KR20150084456A - Narrow gap welding robot automatically - Google Patents

Abstract

The present invention relates to an automatic narrow gap welding robot. The automatic narrow gap welding robot comprises: a tracked vehicle which is self-powered by a first drive unit provided inside to travel along a work surface; a rotation member installed in the tracked vehicle to be able to be rotated by a second drive unit provided inside the tracked vehicle; an elevation guide member which rotates together with the rotation member being vertically installed in the rotation member, and includes a rack arranged in a longitudinal direction on an outer surface; a welding head unit installed through the elevation guide member to be rotated to the left and right by the rotation member, and vertically adjusted in height along the elevation guide member by a third drive unit having a pinion inside engaged with the rack; a tilting head unit combined to a rotary shaft of a fourth drive unit horizontally installed inside the welding head unit to be able to swing up and down in relation to the welding head unit; a narrow gap welding device installed in one side of the front of the tilting head unit; a camera provided on the welding head unit or on one side of the front of the tilting head unit to photograph a traveling state towards a welding work place and a welding point of a target to be welded by remote control; and a controller which remotely controls operations of the first to fourth drive units and the narrow gap welding device over wires or wirelessly. According to the present invention, since the automatic narrow gap welding robot facilitates construction of a nuclear plant, it is possible to build a more stable nuclear generating facility. Moreover, the automatic narrow gap welding robot facilitates an unmanned narrow gap welding without defects when used for maintenance and replacement work sites where work is not inputted.

Description

{Narrow gap welding robot automatically}

The present invention relates to a narrow gap automatic welding robot, and more particularly, to a narrow gap automatic welding robot using a self-driven traveling robot equipped with a narrow gap welding apparatus, And a narrow gap automatic welding robot configured to perform a low gap welding operation by remote control.

Submerged welding and covered arc manual welding are mainly used for the construction of existing nuclear power plants, but they are being replaced by narrow gap welding in recent years.

That is, in the case of submerged welding or covered arc manual welding, the productivity is decreased due to a large amount of welding compared to the low gap welding, and the width of the heat affected portion increases due to heat input during welding. In addition, since the amount of deposited metal increases, welding deformation and residual stress are generated after welding, and there is a high possibility of occurrence of weld joining.

In addition, since submerged welding requires the use of flux during welding, there is a disadvantage that the amount of diffusive hydrogen in the weld increases, thereby increasing the low temperature cracking rate while bonding with the residual stress of the weld.

In contrast, narrow gap welding is a welding method using an improved shape (using an improved shape close to I-shape or I-shape) narrower than the plate thickness. When the plate thickness is about 30 to 200 mm, When the thickness exceeds 200 mm, the improvement interval is about 30 mm.

In this way, the narrow gap welding method is advantageous in that the welded heat input per one pass is as small as about 3 to 5 KJ / Cm in the case of the MAG welding with a very small cross sectional area, and the cumulative heat input is very small, It is widely used in nuclear power plants because it has the advantage of preventing deterioration.

However, the lowrow welding work should be done uniformly on the basis of the automatic unmanned welding work rather than the conventional welding work such as submerged welding or manual arc welding. Can be matched.

Accordingly, in order to reduce the exposure of the workers, it is essential that an automatic welding apparatus for welding is carried out in accordance with the replacement or repair of the nuclear plant facility in operation.

A conventional automatic unmanned welding apparatus is disclosed in Korean Patent No. 10-0949995 entitled "Automatic Unmanned Welding Machine ".

However, the conventional automatic unmanned automatic welding machine is not suitable for the narrow gap welding operation by attaching the additional devices of the narrow gap welding device, and has a configuration in which the low, So that it is difficult to perform a smooth narrow gap welding operation.

Therefore, there is an urgent need for an automatic welding robot which is put into a nuclear plant work site to perform the best narrow gap welding work.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems and it is an object of the present invention to solve the above problems and to provide a nuclear power plant, Gap automatic welding robot that is capable of performing a welding operation.

According to an aspect of the present invention, there is provided an endless track traveling apparatus that self-drives along a work surface by a first drive unit provided therein, A rotary member rotatably mounted on the caterpillar traveling device by a second driving unit provided in the caterpillar traveling device; An elevating guide member vertically installed on the rotating member and rotating together and having rake teeth arranged on the outer surface in the longitudinal direction; The height of the lifting guide member is controlled by a third driving unit that is installed to penetrate the lifting guide member and is rotated left and right by the rotating member and has a driving pinion engaged with the rack- Head portion; A tilting head part assembled to a rotary shaft of a fourth driving part installed horizontally in the welding head part and capable of pivoting up and down with respect to the welding head part; A narrow-gap welding apparatus installed at a front side of the tilting head unit; A camera for photographing a running situation for approaching a welding operation site by remote control and a welding position of a welding object on a front side of the tilting head unit; And a control unit for remotely controlling the wired or wireless operation of the first to fourth driving units and the narrow gap welding apparatus.

According to the present invention, the endless track traveling apparatus comprises a body and a cover which are open at the top, and the body is provided with a rechargeable battery and at least two of the rechargeable batteries are installed in the drive shaft of the endless track And the electric motor described above.

According to the present invention, the narrow gap welding apparatus, the second driving unit, and the rotating member are disposed in front of the main body. In the main body, the charging battery is disposed on the other side of the rotating member, And the welding wire of the wire take-up reel and the connecting hose of the gas tank penetrate through the cover to move the tilting head portion And may be configured to be connected to the narrow gap welding apparatus through the narrow gap welding apparatus.

According to the present invention, the elevation guide member may be formed with a guide groove in parallel with the rake-size guide, and the welding head portion may further include a guide roller which is in rolling contact with the guide groove.

According to the present invention, the camera may further include a fifth driver for varying the photographing position of the camera in the upward and downward directions, the second camera being provided with a binocular lens having a zoom function and being controlled by the controller.

According to the present invention, the camera is provided with a binocular lens having a zoom function, and is controlled by the control unit, and the up and down rotation angles are adjusted by the fourth driving unit controlled by the control unit together with the tilting head unit As shown in FIG.

According to the present invention, the rotary member comprises a disk-shaped rotary plate and is rotatably assembled to a rotation guide formed on the cover, and is mounted on the internal gear or the external gear formed on the inner or outer circumferential surface of the rotary disk, And may be assembled so as to engage with a driving gear provided on an axis of the driving part.

According to the present invention, the welding head may further include a grounding member disposed on one side of the welding head portion, the grounding member being disposed parallel to the welding rod of the narrow gap welding apparatus and contacting the welding object.

Wherein the grounding member comprises: a magnet to be attached to the metal surface of the object; a flexible support which supports the magnet at the end and is freely adjustable in contact position and length with respect to the metal surface; And a metal conductor wrapped around the outer surface of the magnet.

According to one embodiment of the present invention, it is possible to construct a nuclear power plant by a narrow gap automatic welding robot, so that a more stable nuclear power generation facility can be constructed. In addition, It is possible to perform a narrow gap welding operation in which there is no welding defect by inputting a welding robot.

1 is a perspective view illustrating the construction of a narrow gap automatic welding robot according to an embodiment of the present invention;
BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a narrow gap automatic welding robot,
3 is a plan sectional view for explaining the internal configuration of the narrow gap automatic welding robot of the present invention.
4 is a perspective view for explaining a camera mounting structure according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation.

In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a perspective view showing the construction of a narrow gap automatic welding robot according to an embodiment of the present invention, FIG. 2 is a side sectional view for explaining the internal construction of the narrow gap automatic welding robot of the present invention, Sectional view for explaining the internal structure of the narrow gap automatic welding robot of the present invention.

1 to 3, a narrow gap automatic welding robot according to an embodiment of the present invention includes an endless track traveling device 100, a rotating member 200, a welding head 400, a tilting head 500 ) Low gap gap welding apparatus 600 and a control unit (not shown).

That is, there is provided an endless track traveling apparatus (100) for self-driving along a working surface by a first driving unit (10) provided therein. A rotary member 200 rotatably installed on the caterpillar traveling device 100 by a second driving unit 20 provided in the caterpillar traveling device 100; An elevation guide shaft vertically installed on the rotary member 200 and rotated together with the elevation guide shafts 30 arranged longitudinally on the outer surface thereof; A third driving unit 40 installed to penetrate the elevation guide shaft and rotated left and right by the rotating member 200 and having a driving pinion meshing with the raising gear 30 provided therein, The height adjustment of the up and down guide shaft along the lifting guide axis is performed by the welding head portion 400; A tilting head part 500 assembled to a rotary shaft of a fourth driving part 50 installed horizontally in the welding head part 400 and capable of pivoting up and down with respect to the welding head part 400; A narrow gap welding apparatus 600 installed at a front side of the tilting head unit 500; And a control unit (not shown) for controlling the first to fourth driving units 10 to 50 and the narrow gap welding apparatus 600.

The caterpillarside traveling device 100 has a caterpillar 15 for smoothly running various types of work paths corresponding to welding work sites. The caterpillar 100 includes a first driving part 10 provided therein, Driven manner along the plane.

Preferably, the caterpillar body traveling apparatus 100 comprises a body 11 and a cover 12, which are open at the top, as shown in FIGS. 1 and 2, according to the present invention.

A pair of drive shafts 14 supported by a frame (not shown) are provided in parallel to the front and rear of the main body 11 and the endless track 15) (caterpillar) is installed.

At least two electric motors M are installed in the main body 11 so as to be driven by the power of the rechargeable battery 13 so that the rechargeable batteries 13 are mounted on the rechargeable batteries 13 in an electrically driven manner.

The electric motor M may be at least two or more and may be installed directly on the drive shaft 14 of the endless track 15 and additionally may be provided with a reduction gear such as a belt, Additional connections can be made.

It is a matter of course that each electric motor M is electrically connected so as to be controlled by the control unit (not shown) in order to exert a large driving force in a linear running or curved traveling direction change and a ramp, A main control unit mounted in the track traveling device and a remote control unit for controlling traveling and welding operations in a wired or wireless communication manner with the main control unit will not be described in detail.

However, in the embodiment of the present invention, the first drive unit 10 is illustrated as being provided with two electric motors M on the drive shaft 14, respectively.

That is, when one of the electric motors M is selected and driven, it is possible to change the direction. In the case of simultaneous driving, it is possible to move forward and backward in accordance with the driving direction, and the driving force can be increased to easily exceed the inclination or obstacle.

Although not shown in the figure, when the first driving unit 10 is configured to control the two electric motors M in the case of constituting four electric motors M, The configuration of the traveling mode becomes possible.

The rotary member 200 is rotatably installed on the caterpillar traveling device 100 by a second driving part 20 provided in the caterpillar traveling device 100.

1 and 2, the rotary plate 21 is rotatably supported by a rotation guide portion 12a formed to be inserted into the cover 12. The rotary plate 21 is rotatable .

A supporting shaft 21a is provided at the lower end of the rotary plate 21 and is supported by a bearing B on the bottom surface of the main body 11 so that the welding head 400 and the narrow gap welding apparatus 600 and the elevation guide member 300 while being stably supported.

An internal gear 22 is formed on the inner circumferential surface of the rotary plate 21 so that the drive gear G provided on the shaft of the second drive part 20 fixedly installed in the main body 11 in the internal gear 22, Respectively.

In this case, an external gear (not shown) may be formed on the outer circumferential surface of the rotary plate 21, and the second drive unit 20 may be assembled to engage with the external gear. In order to rotate the rotary plate 21, It is needless to say that the present invention is not limited thereto.

Accordingly, by rotating the rotary plate 21 in the left and right directions by the control unit, the welding head 400 and the narrow gap welding apparatus 600 can be rotated in a desired direction.

Here, the rotary plate 21 is not rotated by about 360 degrees so that the welding wire 62 and the connection hose 63, which will be described later, are not rotated about 360 degrees, and the rotary plate 21 is limitedly rotated within 180 degrees to the left or right within the welding range desirable.

Although not shown in the figure, an external gear is formed on the inner circumferential surface of the rotary plate 21, and a drive gear G (not shown) provided on the shaft of the second drive unit 20 fixedly installed in the main body 11 ).

By rotating the rotary plate 21 in the left and right directions by the control unit, the welding head 400 and the narrow gap welding apparatus 600 can be rotated in a desired direction.

The lifting and guiding member 300 is formed in a bar shape and the lower end is welded or bolted to the rotating plate 21 to be assembled integrally with the rotating plate 21. [

The elevation guide member 300 is configured to rotate left and right together with the rotary member 200 so that the elevation guide members 300 are arranged on the outer surface of the elevation guide member 300 in the longitudinal direction.

A guide groove 31 is formed on the opposite side of the blade 30 in parallel with the blade 30. The welding head 400 is provided with a guide roller 31, (41) is further provided so that a more stable lifting operation can be performed.

Although the guide rollers 41 are shown as one in the drawing, the guide rollers 41 may be arranged in a plurality of positions to provide a more stable lifting operation.

The welding head 400 is installed to pass through the elevation guide member 300 and is rotated to the left and right together by the rotating member 200.

The welding head 400 has a structure in which the height of the welding head 400 is adjusted so as to correspond to the portion to be welded upward and downward along the lifting guide member 300. The welding head 400 has a driving pinion The driving unit 40 is provided to adjust the height of the lifting guide member 300 up and down.

The guide roller 41 is rotatably installed on the opposite side of the drive pinion so that the guide roller 41 moves along the guide groove 31 when the welding head 400 is lifted up and down by the drive pinion. So that stable height adjustment is possible.

The first driving unit 10 to the third driving unit 40 described above are constituted by the electric motor M and in particular the third driving motor is configured such that the welding head unit 400 is stably and slowly moved along the elevation guide member 300 It is preferable that the deceleration motor is constituted by a deceleration motor so as to ascend and descend.

The tilting head unit 500 is assembled to a rotating shaft of a fourth driving unit 50 installed horizontally in the welding head unit 400 so as to be pivotable up and down with respect to the welding head unit 400 .

Further, a narrow gap welding apparatus 600 installed at a front side of the tilting head unit 500 is provided.

For example, as shown in FIGS. 1 and 2, the fourth driving unit 50 includes the electric motor M as the first to third driving units 10 to 40, and the welding head unit 400 And a shaft of the fourth driving unit 50 is connected to the tilting head unit 500 by being protruded to the outside.

Accordingly, the narrow gap welding apparatus 600 is capable of performing low-speed welding on the object to be welded while being rotated up and down together with the tilting head unit 500.

The rotation angle of the rotary member 200 and the elevation height of the welding head 400 may be different from each other in the case where the second driving unit 20 to the fourth driving unit 50 are constituted by the electric motor M. [ And the angle of the tilting head unit 500 pivoted up and down may be variously configured.

That is, the electric motor M can be controlled by checking the rotation angle of the shaft with respect to the unidirectional or bidirectional rotation according to the type and specification.

For example, although not shown in the drawing, a rotary sensing member having a slot on a shaft is provided with an infrared sensor for sensing a slot on one side thereof, so that the rotary member 200 and the tilting head 500 Of the welding head unit 400 can be precisely controlled and the elevation height of the welding head unit 400 can be controlled.

When the electric motor M is constituted by a servomotor, it is possible to control the attitude more precisely by the control circuit portion provided in the servomotor itself. However, since the servomotor has a high unit price, it is selectively applied considering the narrow gap welding operation characteristic .

In addition, the controller controls the operations of the first to fourth driving units 10 to 50 and the narrow gap welding apparatus 600 and the camera 700, and transmits image or image data, As a configuration for controlling, it can be implemented in various forms by a known control device, so that a detailed description thereof will be omitted in the present embodiment.

According to the present invention, as shown in FIGS. 1 and 2, the welding head 400 is provided with three-dimensionally photographing the welding position of the workpiece to facilitate entry of the welding work site, And a camera 700 having a binocular lens 71 for photographing.

The camera 700 is mounted on the welding head 400 so that only the binocular lens 71 is exposed to the outside, and the photographed image or image is sent out to the controller in a wired or wireless manner and stored. .

As described above, the camera 700 adopts the binocular lens 71 to realize a stable running by checking the situation of the scene more realistically while driving, and also to perform a smooth narrow gap welding operation close to a precise position on the welding part of the welding object It is possible to play the role of enabling.

According to an embodiment of the present invention, the camera 700 is controlled by the control unit and further includes a fifth driving unit 70 for changing the photographing position of the camera 700 in the upward and downward directions .

The camera 700 operates upward and downward by the fifth driving unit 70 together with the operation of rotating the welding head unit 400 to the left and right by the rotary member 200, It is possible to perform precise photographing on the spot and welding part, and it is possible to carry out welding work while checking the welding part more closely with the zoom function.

4, the camera 700 is installed on the upper side of the tilting head unit 500, and the camera 700 includes the tilting head unit 500 and the tilting head unit 500. In addition, And the upper and lower rotation angles of the fourth driving unit 50 controlled by the control unit may be adjusted together.

According to this configuration, the camera 700 can be rotated left and right by the operation in which the welding head unit 400 is rotated left and right by the rotating member 200, and the tilting head unit 500 is rotated up and down So that it is possible to perform precise photographing on the front work site and the welded part by rotating together.

According to an embodiment of the present invention, the welding head 400 may further include a grounding member 42 disposed on one side of the welding head 400 in parallel with the welding rod of the narrow gap welding apparatus 600 and contacting the welding object.

For example, the grounding operation is indispensable in the course of narrow gap welding work. In the present invention, after the automatic welding robot comes close to the metal surface of the object to be welded, the grounding member 42 is brought into contact with the metal surface, And is grounded without any process.

The grounding member 42 may comprise a magnet 43 for attaching to the metal surface of the object to be welded, a flexible support 44 for supporting the magnet 43, and a metal conductor 45 .

The magnet 43 is configured to automatically attach the grounding member 42 by the magnetic force of the magnet 43 as long as it is close to the metal surface of the object to be welded.

The magnet 43 is fixedly attached to the end of the flexible support base 44. The distal end of the flexible support base 44 protrudes more than the welding electrode of the automatic low gap automatic welding apparatus 600, It is preferable that the magnets 43 are first attached close to each other.

Also. The flexible support base 44 may have an inner end fixed to one side of the welding head 400 and an intermediate portion thereof bent forward to be substantially "a" shaped to face the metal surface of the object to be welded.

The length of the flexible support is adjustable such that the contact position and length of the metal surface can be freely adjusted from the front end to the middle, and the spring is elastically contacted with the metal surface in the flexible support.

The outer surface of the flexible support 44 and the outer surface of the magnet 43 are preferably configured such that a metal conductor 45 for grounding is wrapped around and grounded via the metal conductor 45 when the metal support 45 contacts the metal surface.

According to the present invention, the welding head 400, the tilting head 500, the narrow gap welding apparatus 600, and the camera 700 are disposed in front of the main body 11 in a biased manner.

The welding head 400, the tilting head 500, the narrow gap welding apparatus 600, and the camera 700 are installed at the center of the main body 11 for welding, Therefore, when the gyro is descended, the center of gravity of the gyro can be overturned.

In order to prevent the endless track traveling apparatus 100 from leaning, a charging battery 13 for supplying power to the main body 11 is disposed on the other side of the rotating member 200, And a transformer (16) for switching an external AC power source to DC at the time of charging is stacked on the upper side of the inverter (13), thereby performing the weight function during traveling of the caterpillarside traveling device (100).

A wire take-up reel 60 and a gas tank 61 are mounted in parallel between the rotary member 200 and the rechargeable battery 13 so that the welding wire 62 of the wire take- The connecting hose 63 of the narrow gap welding unit 61 may be connected to the narrow gap welding apparatus 600 through the cover 12 and through the tilting head unit 500.

The welding wire 62 and the connecting hose 63 have a length sufficient to prevent the welding wire 62 and the connecting hose 63 from being pulled in the process of rotating the welding head leftward and rightward, Respectively.

In the case where the welding wire 62 and the connection hose 63 are severely flowed in the course of rotation or elevation of the welding head 400 as described above, (62) and the connection hose (63).

Although the preferred embodiments of the present invention have been described with reference to the accompanying drawings, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit of the invention It can be understood that it is possible.

100: endless track traveling device 10: first drive part
11: Body 12: Cover
12a: rotation guide portion 13: rechargeable battery
14: drive shaft 15: endless track
16: Transformer M: Electric motor
200: rotating member 20: second driving part
21: a rotating plate 21a:
22: Internal gear B: Bearing
300: elevating guide member 30:
31: Guide groove
400: welding head part 40: third driving part
41: guide roller 42: grounding member
43: Magnet 44: Flexible support
45: metal conductor
500: tilting head part 50: fourth driving part
600: Low-gap-gap welding apparatus 60: Wire-
61: gas tank 62: welding wire
63: connecting hose 700: camera
70: fifth driving unit 71: binocular lens

Claims (9)

An infinite-road traveling device for self-driving along a work surface by a first driving unit provided therein;
A rotary member rotatably mounted on the caterpillar traveling device by a second driving unit provided in the caterpillar traveling device;
An elevating guide member vertically installed on the rotating member and rotating together and having rake teeth arranged on the outer surface in the longitudinal direction;
The height of the lifting guide member is controlled by a third driving unit that is installed to penetrate the lifting guide member and is rotated left and right by the rotating member and has a driving pinion engaged with the rack- Head portion;
A tilting head part assembled to a rotary shaft of a fourth driving part installed horizontally in the welding head part and capable of pivoting up and down with respect to the welding head part;
A narrow-gap welding apparatus installed at a front side of the tilting head unit;
A camera for photographing a running situation for approaching a welding operation site by remote control and a welding position of a welding object on a front side of the tilting head unit; And
And a control unit for remotely controlling the wired or wireless operation of the first to fourth driving units and the narrow gap welding apparatus. The method according to claim 1,
Wherein the endless track traveling apparatus comprises a main body and a cover in the form of a hermetically opened upper portion, the main body includes a rechargeable battery and at least two electric motors installed in the drive shaft of the endless track for driving by the power source of the rechargeable battery, Wherein the narrow gap automatic welding robot comprises: 3. The method of claim 2,
And a transformer is stacked on the upper side of the rechargeable battery while the rechargeable battery is disposed on the other side of the rechargeable battery, A wire winding reel and a gas tank are mounted in parallel between the rotating member and the rechargeable battery,
Wherein the welding wire of the wire take-up reel and the connecting hose of the gas tank penetrate through the cover and are connected to the narrow gap welding apparatus through the tilting head portion. The method according to claim 1,
Wherein the elevation guide member is formed with a guide groove in parallel with the rake-size guide, and the welding head further includes a guide roller that comes into rolling contact along the guide groove. The method according to claim 1,
The camera according to claim 1, further comprising a fifth driver for varying the photographing position of the camera in the upward and downward directions, the second camera being controlled by the control unit and having a binocular lens having a zoom function, robot. The method according to claim 1,
The camera is configured to photograph a subject while being controlled by the control unit and controlling the tilting head unit and the tilting head unit by a fourth driving unit, Wherein the robot is a robot that is capable of automatically moving the robot. The method according to claim 1,
The rotary member is formed of a disk-shaped rotary plate and is rotatably assembled to a rotation guide formed on the cover. The internal gear or the external gear formed on the inner circumferential surface or the outer circumferential surface of the rotary plate, And wherein the narrow gap automatic welding robot is assembled to engage with the drive gear. The method according to claim 1,
Further comprising a grounding member disposed on one side of the welding head portion in parallel with the welding rod of the narrow gap welding apparatus and contacting the welding object. 9. The method of claim 8,
Wherein the grounding member comprises: a magnet for attaching to the metal surface of the object to be welded; a flexible support which supports the magnet at the end and is freely adjustable in contact position and length with respect to the metal surface; And a metal conductor wrapped around the outer surface.

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