KR20110032850A - Automatic welding robot - Google Patents

Abstract

PURPOSE: An automatic weld robot is provided to weld T-shaped welding part by simple manipulation. CONSTITUTION: An automatic weld robot comprises a welding rod(365), a weaving part(340), a straight line conveying part(310), a mainframe(311) and a longi fixing part(390). The weaving part fixes the welding rod and embodies the weaving motion of the welding rod. The straight line conveying part transfers straightly the weaving part in the longitudinal direction of the welding part. The mainframe fixes the straight line conveying part. The longi fixing part is connected to the mainframe and is fixed to the upper front side of the longi.

Description

Automatic welding robot

The present invention relates to an automatic welding robot used for welding a T-shaped portion formed by meeting the long paper and the long paper in a hull block or steel structure in a horizontal direction, and more particularly, firmly to a welding target site. The present invention relates to an automatic welding robot that can be fixed and can precisely perform welding with free movement.

In general, welding works such as hull blocks or steel structures are carried out in a narrow working space and a harsh working environment in which harmful gases are generated. Therefore, various automation devices are devised to protect workers in the production site and to improve welding quality and productivity. It is applied to the production site.

Among the welding operations, especially the T-shaped welding portion formed at the portion where the hull block is joined to the horizontal contact portion has not developed a suitable automatic welding device due to the shape characteristic of the welding portion.

FIG. 1 is a view schematically showing the shape of a T-shaped welding part in contact with a ronge.

As shown in Fig. 1, the portion where the cross-section T-shaped longages 10 and 20 meet in the horizontal direction is also formed with a T-shaped welding site. That is, there is a long side web welding part 40 formed by the upper part of the long side front surfaces 11 and 21 where the long side welding surface 30 and the long webs 12 and 22 are formed so that the welding part is formed in a T shape. do.

In particular, where the large hull blocks meet each other, the larger the size of the hull block, the easier the position or shape error is, and thus, the more difficult the automation is. Therefore, the necessity of the development of a new automatic welding device which is capable of precise movement and is easy to operate is emerging.

The present invention is to solve various problems including the above problems, an object of the present invention is to provide an automatic welding robot that can perform a welding operation with good welding quality can be precise movement in various directions.

An object of the present invention as described above, in the process of manufacturing the hull block or steel structure, welding the T-shaped welding site in which the T-shaped members formed by the front of the Lonzy front and the long-web contact with each other are welded to each other automatically As an automatic welding robot that can

Welding;

A weaving unit to fix the electrode and to implement the weaving motion of the electrode;

A linear conveying unit for linearly conveying the weaving unit in the longitudinal direction of the welding portion;

A main frame to fix the linear transfer unit;

A longage fixing unit connected to the main frame and fixed to an upper side of a long side,

The main frame is achieved by providing an automatic welding robot that is detachably fixed to an upper side of the rouge fixing unit, or detachably fixed to extend in a direction parallel to the rosy web on the side of the ronge fixing unit.

Here, the weaving unit,

A welding rod fixing chuck for fixing the welding rod;

A weaving motor generating power of the weaving motion of the welding rod fixing chuck and the welding rod; And

Weaving mechanism part for transmitting the power of the weaving motor to the welding rod fixing chuck to rotate the welding rod and the welding rod fixing chuck in the lateral direction to implement the weaving motion, and adjust the posture of the welding rod fixing chuck and the welding rod to 4 degrees of freedom. It may include.

Here, the weaving mechanism part,

A weaving motor having a main body and a rotating shaft protruding from the main body;

A first link extending in a direction crossing the rotation axis of the weaving motor and fixed to the main body of the weaving motor;

A second link connected to the first link in a position spaced apart from a portion fixed to the main body of the weaving motor; And

The second link may be fixed to allow relative rotation with the second link at a position spaced apart from the portion connected to the first link, and may include a third link to which the electrode fixing part is rotatably connected.

In addition, the weaving mechanism unit,

A first pulley fixed to a rotating shaft of the weaving motor;

A first connecting shaft disposed through a portion where the first link and the second link are connected;

A second pulley fixed to one end of the first connecting shaft and connected to a belt to receive power from the first pulley;

A third pulley fixed to the other end of the first connecting shaft;

A second connecting shaft disposed through a portion where the second link and the third link are connected;

A fourth pulley fixed to one end of the second connecting shaft and connected to the belt to receive power from the third pulley;

A fifth pulley fixed to the other end of the second connecting shaft;

A third connecting shaft fixed to the welding rod fixing part through the third link; And

The third connecting shaft may further include a sixth pulley fixed to the other side of the fixed part of the welding rod fixing part and connected to the belt to receive power from the fifth pulley.

In addition, the weaving mechanism unit,

A yaw link fixed to the third connecting shaft at an end of the third link; And

A pitch link rotatably coupled about an axis extending in a direction intersecting said third connecting shaft with respect to said yaw link,

The electrode fixing chuck may be rotatably fixed about an axis extending in a direction parallel to the third connecting shaft with respect to the pitch link.

Here, the linear conveying unit includes a linear conveying motor having a main body fixed to the main frame and a rotating shaft protruding from the main body;

A pinion fixed to the rotary shaft of the linear feed motor;

A rack disposed to engage the pinion;

Two manual pulleys respectively installed at both ends of the rack;

A sliding block disposed in contact with the rack so as to be movable relative to the rack; And

It may include a timing belt connected to the other side of the sliding block through one of the two manual pulleys from one side of the sliding block, the pinion, the other of the two manual pulleys in turn.

Here, the longage fixing unit,

First government;

A second fixing part arranged to be able to adjust a distance with respect to the second fixing part; And

A claw in each of the first and second fixing parts,

The clutter is,

A member fixedly rotatably hinged to the first fixing part or the second fixing part, and having two protrusions formed at an angle with respect to the hinge to press the front side of the long side simultaneously in the lateral direction and the thickness direction below. Can be.

According to the automatic welding robot of the present invention, a welding part having good welding quality can be performed by providing a mechanism part capable of precise movement in various directions. In particular, the T-shaped welding portion can be conveniently welded through a simple operation.

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

According to another aspect of the present invention, in the process of manufacturing a hull block or a steel structure, the automatic welding robot automatically welds a T-shaped welding portion in which a T-shaped member formed by the front of the long ground and the T-shaped member formed of the long web are welded to each other. It is an automatic welding robot that can.

2 is a perspective view showing the configuration of the automatic welding robot according to the present invention.

As shown in FIG. 2, another automatic welding robot 300 according to the present invention includes a welding rod 365, a weaving unit 340, a main frame 311, a longage fixing unit 390, and a linear transfer unit 310. do.

The welding rod 365 is a member that directly performs welding of the welded portion while moving adjacent to the welded portion. The weaving unit 340 fixes the welding rod 365 and implements the weaving movement of the welding rod 365. Here, the weaving motion refers to an operation in which welding is performed while the electrode 365 pivots laterally in a direction crossing the traveling direction.

The main frame 311 serves to fix the linear transfer unit 310, the weaving unit 340, and the welding rod 365 to the ronze fixing unit 390. 390 is fixed in other forms. The longe fixing unit 390 is connected to the main frame 311 is fixed to the upper surface of the longe front 11. The linear transfer unit 310 transfers the weaving unit 340 in a linear direction in the longitudinal direction of the welding portion. Hereinafter, each component constituting the automatic welding robot of the present invention and the function and operation of each component will be described in more detail with reference to the accompanying drawings.

3 to 8 are views sequentially showing the operation of the linear transfer unit.

As shown in FIGS. 3 to 8, the linear transfer unit 310 includes a linear transfer motor 312 fixed to the main frame 311 and the main frame 311 and having a rotating shaft 312a; A pinion 313 fixed to the rotary shaft 312a of the linear feed motor; A rack 314 arranged to engage the pinion 313; Two manual pulleys 321 and 322 respectively installed at both ends of the rack 314; A sliding block 318 disposed in contact with the rack 314 so as to be movable relative to the rack 314; The sliding block 318 is sequentially passed from one side of the sliding block 318 to one of the two manual pulleys 321 and 322, the pinion 313 and the other of the two manual pulleys 321 and 322 in turn. It includes a timing belt 317 connected to the other side of the. Here, the timing belt 317 may have a shape in which a plurality of protrusions are formed along the length direction of the timing belt 317, and accordingly, the manual pulleys 321 and 322 may also have a shape of the timing belt 317. Grooves corresponding to the protrusions may be formed and engaged with each other.

In the linear feed unit 310 having the above configuration, the linear feed motor 312 rotates the pinion 313 counterclockwise as shown in FIG. 4 in the state as shown in FIG. 3. In this case, the pinion 313 raises the rack 314, and the sliding block 318 disposed to be linearly transported with respect to the rack 314 is provided by the rack 314 by a timing belt 317 connected to the pinion 313. Will rise. Accordingly, the movement distance (stroke, stroke) for one rotation of the pinion 313 is 2 compared with the case where it is simply fixed to the rack 314 or when the rack 314 is fixed and conveyed only by the timing belt 317. It is doubled.

Likewise, if the pinion 313 continues to rotate in the counterclockwise direction, when the rack 314 rises to the maximum distance D, the sliding block 318 also rises to the top of the rack 314. , The maximum stroke in one direction of the sliding block 318 is D as shown in FIG. In this state, when the pinion 313 starts to rotate in the clockwise direction, as shown in FIGS. 6 and 7, the rack 314 and the sliding block 318 are simultaneously lowered, and the distance at which the rack 314 is lowered. The sliding block 318 is also lowered with respect to the rack 314 by a distance corresponding to. When the rack 314 reaches the maximum lowered position as shown in FIG. 8, the sliding block 318 is also lowered by the rack ( 314) down to the bottom. When the linear transfer unit 310 is operated as described above, only the rack 314 and the pinion 313 are used, or the pinion 313 and the timing belt 317 are used for the fixed rack 314 so that the sliding block ( Compared to the case of driving 318, the length of the rack 314 may be approximately half the length of D to obtain a stroke corresponding to 2D.

9 and 10 are views illustrating an operation in which the longage fixing unit 390 is fixed to the top surface of the longedge.

The longage fixing unit 390 is connected to the main frame 311 and is fixed to the upper side of the longedge 11.

As shown in FIGS. 9 and 10, the longage fixing unit 390 includes a first fixing part 391, a second fixing part 392, and a plurality of claws 395 and 396. .

The first fixing part 391 and the second fixing part 392 can adjust the distance therebetween according to the width of the front side of the longage. One or more clutters 395 and 396 are disposed in the first fixing part 391 and the second fixing part 392, respectively. The clutches 395 and 396 are rotatably fixed with respect to the first fixing part 391 or the second fixing part 292, and two protrusions having an angle of about 90 degrees with respect to the hinge are formed. Equipped. The first fixing part 391 and the second fixing part 392 have a surface in contact with the plane of the front side of the longage, in order to adjust the position of the thickness direction of the front side of the longines of the clutches 395 and 396, An extension portion 392a extending in the thickness direction of the front side of the ronji may be formed from the surface in contact with the surface of the long side.

The spacing between the clutch 395 of the first fixing part 391 and the clutch 396 of the second fixing part 392 is maintained to be larger than the width of the front part 11 (Fig. 9). 11, seat the longage fixing unit 390 on the upper surface. Then, the clutch 395 of the first fixing part 391 and the clutch 396 of the second fixing part 392 respectively support the end portions of the long front 11 in the lateral direction and the lower direction, respectively. The gap between the fixing part 391 and the second fixing part 392 is narrowed to correspond to the width of the front side 11 and the first fixing part and the second fixing part are fixed (FIG. 10). In this manner, the longage fixing unit 390 may be fixed to the upper surface of the long front 11.

The main frame 311 fixes the linear transfer unit 310 to the longage fixing unit 390. The main frame 311 may be detachably fixed to the upper side of the longage fixing unit 390, or may be detachably fixed to extend in a direction parallel to the longage web at the side of the longage fixing unit 390. That is, when performing a welding operation in a direction parallel to the planar direction of the long web among the T-shaped welding sites, the main frame 311 is in the state where the long paper fixing unit 390 is fixed to the upper surface of the long paper 11. It is arrange | positioned so that it may extend in the direction parallel to a rouge web in the side part of this said ronge fixing unit 390 (FIG. 2, FIG. 9, FIG. 10, FIG. 14).

11 to 13 illustrate a structure of attaching and detaching the main frame 311 to the longage fixing unit 390 in the present invention.

In order to weld the welded portion of the upper surface of the long side front 11, the linear transfer unit 310 fixed to the main frame 311, the weaving unit 340 and the welding rod 365 connected to the linear transfer unit 310 sequentially are It is necessary to move and arrange | position above the Ronji front 11. To this end, as shown in FIG. 11, the main frame 311 is pulled in the direction parallel to the long web (+ Z-axis direction) from the side slots 394 formed on the side of the longage fixing unit 390, and in FIG. 12. As shown, the main frame 311 is laid side by side on the upper surface of the long side 11, and then inserted into the upper slot 393 formed on the top of the long side fixing unit 390 to secure a posture required for welding.

Similarly, in order to weld the welding portion 40 of the long web, the main frame 311 is pulled out from the upper slot 393 formed on the long fixing unit 390 in the + X axis direction, and then rotated around the Y axis. The main frame 311 and the long web 12 are arranged side by side, and the main frame 311 is inserted into the side slot 394 formed at the side of the long fixing unit 390 to secure the posture required for welding. .

As shown in FIGS. 11 and 13, the main frame 311 is not simply a member made of a plate shape, and a main slot 311b penetrated in the Y-axis direction is formed to protrude toward the long fixing unit 390. It is. The hinge 391a disposed in the hinge fixing unit 390 is inserted into the main slot 311b, and the main frame 311 is moved along the main slot 391a while the movement is restricted by the hinge 391a. You can change your posture. In addition, the main frame has a seating protrusion 311a which is inserted into and fixed to the upper slot or the side slot, as shown in FIGS. Is adjusted.

14 is a view showing a configuration of an example of the weaving unit 340 for weaving the electrode in the automatic welding robot of the present invention.

As shown in FIG. 14, the weaving unit 340 includes a welding rod fixing chuck 360 for fixing the welding rod 365, a weaving mechanism 345, and a weaving motor 350.

The weaving motor 350 includes a main body 351 and a rotation shaft 352 protruding from the main body 351 to control the weaving motion of the electrode by controlling the rotation angle and direction.

The weaving mechanism part 345 may change the posture of the welding rod fixing chuck 360 and the welding rod, and also rotates the welding rod in the lateral direction to implement the weaving motion. The weaving mechanism part 345 has three series-linked links for controlling the posture of the welding rod and the rod fixing chuck 360 on the XY plane (when the strong web is welded) or on the YZ plane (when the strong front surface is welded). do. In addition, the weaving mechanism part 345 further includes a yaw link and a pitch link for adjusting the yaw angle and the pitch angle with respect to the serial link end of the electrode. In addition, the weaving mechanism part 345 has a plurality of pulleys and belts so that the power of the weaving motor 350 is transmitted to the welding rod fixing chuck 360.

For example, the weaving mechanism part 345 may include a first link 381 extending in a direction crossing the rotation axis of the weaving motor 350 and fixed to the main body of the weaving motor 350; A second link 382 connected to the first link to allow relative rotation with the first link at a position spaced apart from a portion fixed to the main body of the weaving motor 350; And a third link 383 that is fixed so as to be relatively rotatable with the second link at a position spaced apart from a portion connected to the first link, and the welding rod fixing part is rotatably connected. These three links are then connected in series to each other to form a serial link.

In addition, the weaving mechanism part 345, the first pulley (371) fixed to the rotating shaft of the weaving motor 350; A first connecting shaft 341 disposed through a portion where the first link 381 and the second link 382 are connected; A second pulley 372 fixed to one end of the first connecting shaft and connected to a belt so as to receive power from the first pulley 371; A third pulley 373 fixed to the other end of the first connecting shaft; A second connecting shaft 342 disposed through a portion where the second link and the third link are connected; A fourth pulley 374 fixed to one end of the second connecting shaft and connected to a belt to receive power from the third pulley; A fifth pulley 375 fixed to the other end of the second connecting shaft; A third connecting shaft 343 fixed to the welding rod fixing part through the third link; The third connecting shaft may further include a sixth pulley 376 fixed to the other side of the fixed part of the welding rod fixed portion and connected to the belt so as to receive power from the fifth pulley. The rotational force of the motor is transmitted to the electrode fixing chuck 360 by the pulleys and the belts.

In addition, the yaw link (361) is fixed to the third connecting shaft (343) at the end of the serial link of the weaving mechanism part (345); A pitch link 362 rotatably coupled about an axis extending in a direction crossing the third connecting shaft with respect to the yaw link; And a welding rod fixing chuck 360 rotatably fixed about an axis extending in a direction parallel to the third connecting shaft with respect to the pitch link. The posture of the electrode can be adjusted to four degrees of freedom by the first to third links, the yaw link, and the pitch link, and the posture can be maintained independently of the driving of the weaving motor.

The electrode fixing chuck 360 includes an upper chuck 354, a lower chuck 353, and an adjusting screw 356 for adjusting a gap between the upper chuck and the lower chuck. A welding rod is interposed between the upper chuck and the lower chuck, and the welding screw is fixed between the upper chuck and the lower chuck by tightening the adjusting screw.

The relative angle between the first link, the second link, the third link, the yaw link, and the relative angle between the yaw link and the pitch link are manually controlled by the user without being affected by the rotation of the weaving motor 350. Can be adjusted. That is, a bearing (not shown) is installed at a portion where the first link, the second link, and the third link and the connecting shafts 341, 342, and 343 contact each other. The user can determine the welding posture of the electrode 365 by manually adjusting the relative angles of the first to third links, and the posture of the electrode 365 determined by the user is influenced by the rotation of the weaving motor 350. May not receive. In addition, the operation of the electrode 365 by the rotation of the weaving motor 350 is transmitted only by the pulley and the belt.

15 and 16 illustrate a welding operation of the automatic welding robot of the present invention.

As shown in FIG. 15, the main frame 311 is fixed to the side of the longage fixing unit 390, and the welding rod 365 is formed along the welding portion formed in the longage web while weaving the electrode 365 laterally at an angle. While welding in the axial direction, the welded portion 40 formed on the long webs 12 and 22 is welded.

In addition, as shown in FIG. 16, the main frame 311 is fixed to the upper portion of the longage fixing unit 390, along the welding portion formed on the front side of the longage while the welding rod 365 is woven at a predetermined angle in the lateral direction. The welding portion 30 formed on the front sides 11 and 21 is welded while moving in the + X axis direction.

In the following description of the present invention, the embodiments illustrated in the drawings have been described with reference to the present invention. I will understand the point. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view schematically showing the shape of a T-shaped welding part in contact with a ronge;

Figure 2 is a perspective view showing the configuration of the automatic welding robot according to the present invention.

3 to 8 are views sequentially showing the operation of the linear transfer unit.

9 and 10 are views showing an operation in which the longage fixing unit is fixed to the front surface of the longage.

11 to 13 is a view showing a structure for attaching and detaching the main frame to the longage fixing unit in the present invention.

14 is a view showing the configuration of an example of the weaving unit for weaving the welding rod in the automatic welding robot of the present invention.

15 and 16 are diagrams illustrating a welding operation of the automatic welding robot of the present invention.

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

10, 20: Longines 11, 21: Longines front

12, 22: Longines web 30: Longines upper weld

40: long web welding part 300: automatic welding robot

310: linear transfer unit 311: main frame

311a: seating protrusion 311b: main slot

312: linear feed motor 312a: linear feed motor rotary shaft

313: pinion 314: rack

317: timing belt 318: sliding block

321, 322: manual pulley 340: weaving unit

341: first connecting shaft 342: second connecting shaft

343: third connecting shaft 345: weaving mechanism part

350: weaving motor 351: weaving motor main body

352: weaving motor rotary shaft 353: lower chuck

354: upper chuck 356: fixing screw

360: welding rod fixing chuck 361: yaw link

362: pitch link 365: welding rod

371: first pulley 372: second pulley

373: third pulley 374: fourth pulley

375: 5th pulley 376: 6th pulley

381: first link 382: second link

383: third link 390: longage fixing unit

391: First Government 391a: First Government Hinge

392: Second Government 392a: Second Government

393: upper slot 394: side slot

395, 396: Klur

Claims (7)

In the process of welding the hull block or steel structure, it is an automatic welding robot that can automatically weld the T-shaped welding sites welded to each other by the T-shaped members formed by the front of the Lonzy and the L-web which are perpendicular to each other. Welding; A weaving unit to fix the electrode and to implement the weaving motion of the electrode; A linear conveying unit for linearly conveying the weaving unit in the longitudinal direction of the welding portion; A main frame to fix the linear transfer unit; And A longage fixing unit connected to the main frame and fixed to an upper side of a long side, And the main frame is detachably fixed to an upper side of the rouge fixing unit or detachably fixed to extend in a direction parallel to the ronge web on the side of the ronge fixing unit. The method of claim 1, The weaving unit, A welding rod fixing chuck for fixing the welding rod; Weaving motor for generating a power of the weaving motion of the welding rod fixing chuck and the welding rod; And Weaving mechanism part for transmitting the power of the weaving motor to the welding rod fixing chuck to rotate the welding rod and the welding rod fixing chuck in the lateral direction to implement the weaving motion, and adjust the posture of the welding rod fixing chuck and the welding rod to 4 degrees of freedom. Automatic welding robot comprising a. The method of claim 2, The weaving mechanism part, A weaving motor having a main body and a rotating shaft protruding from the main body; A first link extending in a direction crossing the rotation axis of the weaving motor and fixed to the main body of the weaving motor; A second link connected to the first link in a position spaced apart from a portion fixed to the main body of the weaving motor; And Automatic welding, characterized in that the second link is fixed to enable relative rotation with the second link at a position spaced from the portion connected to the first link, the welding rod fixing portion includes a third link rotatably connected robot. The method of claim 3, The weaving mechanism part, A first pulley fixed to a rotating shaft of the weaving motor; A first connecting shaft disposed through a portion where the first link and the second link are connected; A second pulley fixed to one end of the first connecting shaft and connected to a belt to receive power from the first pulley; A third pulley fixed to the other end of the first connecting shaft; A second connecting shaft disposed through a portion where the second link and the third link are connected; A fourth pulley fixed to one end of the second connecting shaft and connected to the belt to receive power from the third pulley; A fifth pulley fixed to the other end of the second connecting shaft; A third connecting shaft fixed to the welding rod fixing part through the third link; And And a sixth pulley fixed to the other side of the fixed part of the welding rod fixing part in the third connecting shaft and connected to the belt so as to receive power from the fifth pulley. The method of claim 4, wherein The weaving mechanism part, A yaw link fixed to the third connecting shaft at an end of the third link; And A pitch link rotatably coupled about an axis extending in a direction intersecting said third connecting shaft with respect to said yaw link, And the welding rod fixing chuck is rotatably fixed about an axis extending in a direction parallel to the third connecting shaft with respect to the pitch link. The method of claim 1, The linear conveying unit includes a linear conveying motor having a main body fixed to the main frame and a rotating shaft protruding from the main frame; A pinion fixed to the rotary shaft of the linear feed motor; A rack disposed to engage the pinion; Two manual pulleys respectively installed at both ends of the rack; A sliding block disposed in contact with the rack so as to be movable relative to the rack; And And a timing belt connected to the other side of the sliding block in order from one side of the sliding block to one of the two manual pulleys, the pinion, and the other of the two manual pulleys. The method of claim 1, The longage fixing unit, First government; A second fixing part arranged to be able to adjust a distance with respect to the second fixing part; And Includes a clicker in each of the first and second fixed parts, The clutch is rotatably hinged with respect to the first or second fixing part, and includes two protrusions that are angled to each other about the hinge so that the front side of the longage is in the lateral direction and the thickness direction below. An automatic welding robot, characterized in that the pressing member at the same time.

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