KR20150030097A - corrugation plate auto welding apparatus and control method thereof - Google Patents

Abstract

The present invention relates to an apparatus for automatically welding a corrugated panel and a method to control the same. According to the present invention, the apparatus for automatically welding a corrugated panel comprises: a carriage having a torch mounting part with which a welding torch unit with a welding head in the end is combined; a non-contact sensor preceding the welding head; a first displacement sensor preceding the welding head and receding the non-contact sensor; a second displacement sensor accompanying with the welding head; and a control part to receive data detected from the first and second displacement sensors when it is confirmed that the welding head enters a curved part of a corrugated panel based on a result detected in the non-contact sensor, to control rotary driving of the welding head to set a right angle when it is confirmed that the welding angle between the welding head and the corrugated panel is not 90 degrees based on a result detected in the first displacement sensor, and to calculate a compensation welding speed from a compensation welding angle in the calculated curved part by applying an exponentially weighted moving average filter expression to a result detected in the second displacement sensor and an angel wherein the welding head rotates and to control driving of the welding torch unit in order for the welding head to perform a welding according to the calculated compensation welding speed. The present invention has an effect of improving weld quality by precisely controlling an arc length through precise control of a welding speed even if an inclined angle of a curved part is out of the range of the maximum rotation angle of a welding head when welding is performed in the curved part of a corrugated panel.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic welding apparatus for welding a corrugated plate,

The present invention relates to an apparatus for automatically welding a corrugated plate and a control method thereof, and more particularly, to a corrugated plate having a flat portion and a curved portion to improve the structure and the method for more precisely controlling the welding in the curved portion during automatic welding To an automatic welding apparatus for a corrugated board and a control method thereof.

Generally, the storage tank of an LNG carrier is structured such that a heat insulating layer surrounds an inner tank made up of a plurality of membrane metal panels, and minimizes the generation of vaporized gas due to the inflow heat quantity outside the tank.

On the other hand, the membrane metal panel is formed with a convexly raised corrugation to facilitate expansion and contraction according to repeated temperature changes and load changes of the storage liquid.

In this way, a plurality of membrane metal panels provided with corrugations (curved surfaces) are combined by welding to form a single storage tank. In order to improve the efficiency of such welding work, an automatic welding apparatus is used.

Unlike a conventional automatic welding apparatus, the automatic welding apparatus for a corrugated sheet such as the membrane metal panel requires a precision of within ± 0.1 mm. In the case of welding defects, it is difficult to handle defects and there is a risk of gas leakage Therefore, the reliability of the welding operation becomes a very important part.

1 is a perspective view showing the shape of a general corrugated plate 1 such as a membrane metal panel. On the other hand, the corrugated plate 1 is constituted by the sections of the planar portions C1, 3 and the curved portions C2 to C6, 5 as shown in Fig.

In the automatic welding of the corrugated plate, information on the curved surface shape of the corrugated plate is detected through a plurality of sensors, and the welding torch is rotated based on the detected curved surface shape information, So that the automatic welding can be performed while maintaining the vertical state at all times.

An example of such an automatic welding apparatus for corrugated plate is disclosed in Korean Utility Model Registration No. 20-0420550 (registered on June 27, 2006, hereinafter referred to as "Patent Document 1").

However, since the angle of rotation of the head of the welding torch is limited to 65 ° at maximum, the automatic welding apparatus for welding the corrugated plate according to the prior art has a problem that the welding head is wrinkled in the section where the inclination angle in the curved portion exceeds 65 ° to 85 ° It is impossible to maintain the vertical state with respect to the welding surface of the plate material, resulting in a difference in the welding speed. As a result, there arises a difference in arc length control, which may degrade the welding quality.

Also, in order to prevent the deterioration of the welding quality due to such a problem, it is difficult to precisely control the arc length because the manipulation amount of the operator is increased in order to adjust the height of the welding head. As the process becomes complicated, the productivity may be lowered, and the cost of the process may increase.

Korean Utility Model Registration No. 20-0420550 (registered on June 27, 2006)

An object of the present invention is to provide an automatic welding apparatus for a corrugated plate and a control method thereof, which can improve the welding quality by precisely controlling the arc length when welding is performed in the curved portion of the corrugated plate.

Further, it is possible to achieve a uniform welding quality by minimizing the operation amount of the operator in the curved portion of the corrugated plate when performing the welding, to improve the productivity by simplifying the process, and to reduce the cost of the corrugated plate An automatic welding apparatus and a control method thereof.

In order to achieve the above object, an automatic welding apparatus for welding a corrugated plate according to the present invention comprises: a torch mounting portion to which a welding torch unit having a welding head at an end thereof is coupled to perform automatic welding on a corrugated plate having a flat surface portion and a curved surface portion; Carriage; A noncontact sensor provided in the torch attaching portion for detecting a change in distance from the corrugated plate while the automatic welding is performed by the welding head in a noncontact manner preceding the welding head in a welding performing direction by the welding head; Wherein the welding head is followed by the welding head and following the non-contact sensor in the direction of welding performed by the welding head, wherein the welding is carried out by the welding head while the automatic welding is performed by the welding head, A first displacement sensor provided on the mounting portion; And a welding head for welding the welding head to the welding head, wherein the welding head is brought into contact with the corrugated plate while automatic welding is performed by the welding head, Displacement sensor; And receiving data sensed by the first displacement sensor and the second displacement sensor when it is determined that the welding head has entered the curved portion of the corrugated plate on the basis of a result detected by the non-contact sensor, Controls the rotation driving of the welding head so that the welding angle is at right angles when it is determined that the welding angle formed by the welding head with respect to the corrugated plate is not right angle based on the result detected by the welding head, Calculating a corrected welding speed from a corrected welding angle in the curved surface portion calculated by applying an exponentially weighted moving average filter expression to the result detected by the second displacement sensor, And a control unit for controlling the running of the welding torch unit to be performed.

Here, the exponentially weighted moving average filter expression applied when the controller calculates the corrected welding angle,

.

Preferably, the non-contact sensor includes an optical sensor, and the first and second displacement sensors each include a linear encoder.

The automatic welding apparatus for a corrugated plate according to the present invention comprises a rotation driving part connected to the welding head for driving the rotation of the welding head under the control of the control part, It is preferable to further include a rotation angle detecting encoder.

It is preferable that the welding head, the non-contact sensor, the first displacement sensor, and the second displacement sensor are integrally provided adjacent to each other.

In order to achieve the above object, a control method for an automatic welding apparatus for a corrugated plate according to the present invention comprises the steps of: determining whether a welding head provided at an end of a welding torch unit has entered a welding position of a curved surface portion of a corrugated plate, Sensing and determining by the controller; The control unit accepting data sensed by the first displacement sensor and the second displacement sensor when the control unit determines that the welding head has entered the welding position of the curved surface portion; Controlling the rotation drive of the welding head such that the welding angle is at right angles when it is determined that the welding angle formed by the welding head with respect to the corrugated plate is not a right angle based on the result detected by the first displacement sensor; And calculating a corrected welding speed from the corrected welding angle in the curved surface portion calculated by applying the exponentially weighted moving average filter expression to the result of the rotation of the welding head and the result detected by the second displacement sensor, And controlling the traveling of the welding torch unit by the control unit so that welding by the welding head is performed.

)를 지수 가중 이동평균 필터식을 통해 연산하는 단계와, 상기 연산된 곡면부에서의 보정 용접각도(

)에 기초하여 제어부가 보정 용접속도를 연산하는 단계를 포함하는 것이 바람직하다. Here, the corrected welding speed is calculated from the corrected welding angle in the curved surface portion calculated by applying the exponentially weighted moving average filter expression to the angle of rotation of the welding head and the result detected by the second displacement sensor, Wherein the step of controlling the running of the welding torch unit by the control unit to perform the welding by the welding head comprises the steps of the control unit detecting an angle (? ₁ ) of rotation of the welding head from the rotation angle detecting encoder provided in the rotation driving unit, Calculating a tilt angle (? ₂ ) of a curved surface portion based on the detected rotation angle (? ₁ ) of the welding head and a result detected by the second displacement sensor; θ ₁ ) of the curved surface portion and the calculated inclination angle (θ ₂ ) of the curved surface portion,

) Using the exponentially weighted moving average filter equation, and calculating a corrected welding angle

And the control section calculates the corrected welding speed based on the corrected welding speed.

)를 연산하는 단계는, Wherein the control unit corrects the corrected welding angle (

) Comprises:

The following exponentially weighted moving average filter equation

The method comprising the steps of:

)에 기초하여 보정 용접속도를 연산하는 단계는, Then, the control unit corrects the corrected welding angle (

, The step of calculating the corrected welding speed comprises:

), V_{k -y} = S × sin(

)V _{k -x} = S x cos (

), V _{k -y} = S x sin (

)

(V _{k -x} : X axis component of corrected welding speed, V _{k -y} : Y axis component of corrected welding speed, S: preset welding speed)

And a step of determining a corrected welding speed from the synthesis rate of the welding speed.

According to the present invention, even if the inclination angle of the curved surface portion of the curved portion of the corrugated plate exceeds the maximum rotation angle of the welding head during welding, the arc length can be precisely controlled by precise control of the welding speed, The automatic welding apparatus for a corrugated plate and the control method thereof.

Further, it is possible to achieve a uniform welding quality by minimizing the operation amount of the operator in the curved portion of the corrugated plate when performing the welding, to improve the productivity by simplifying the process, and to reduce the cost of the corrugated plate An automatic welding apparatus and a control method thereof can be provided.

1 is a perspective view showing a shape of a general corrugated plate,
Fig. 2 is a schematic side view of the corrugated plate of Fig. 1,
FIG. 3 is a schematic side view of an automatic welding apparatus for a corrugated plate according to the present invention,
4 is a schematic front view of the automatic corrugated plate welding apparatus of FIG. 3,
FIG. 5 is a partially enlarged view of an enlarged view of a welding torch unit portion provided with the welding head of FIG. 4;
FIG. 6 is a graph showing an example in which the second displacement sensor is moved backward by a pressing operation in a section where the inclination angle of the curved surface portion is out of the range of the maximum rotation angle (65 °) of the welding head and the control portion obtains the inclination angle of the curved surface portion by a geometrical method The drawings,
7 is a control block diagram of an automatic welding apparatus for a corrugated board according to the present invention.
8 and 9 are control flowcharts illustrating a method of controlling an automatic welding apparatus for a corrugated plate according to the present invention.

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

The automatic corrugated plate welding apparatus 100 according to the present invention is configured to automatically weld the corrugated plate 1 having the flat surface portion 3 and the curved surface portion 5 as shown in Figures 3 and 7 A carriage 103 provided with a torch attaching portion 105 to which a welding torch unit 110 having a welding head 111 at its end is coupled, a non-contact sensor 210, a first displacement sensor 220, 2 displacement sensor 230, a rotation driving unit 300, a driving driving unit 400, and a control unit 500.

3 and 4, the welding torch unit 110 is detachably coupled to the torch attaching portion 105 of the carriage 103 having the rotation driving portion 300 and the driving driving portion 400.

The welding torch unit 110 provided at the end of the welding head 111 is coupled to the torch mounting portion 105 of the carriage 103. [

3 is a schematic side view of the automatic corrugated plate welding apparatus 100. FIG. 4 is a schematic front view of the automatic corrugated plate welding apparatus 100. The welding torch unit 110 Is performed along the corrugated plate 1 shown in Fig.

5, the non-contact sensor 210 is preceded by the welding head 111 in the welding performing direction (see the X-axis in FIG. 2) by the welding head 111, The torch attaching portion 105 is spaced apart from the corrugated plate 1 at one side of the welding head 111 and substantially perpendicular to the plane portion 3 so as to noncontactly detect a change in gap with the corrugated plate 1 during automatic welding, Respectively.

In an embodiment of the present invention, the non-contact sensor 210 preferably includes an optical sensor capable of sensing a distance through light emission and light reception.

The control unit 500 determines whether the welding head 111 has entered the upper portion of the curved surface portion 5 from the corrugated plate 1 through the non-contact sensor 210, The control unit 500 may receive data transmitted from the first displacement sensor 220 and the second displacement sensor 230 when it is determined that the first displacement sensor 220 and the second displacement sensor 230 have entered the welding position.

5, the first displacement sensor 220 follows the non-contact sensor 210 in the welding performing direction by the welding head 111 but precedes the welding head 111, To the torch attaching portion 105 perpendicularly to the flat surface portion 3 from one side of the welding head 111 so as to be retracted by the pressing in the curved surface portion 5 while the automatic welding is performed Respectively.

In one embodiment of the present invention, the first displacement sensor 220 is preferably positioned approximately 2 mm ahead of the second displacement sensor 230.

The welding position of the welding head 111 due to the running of the welding torch unit 110 by the driving of the driving driving part 400 is shifted to the upper part of the curved surface part 5 of the corrugated plate 1, The control unit 500 recognizes the signal value pressed by the first displacement sensor 220 so that the range of the maximum rotation angle of the welding head 111 The welding head 111 can be controlled to rotate the welding head 111 such that the welding head 111 is perpendicular to the curved surface portion 5 within a predetermined range.

At this time, the non-contact sensor 210, the first displacement sensor 220, and the second displacement sensor 230 are rotated together with the welding head 111 as the welding head 111 is rotated.

The second displacement sensor 230 contacts the corrugated plate 1 while automatic welding is performed by the welding head 111 as shown in Fig. 5 and is retracted by pressing in the curved portion 5, Is provided on the torch mounting portion 105 perpendicularly to the plane portion 3 at one side of the welding head 111 so as to accompany the welding head 111 in the welding performing direction by the welding head 111.

6, when the inclination angle of the curved surface portion 5 is out of the range of the maximum angle of rotation of the welding head 111 (for example, an interval exceeding 65 degrees), the second displacement sensor 230 The control unit 500 recognizes the signal value depressed by the second displacement sensor 230 so that the control unit 500 controls the rotation angle? ₁ of the welding head 111, which will be described later, The position of the curved portion 5 at the position where the current second displacement sensor 230, that is, the welding head 111 accompanying the second displacement sensor 230, is located from the pressed signal value of the second displacement sensor 230, The correction welding angle and the correction welding speed at the current welding head 111 position can be calculated by obtaining the tilt angle? ₂ .

In one embodiment of the present invention, the first displacement sensor 220 and the second displacement sensor 230 preferably each include a linear encoder.

3 and 5, it is preferable that the welding head 111, the non-contact sensor 210, the first displacement sensor 220, and the second displacement sensor 230 are provided integrally adjacent to each other .

3, the rotation driving unit 300 is connected to the welding head 111 to drive the rotation of the welding head 111 under the control of the control unit 500. [ The rotation driving unit 300 is connected to a rotation angle detecting encoder 310, which is provided to detect the angle at which the welding head 111 is rotated.

At this time, the welding torch unit 110 provided with the welding head 111 may be connected to the rotation driving unit 300 so that the rotation is guided by the rotation plate provided on the carriage 103.

Accordingly, after the welding head 111 is rotated by driving the rotation driving unit 300, the control unit 500 receives the angle value of the welding head 111 rotated from the rotation angle detecting encoder 310, Cos) and sine of the angle of rotation (hereinafter, referred to as welding angle? ₁ ) of the welding head 111 at a preset welding speed S to calculate the cosine and sine values of the curved surface portion 5, The X-axis velocity and the Y-axis velocity can be calculated. The control unit 500 synthesizes the calculated X-axis velocity and the Y-axis velocity to obtain the welding speed at the curved surface portion 5 within the range of the maximum rotation angle of the welding head 111.

As one embodiment of the present invention, a rotating unit is provided between the rotation driving unit 300 and the welding torch unit 110, and the rotating unit may be provided in the form of a quadrupole link.

As shown in FIG. 2, the X-axis represents the welding performance direction of the welding head 111, and the Y-axis represents the vertical direction perpendicular to the welding performance direction of the welding head 111.

The travel driving unit 400 moves the welding head 111 of the welding torch unit 110 along the welding performing direction of the corrugated plate 1 (see X axis in FIG. 2) to the welding speed set by the control of the controller 500 And is connected to the welding torch unit 110 through the transmission means so that the welding torch unit 110 travels and welding by the welding head 111 is performed. On the other hand, the travel driving unit 400 drives the travel of the welding head 111 so that the welding head 111 can be raised and lowered not only in the X-axis direction but also in the Y-axis direction.

Generally, when the welding head 111 welds the flat surface portion 3 of the corrugated plate 1, when the welding speed advances to the preset welding speed S and the curved surface portion 5 is welded, It becomes slower than the set welding speed S, so that it is necessary to increase the welding speed in the section of the curved surface portion 5.

7, when the control unit 500 determines that the welding head 111 has entered the curved surface portion 5 of the corrugated plate 1 based on the result detected by the non-contact sensor 210, The first displacement sensor 220 receives the data sensed by the first displacement sensor 220 and the second displacement sensor 230 and outputs a welding result of the welding head 111 to the corrugated plate 1 based on the result detected by the first displacement sensor 220. [ The rotation angle of the welding head 111 is controlled by the rotation driving unit 300 so that the welding angle is perpendicular to the angle of rotation of the welding head 111, A correction welding speed is calculated from the correction welding angle in the curved surface portion 5 calculated by applying an exponentially weighted moving average filter expression to the result detected by the welding head 111 and welding is performed by the welding head 111 according to the calculated correction welding speed So that the welding torch unit 110 can be driven And controls the driving.

The control unit 500 controls the driving unit 400 to drive the driving unit 400 at the welding speed S stored in the storage unit 520 through the input unit 510 in advance in the flat surface part 3 of the corrugated plate 1, The traveling of the welding torch unit 110 is controlled and when the entrance of the welding head 111 to the upper portion of the curved surface portion 5 is detected through the non-contact sensor 210, the pressed signal value sensed by the first displacement sensor 220 The welding head 111 is controlled so as to be perpendicular to the curved surface portion 5 on the basis of the rotation angle of the welding head 111 detected by the rotation angle detection encoder 310 ₁ ), the welding speed at the curved surface portion 5 within the range of the maximum rotation angle of the welding head 111 can be obtained by calculating and synthesizing the velocity components of the X-axis and the Y-axis from the following functional relationship.

On the other hand, since the welding head 111 can not be rotated in a section where the inclination angle of the curved surface portion 5 is out of the range of the maximum rotation angle of the welding head 111, The rotation angle limitation of the welding head 111 is overcome by controlling the welding speed.

6, the second displacement sensor 230 is pressed by the curved surface portion 5 in a section where the inclination angle of the curved surface portion 5 is out of the range of the maximum rotation angle of the welding head 111 reverse the control unit 500 is pressed in the rotation angle of the second displacement sensor 230 with a (θ ₁₎ of the second displacement sensor 230, control unit 500 thereby recognizes a pressed signal value from the welding head (111) The inclination angle? ₂ of the curved surface portion 5 is obtained from the signal value at the position where the welding head 111 accompanying the current second displacement sensor 230, that is, the second displacement sensor 230, The correction welding angle and the correction welding speed at the position (111) are calculated.

A process of accurately controlling the welding speed by recognizing an angle change according to the curved surface shape of the curved surface portion 5 will be described as follows.

6, the control unit 500 continuously receives the pressed signal value from the second displacement sensor 230 every time the welding head 111 is moved 0.01 mm in the X-axis direction, .

)과 용접각도(θ₁)를 기하학적으로 연산하여

와

의 거리를 연산하고, 이를 통해 다음의 함수관계로부터 현재 용접 헤드(111)의 위치에서 곡면부(5)의 경사각도(θ₂)를 연산할 수 있다. At this time, the controller 500 determines whether the pressed signal value of the second displacement sensor 230

) And the welding angle? ₁ are geometrically calculated

Wow

And calculate the inclination angle? ₂ of the curved surface portion 5 at the position of the current welding head 111 from the following functional relationship.

는 0.01 mm로서 상수값,

는 제2 변위센서(230)의 눌린 값,

는 제2 변위센서(230)의 눌린 값을 바탕으로 연산된 거리이다. At this time, A is an initial position when the second displacement sensor 230 advances to the curved surface portion 5, D is a position at which the second displacement sensor 230 is pressed when the welding head 111 moves 0.01 mm in the X- C is a position when the second displacement sensor 230 is not pressed by the curved surface portion 5,

Is a constant value of 0.01 mm,

The depressed value of the second displacement sensor 230,

Is a distance calculated on the basis of the pressed value of the second displacement sensor 230.

In one embodiment of the present invention, the exponential weighted moving average filter expression applied when the control unit 500 calculates the corrected welding angle is expressed by the following equation

.

는 현재 용접 헤드(111)의 위치에서 곡면부(5)의 경사각도(θ₂)의 평균값, 즉 보정 용접각도이고,

는 현재 용접 헤드(111)의 위치에서 곡면부(5)의 경사각도(θ₂)의 두 번째 이전 값의 평균값이며,

은 현재 용접 헤드(111)의 위치에서 곡면부(5)의 경사각도(θ₂)의 직전 값이고,

는 현재 용접 헤드(111)의 위치에서 곡면부(5)의 경사각도(θ₂)의 값이며,

는 가중치로서 0 <

< 1의 범위를 가지고,

값이 작으면 잡음 제거는 잘 안 되지만 데이터의 변화 추세를 잘 반영하는 결과를 보여 주는 반면

값이 크면 직전 추정값이 잘 변화하지 않게 되고 출력의 변화가 둔감해진다. At this time,

Is an average value of the inclination angle? ₂ of the curved surface portion 5 at the current position of the welding head 111, that is,

Is an average value of the second previous value of the inclination angle? ₂ of the curved surface portion 5 at the position of the current welding head 111,

Is a value immediately before the inclination angle? ₂ of the curved surface portion 5 at the position of the current welding head 111,

Is the value of the inclination angle? ₂ of the curved surface portion 5 at the position of the current welding head 111,

0 <

&Lt; 1,

The smaller the value, the better the noise removal is, but the better the data trend

If the value is large, the previous estimation value does not change well, and the output change becomes insensitive.

By applying the exponential weighted moving average filter equation so that the mechanical and electrical disturbances of the digital signal are minimized when the control unit 500 calculates the corrected welding angle, the inclination angle of the curved surface portion 5 becomes maximum The arc length can be precisely controlled by controlling the welding speed to be corrected at the new welding speed so as to precisely calculate the corrected welding speed from the corrected welding angle in the section beyond the range of the rotation angle, It is possible to further improve the welding quality of the corrugated plate material 1 having the wrinkle plate 1.

Although not shown, a power supply unit is electrically connected to each component including the control unit 500 to supply power to each component requiring power supply.

A method of controlling the automatic welding apparatus 100 according to the present invention will now be described with reference to FIGS. 1 to 9. FIG.

First of all, the welding speed of the welding torch unit 110 driven by the driving driving unit 400 is set and input through the input unit 510 in advance. Then, the control unit 500 controls the welding torch unit 110 The welding head 111 provided therein performs the welding operation at a preset welding speed S with respect to the corrugated plate 1.

As an embodiment of the present invention, it is preferable that welding of the corrugated plate 1 by the welding head 111 starts from the flat surface portion 3.

Next, the control unit 500 detects whether the welding head 111 has entered the welding position of the curved surface portion 5 of the corrugated plate 1 through the non-contact sensor 210 (S100).

The controller 500 determines whether or not the welding head 111 has entered the welding position of the curved surface portion 5 based on the result detected by the non-contact sensor 210 (S110).

If the control unit 500 determines that the welding head 111 has entered the welding position at the curved surface portion 5 in step 110, data detected from the first displacement sensor 220 and the second displacement sensor 230 The control unit 500 accepts it (S200).

The control unit 500 determines whether the welding angle of the welding head 111 with respect to the corrugated plate 1 is vertical or not based on the result detected by the first displacement sensor 220 after step 200, The control unit 500 controls the rotation driving unit 300 so that the control unit 500 determines that the welding angle formed between the welding head 111 and the corrugated plate 1 is not a right angle at step 300, And controls the rotation of the welding head 111 (S310).

In step 310, the control unit 500 calculates a difference between the angle of rotation of the welding head 111 and the result detected by the second displacement sensor 230 in the curved surface section 5 calculated by applying the exponentially weighted moving average filter equation And controls the travel of the welding torch unit 110 so that welding by the welding head 111 is performed in accordance with the calculated correction welding speed.

More specifically, after step 310, the control unit 500 detects the angle? ₁ of the rotation of the welding head 111 from the rotation angle detection encoder 310 provided in the rotation driving unit 300 (S410 ) And calculates the X- and Y-axis welding speeds in the curved surface portion 5 within the range of the maximum rotation angle of the welding head 111 based on the detected angle? ₁ of the welding head 111 (S420).

In step 420, the controller 500 can obtain the velocity components of the X-axis and the Y-axis through Equation (1).

Vx = S 占 cos? ₁ , Vy = S 占 sin? ₁

The control unit 500 can calculate the welding speed at the curved surface portion 5 within the range of the maximum rotation angle of the welding head 111 by combining the components of the X-axis and Y-axis welding speeds calculated at Step 420.

That is, in step 420, the control unit 500 controls the rotation driving unit 300 in the curved surface portion 5 within the range of the maximum rotation angle of the welding head 111, so that the welding head 111 is inclined with respect to the curved surface portion 5 The welding speed is required to be controlled because the welding speed is lower than the preset welding speed S when welding the curved surface portion 5 even if the welding is performed in a vertical state.

After step 420, the controller 500 determines whether there is a pressed signal value from the second displacement sensor 230 (S430). If the result of the detection from the second displacement sensor 230 does not exist at step 430 The control unit jumps to step 480 to be described later and determines whether the X-axis or Y-axis welding speed of the curved surface section 5 within the range of the maximum rotation angle of the welding head 111 The welding of the curved surface portion 5 by the welding head 111 is performed at the compounding speed and if the control unit 500 determines that the result detected by the second displacement sensor 230 exists in step 430, ) Of the welding head 111 is determined based on the detected rotation angle? ₁ of the welding head 111 and the result detected by the second displacement sensor 230, It calculates a degree (θ ₂₎ of the inclination angle 5) (S440).

In step 440, the controller 500 can obtain the tilt angle? ₂ of the curved surface section 5 in the section out of the maximum rotation angle range of the welding head 111 through the above-described equations ( ₂ ) and ( ₃ ) This is explained once again.

=

× cosθ₁ , θ₂ = tan^-1(

/

)

=

× cos θ ₁ , θ ₂ = tan ^-1 (

/

)

)를 지수 가중 이동평균 필터식을 통해 연산한다(S450). The controller 500 determines the maximum rotation angle? ₁ of the welding head 111 based on the detected rotation angle? ₁ of the welding head 111 and the calculated tilt angle? ₂ of the curved surface section 5, (5) of the section beyond the range of the welding angle

) Using an exponentially weighted moving average filter equation (S450).

)를 연산하는 단계는 상기 수학식 4의 지수 가중 이동평균 필터식을 적용하는 단계를 포함하는데, 이를 다시 한 번 설명하면 다음과 같다. The controller 500 determines in step 450 whether or not the corrected welding angle (in the curved surface portion 5 in the section beyond the maximum rotation angle range of the welding head 111)

) Includes a step of applying the exponentially weighted moving average filter expression of Equation (4), which will be described once again.

)에 기초하여 용접 헤드(111)의 최대 회전각도의 범위를 벗어난 구간의 곡면부(5)에서의 보정 용접속도(V_k)를 연산한다(S460). After step 450, the control unit 500 calculates the correction welding angle &amp;thetas;

The correction welding speed V _k in the curved surface portion 5 of the section beyond the maximum rotation angle range of the welding head 111 is calculated based on the corrected welding speed V _k .

)에 기초하여 용접 헤드(111)의 최대 회전각도의 범위를 벗어난 구간의 곡면부(5)에서의 보정 용접속도(V_k)를 연산하는 단계는 다음의 함수관계(수학식 5)로부터 구해지는 속도 성분들의 합성 속도로부터 보정 용접속도를 구하는 단계를 포함한다. In step 460, the controller 500 calculates the corrected welding angle (i.e., the welding angle) in the curved surface portion 5 of the section out of the range of the maximum rotation angle of the welding head 111

Calculating the corrected welding speed V _k in the curved surface portion 5 of the section out of the range of the maximum rotation angle of the welding head 111 is calculated from the following functional relationship (Equation 5) And calculating the corrected welding speed from the composite speed of the velocity components.

(V _{k -x} : X axis component of corrected welding speed, V _{k -y} : Y axis component of corrected welding speed, S: preset welding speed)

After step 460, the control unit 500 controls the calculated correction welding speed to be the traveling speed of the welding torch unit 110 in the curved surface portion 5 of the section out of the range of the maximum rotation angle of the welding head 111 (S470).

After step 470, the control unit 500 performs welding of the curved surface portion 5 by the welding head 111 at the correction welding speed at the curved surface portion 5 of the section beyond the range of the maximum rotation angle of the welding head 111 (S480).

The controller 500 determines whether the welding head 111 has deviated from the upper portion of the curved surface portion 5 in step S500 and determines whether or not the welding on the curved surface part 5 is completed in step 500 The control unit 500 controls the rotation driving unit 300 and the driving driving unit 400 so that welding is performed with respect to the flat surface unit 3 in step S600. The control unit 500 returns to the control unit 500 and the control unit 500 determines that the welding head 111 is rotated at an angle θ ₁ (θ ₁ ) from the rotation angle detecting encoder 310 provided in the rotation driving unit 300, ).

According to the present invention, even when the inclination angle of the curved surface portion 5 is out of the range of the maximum rotation angle of the welding head 111 during the welding in the curved surface portion 5 of the corrugated plate 1, The arc length can be precisely controlled and the operator's operation amount can be minimized to achieve uniform welding quality, the process can be simplified, productivity can be improved, and the cost of the process can be reduced .

While the invention has been described in connection with what is presently considered to be practical exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.

103: carriage 105: torch attaching portion
210: non-contact sensor 220: first displacement sensor
230: second displacement sensor 300: rotation driving part
310: Rotation angle detection encoder 500:

Claims (9)

A carriage having a torch mounting portion to which a welding torch unit having a welding head at its end is coupled to perform automatic welding on a corrugated plate having a flat portion and a curved portion;
A noncontact sensor provided in the torch attaching portion for detecting a change in distance from the corrugated plate while the automatic welding is performed by the welding head in a noncontact manner preceding the welding head in a welding performing direction by the welding head;
Wherein the welding head is followed by the welding head and following the non-contact sensor in the direction of welding performed by the welding head, wherein the welding is carried out by the welding head while the automatic welding is performed by the welding head, A first displacement sensor provided on the mounting portion;
And a welding head for welding the welding head to the welding head, wherein the welding head is brought into contact with the corrugated plate while automatic welding is performed by the welding head, Displacement sensor; And
Contact sensor detects data from the first displacement sensor and the second displacement sensor when it is determined that the welding head has entered the curved portion of the corrugated plate, And controls the rotational driving of the welding head so that the welding angle becomes a right angle when it is determined that the welding angle formed by the welding head with respect to the corrugated plate is not perpendicular to the welding head, Calculating a corrected welding speed from a corrected welding angle in the curved surface portion calculated by applying an exponentially weighted moving average filter expression to the result detected by the displacement sensor, and performing welding by the welding head according to the calculated corrected welding speed A control unit for controlling travel of the welding torch unit;
And an automatic welding device for welding the corrugated plate. The method according to claim 1,
The exponentially weighted moving average filter expression applied when the control unit calculates the corrected welding angle is expressed by:

Wherein the automatic welding apparatus for welding the corrugated plate. 3. The method of claim 2,
Wherein the non-contact sensor includes an optical sensor,
Wherein the first and second displacement sensors each include a linear encoder. The method of claim 3,
A rotation driving unit connected to the welding head for driving the rotation of the welding head under the control of the control unit,
Further comprising a rotation angle detecting encoder provided in the rotation driving unit to detect an angle of rotation of the welding head. 5. The method according to any one of claims 1 to 4,
Wherein the welding head, the non-contact sensor, the first displacement sensor, and the second displacement sensor are integrally provided adjacent to each other. Determining whether the welding head provided at the end of the welding torch unit has entered the welding position of the curved portion of the corrugated plate through the non-contact sensor,
The control unit accepting data sensed by the first displacement sensor and the second displacement sensor when the control unit determines that the welding head has entered the welding position of the curved surface portion;
Controlling the rotation drive of the welding head such that the welding angle is at right angles when it is determined that the welding angle formed by the welding head with respect to the corrugated plate is not a right angle based on the result detected by the first displacement sensor; And
Calculating a corrected welding speed from a corrected welding angle in a curved surface portion calculated by applying an exponentially weighted moving average filter expression to a result of the rotation of the welding head and a result detected by the second displacement sensor, Controlling the running of the welding torch unit by the control unit so that welding by the head is performed;
And a control unit for controlling the automatic welding apparatus. The method according to claim 6,
Calculating a corrected welding speed from a corrected welding angle in a curved surface portion calculated by applying an exponentially weighted moving average filter expression to a result of the rotation of the welding head and a result detected by the second displacement sensor, The step of the control unit controlling the running of the welding torch unit such that welding by the head is performed,
Detecting a rotation angle (? ₁ ) of the welding head from a rotation angle detecting encoder provided in the rotation driving unit;
Calculating a tilt angle (? ₂ ) of a curved surface portion based on the detected rotation angle (? ₁ ) of the welding head and a result detected by the second displacement sensor;
Based on the detected rotation angle? ₁ of the welding head and the calculated inclination angle? ₂ of the curved surface portion,

) Using an exponentially weighted moving average filter equation,
The corrected welding angle at the calculated curved surface portion (

And calculating a corrected welding speed based on the calculated correction welding speed. 8. The method of claim 7,
Wherein the control unit corrects the corrected welding angle (

) Comprises:
The following exponentially weighted moving average filter equation

The method comprising the steps of: (a) 9. The method of claim 8,
Wherein the control unit corrects the corrected welding angle (

, The step of calculating the corrected welding speed comprises:
V _{k -x} = S x cos (

), V _{k -y} = S x sin (

)
(V _{k -x} : X axis component of corrected welding speed, V _{k -y} : Y axis component of corrected welding speed, S: preset welding speed)
And determining a corrected welding speed from a synthesis speed of the welding apparatus.

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