preferred embodiment of the present invention, Figure 6 shows a state diagram placed on the butt joint the automatic welding device according to the present invention. 5 and 6, the automatic welding device 100 according to the preferred embodiment of the present invention includes a driving driver 110, a Z-axis driver 120, a Y-axis driver 130, and a rotation driver ( 140, a welding torch 150, driving modules 161, 162, 163, and 164, and a controller 170. The automatic welding device 100 is a vertical butt joint formed by two butt reinforcing members facing the horizontal butt joint portion W1 formed by the unit block for the configuration of the hull and the two main plates facing each other when the unit block is assembled. The welding of the joint W2 is performed automatically, and each component will be described in detail below.

The driving drive unit 110 is to move the automatic welding device 100 in the X-axis direction parallel to the welding line of the horizontal butt joint (W1) formed by the two main plates facing each other, a plurality of driving wheels for driving 111 is provided in the lower end part. In addition, the motor is provided as a driving module 161 for the rotation of the driving wheel 111 inside the driving drive unit 110, the mechanical configuration for rotating the driving wheel 111 by using such a motor is a special technical Since null is a technology that requires no matters, its illustration and description are omitted.

The Z-axis driving unit 120 moves the welding torch 150 in the Z-axis direction parallel to the welding line of the vertical butt joint W2 formed by two longitudinal reinforcing members facing each other, and the driving driving unit 110. It is installed vertically at the top of the.

The Y-axis driving unit 130 is for moving the welding torch 150 in the Y-axis direction extending horizontally in the direction orthogonal to the X-axis, and is horizontal in the lateral direction of the driving driving unit 110 from the Z-axis driving unit 120. It is installed so as to extend. The Y-axis drive unit 130 moves in the Z-axis direction by the operation of the Z-axis drive unit 120, and moves the welding torch 150 in the Y-axis direction by the self-drive of the Y-axis drive unit 130.

The rotation driving unit 140 rotates the welding torch 150, and is installed at the end of the Y-axis driving unit 130, and configured to rotate about an A-axis extending in parallel with the Y-axis from the Y-axis driving unit 130. do.

The welding torch 150 is installed on the rotation driving unit 140 and configured to perform actual welding, and a visual sensor 180 for detecting welding site information is installed around the welding torch 150. In addition, similar to the visual sensor 180, a touch sensor 190 for detecting the member information by detecting the micro current flow of the welding wire to obtain the coordinate value of the system when the wire touches the member for detecting the welding part information is provided separately. have.

The driving modules 161, 162, 163, and 164 are for operation of the driving driver 110, the Z-axis driving unit 120, the Y-axis driving unit 130, and the rotation driving unit 140, and the driving driving unit 110 and the rotation driving unit ( In the case of 140, motors for rotating the wheels and the rotation driving unit 140 may be provided as driving modules 161 and 164, and in the case of the driving driving unit 110 and the Y-axis driving unit 130, a rack-pinion driving method or a ball. Screw drive type drive modules 162 and 163 may be provided. As described above, in the case of the drive modules 161, 162, 163 and 164 for operating the respective drive units 110, 120, 130 and 140, various methods may be applied according to the designer's selection. Since the technology is already widely used, a detailed description thereof will be omitted.

The control unit 170 generates a program for the control of the automatic welding device according to the information of the welding portion input by the operator and the welding region information detected from the visual sensor 180 or the touch sensor 190, and to the generated program Accordingly, the driving units 110, 120, 130, and 140 are controlled.

Reference numeral 200 in the drawings is a welding machine.

The welding method of the butt joints between the unit blocks using the automatic welding device 100 configured as described above will be described.

Figure 7 shows a flow chart showing the process sequence of the welding method according to the present invention. Referring to FIG. 7, the automatic welding method of the present invention includes a selection step S1 of selecting whether to use the visual sensor 180 or the touch sensor 190 for recognition of a welding line, a longage width, a longage height, and an improved shape. A basic program for generating a basic work program for performing automatic welding according to the information input through the input step (S2) and the input step (S2) to the control unit 170 of the automatic welding device 100 Recognition step (S4) and the automatic welding device 100 to move to the end of the welding line by the work program generated through the step (S3) and the welding line to recognize the improved shape of the welding site (S4), and the step ( Determination step (S5) of determining the welding bead stacking method from the improved shape recognized through S4), and controlling each drive unit to move the welding torch 150 in accordance with the welding bead stacking method determined through the step (S5) The final work program And final program step of generating (S6) which, comprises a welding step (S7) for performing a welding operation by the automatic welding apparatus 100 according to the final work program created after the step (S6).

The selection step (S1) is to enable the operator to select a sensor for tracking the welding line, the sensor of any one of the visual sensor 180 or separately provided touch sensor 190 installed with the welding torch 150. The step of selecting whether or not to track the weld seam by using.

Meanwhile, in order to track the welding line using the visual sensor 180, the visual sensor 180 must be positioned at the front end of the welding torch 150 based on the welding progress direction. As such, the visual sensor 180 is moved in the direction of the welding line. In order to recognize the welding line in advance of the welding torch 150 without using an additional axis to adjust the angle, the visual sensor 180 installed on one side of the welding torch 150 may move along the welding line preceding the welding torch 150. The lock welding direction is kept constant in either direction. For more clear description, this will be described with reference to FIG. 8.

8 shows an exemplary view showing a welding direction when the visual sensor is installed on the left side of the welding torch. As shown in FIG. 8, when the automatic welding device 100 welds the horizontal butt joint W1 with the visual sensor 180 installed on the left side of the welding torch 150 in the drawing, When the welding direction is maintained to the left and the vertical butt joint W2 is welded, the welding direction is maintained from the bottom to the top of the drawing so that the visual sensor 180 is positioned on the welding line without using an additional axis. The weld line can be traced. Here, the welding line tracking method using the visual sensor 180 is a well-known technique, and thus a detailed description thereof will be omitted.

9 illustrates an exemplary view for explaining a method of tracking a weld line using a touch sensor. Referring to FIG. 9, when the two points P1 (y1, z1) and P2 (y2, z2) of the base material adjacent to the welding groove are found using the touch sensor 190, the equation (1) of the straight line below is used. A straight line L1 can be obtained, and similarly, if two points P3 and P4 on the weld groove are found, a straight line L2 passing through P3 and P4 can be obtained, and if the member thickness T is used from the straight line L1, a straight line ( L3) can be obtained. The straight line L4 is found by finding two other points P5 and P6 on the weld groove, and the straight line L5 is found by finding two points P7 and P8 of the neighboring base material on the weld groove. The points S1, S2, S3, and S4 where the two adjacent lines L1 and L2 (L2 and L3) (L3 and L4) (L4 and L5) intersect are obtained and the coordinates of the obtained points are obtained. By using it, it is possible to recognize the improved shape and to track the weld line.

The input step (S2) is a step in which the operator inputs the information such as the long paper width, the long paper height and the improved shape to the controller 170.

The basic program generating step (S3) is a step of generating a basic work program so that the welding torch 150 can move along the welding portion, from the longage width, the longage height, and the improved shape information input in the input step (S2). The welding torch 150 generates trajectory information to pass through and generates a basic work program for controlling the respective driving units 110, 120, 130, and 140 to move the welding torch 150 according to the trajectory information.

The recognition step (S4) is a step in which the automatic welding device 100 moves to the starting end of the welding line by the basic work program generated in the basic program generation step (S3) to recognize the improved shape of the welding site. In this case, the previously selected visual sensor 180 or the touch sensor 190 is used to recognize the improved shape. Since the recognition of the improved shape using the visual sensor 180 is already commonly used, a detailed description thereof will be omitted. Since the improved shape recognition method using the touch sensor 190 has been described above, it will be omitted.

The determination step (S5) is a step of determining the weld bead stacking method from the recognized improved shape. Since the gap of the groove is not always constant in the actual field, the welding bead stacking method should be appropriately selected according to the size of the groove gap. The welding patterns prepared to be formed are previously input to the controller 170, and the appropriate welding pattern is selected according to the groove gap size of the improved shape recognized from the recognition step S4 to determine the welding bead stacking method. 10 and 11 illustrate a welding pattern for forming a weld bead differently according to the size of the groove gap. If the size (D) of the groove gap is larger than 20 and smaller than 40, the welding pattern of FIG. 10 is selected. If the size D of the groove gap is larger than 40 and smaller than 60, the welding pattern of FIG. 11 is selected.

The final program generation step (S6) is to further subdivide the movement path of the welding torch 150 in the basic work program generated in the basic program generation step (S3), according to the welding pattern selected in the previous determination step (S5) The welding torch 150 moves and generates a final work program for controlling each of the driving units 110, 120, 130, and 140 to perform welding.

The welding step S7 is a step of welding the butt joints between unit blocks by operating the automatic welding device 100 according to the generated final work program.

FIG. 12 shows a state diagram showing a state in which the horizontal butt joints between the main plates are welded according to the generated final work program. Referring to FIG. 12, welding starts from an edge where the longitudinal reinforcing material 20 and the main plate 10 meet, and performs welding along the main plate 10 to the opposite side. Thus, the welding torch 150 is straight along the X axis. In order to move to the welding torch 150 is rotated about the A axis with the Z-axis feed is made in conjunction at the same time. In addition, since the width between two adjacent longitudinal reinforcement is different for each block, when the working radius of the automatic welding device 100 is exceeded, the driving drive unit 110 of the automatic welding device 100 operates to cover the entire automatic welding device 100. The welding is performed while moving in the X axis direction.

Figure 13 shows a state diagram showing a state of welding the butt joints between the longitudinal stiffeners in accordance with the final work program generated. Referring to FIG. 13, welding starts from an edge where the longitudinal reinforcement 20 and the main plate 10 meet, and performs welding along the longitudinal reinforcement to the upper end of the longitudinal reinforcement 20, such as the welding torch 150. In order to move in a straight line along the Z-axis, the welding torch 150 is made with the rotation of the X-axis and the Z-axis simultaneously with the rotation about the A-axis.

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.

1 is a perspective view showing the configuration of a unit work cell;

2 is a perspective view showing a state of two unit work cells facing each other when connecting two unit blocks;

3 is a perspective view showing the shape of a welded portion of two unit work cells facing each other,

Figure 4 is a perspective view showing the configuration of a conventional automatic welding device,

5 is a perspective view of an automatic welding device according to a preferred embodiment of the present invention;

6 is a state in which the automatic welding device according to the invention placed on the butt joint,

7 is a flowchart showing a process sequence of a welding method according to the present invention;

8 is an exemplary view showing a welding direction when the visual sensor is installed on the left side of the welding torch;

9 is an exemplary view for explaining a method of tracking a welding line using a touch sensor;

10 and 11 are exemplary views showing a welding bead forming method according to the size of the weld groove gap,

12 is a state diagram showing a state of welding the horizontal butt joint between the abacus according to the generated final work program,

Figure 13 is a state diagram showing a state of welding the butt joints between the longitudinal stiffeners in accordance with the final work program generated.

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

110: drive driving unit (120): Z-axis driving unit

130: Y-axis drive unit 140: rotation drive unit

150: welding torch

(161) (162) (163) (164): Drive module

170: control unit

Claims (4)

A driving driver 110 provided with a plurality of driving wheels 111 for movement; A Z-axis driving unit 120 vertically mounted on an upper portion of the driving driving unit; A Y-axis driver 130 installed horizontally extending from the Z-axis driver 120 in the lateral direction of the driving driver 110 and moving up and down by the operation of the Z-axis driver 120; A rotation driver 140 installed at an end of the Y-axis driver 130 and rotating about an A-axis extending horizontally from the Y-axis driver 130; A welding torch 150 installed in the rotation driving unit 140; Drive modules (161, 162, 163 and 164) provided in the respective drive units to operate the respective drive units; Generates a program for the control of the automatic welding apparatus according to the information of the welding portion input by the operator and the information detected from the provided visual sensor 180 or the touch sensor 190, and each of the driving unit (110, 120, 130, 140) according to the generated program Control unit 170 for controlling the; automatic welding device for welding butt joints between unit blocks. Traveling drive unit moving in the X-axis direction parallel to the weld line, the Z-axis drive unit provided perpendicular to the travel drive unit, the Y-axis drive unit provided horizontally from the Z-axis drive unit, the rotary drive unit provided at the end of the Y-axis drive unit And two unit blocks for assembling the hull using a welding torch installed in the rotary driving unit, a driving module installed in each driving unit to operate the respective driving units, and an automatic welding device including a control unit for operating the driving module. In the automatic welding of the butt joint formed V-groove welds, A selection step (S1) of selecting whether to use a visual sensor or a touch sensor to track the weld line; An input step (S2) of inputting the long width, the long height, and the improved shape to the control unit 170 of the automatic welding apparatus 100; A basic program generation step (S3) of generating a basic work program for performing automatic welding according to the information input through the input step (S2); Recognizing step (S4) of the automatic welding device 100 to move to the beginning end of the welding line by the basic work program generated through the step (S3) to recognize the improved shape of the welding site; A determination step (S5) of determining a welding bead lamination method from the improved shape recognized through the step (S4); A final program generation step (S6) of generating a final work program for controlling each driving unit (110, 120, 130, 140) to move the welding torch 150 according to the welding bead stacking method determined through the step (S5); And Welding step (S7) between the unit block, characterized in that consisting of; welding step (S7) for performing welding by operating the automatic welding device 100 according to the final work program generated through the step (S6). The method of claim 2, wherein the determining step (S5), Among the welding patterns written in the controller 170 and written in the control section 170 to form the weld bead of the two or three stages according to the groove gap size of the improved welded portion, any one welding pattern is formed according to the groove gap size of the recognized improvement image. Automatic welding method of butt joints between unit blocks, characterized in that for determining the welding bead stacking method. According to claim 2, If the visual sensor 180 is selected from the selection step (S1), The control unit 170 maintains the welding direction in one direction so that the visual sensor 180 installed on one side of the welding torch 150 moves along the welding line in advance of the welding torch 150 without using an additional axis. Butt joint automatic welding method between the unit block, characterized in that the control to position the visual sensor 180 on the welding line.

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