KR20150086064A - Welding robot - Google Patents

Abstract

The present invention relates to a welding robot capable of straight and curved operation through multi-axis control. According to an embodiment of the present invention, provided is a welding robot which comprises: a base frame; a first moving unit coupled to be laterally moved in an upper side of the base frame; a second moving unit coupled to be lifted in a height direction in one side of the first moving unit; a rotational member rotationally coupled to a front side of the second moving unit; an arm unit coupled to be moved in a front and rear direction in one side of the rotational member; and a welding unit rotationally coupled to an end of the arm unit.

Description

Welding Robot {WELDING ROBOT}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a welding robot, and more particularly, to a welding robot capable of straight and curved work through multi-axis control.

The steam generator that constitutes the Nuclear Steam Supply System of a nuclear power plant is a system in which a high-temperature primary coolant supplied from a reactor flows through a heat transfer pipe inside a steam generator and is heat-exchanged with a secondary coolant outside the heat transfer pipe Means a device that generates dry steam.

Generally, the primary system of a nuclear power plant consists of a reactor, a steam generator, a coolant circulation pump, and a pressurizer. Here, the reactor has a control rod and a fuel assembly, and the heat energy generated in the reactor is heat-exchanged to the outside of the reactor through the primary coolant. The primary coolant is circulated through the steam generator through the heat transfer tube.

The inside of the steam generator is supplied with the primary coolant and the heat exchanged with the secondary coolant. The secondary coolant is vaporized by heat exchange with the primary coolant at high temperature and high pressure. The steam generated in the steam generator is sent to the turbine side through the pipe to drive the generator to generate electric energy.

Figure 1 shows an example of a typical steam generator.

1, a plurality of (several thousand or more) heat transfer tubes 11 are provided inside the steam generator 10, and a tube sheet 12 and a channel head 13 are formed under the steam generator 10 .

The inside of the channel head 13 is partitioned by a partition plate 14 and an inlet 15 and an outlet 16 are formed on the outer circumferential surface of the channel head 13 so as to communicate with the respective partitioned spaces.

The primary side coolant from the reactor flows into the internal space through the inlet 15 of the channel head 13 and exchanges heat with the secondary coolant through the heat transfer tube 11 passing through the tube sheet 12, . Therefore, through-holes (not shown) communicating with the respective heat transfer tubes 11 are formed in the tube sheet 12.

However, due to long-term operation of the steam generator 10, a large amount of defects due to corrosion or external impact are generated in the welded portion of the partition plate 14, and it is necessary to repair such defects in order to prevent a safety accident.

The maintenance work is mainly carried out by an externally remotely controlled mechanism, due to the limited space inside the channel head 13 as well as the risk of residual radiation.

At this time, since the welds inside the channel head 13 are formed not only in a straight line but also in a curved line, the mechanism for repair welding must naturally follow these welds.

2 is a cross-sectional view showing various welds inside the channel head.

2, the channel head 13 is provided with a partition plate 14 and a channel head 13, a partition plate 14 and a tube sheet 12, and a partition plate 14 and a stub runner 14. [ (stub runner) 17 are welded to each other.

Particularly, since the weld formed between the partition plate 14 and the inner circumferential surface of the channel head 13 has a curved shape, the mechanical device for repair welding is capable of not only a straight line but also a curved line in a narrow space inside the channel head 13 Therefore, repair welding must be possible.

KR 10-2009-0022172 A (March 3, 2009 open) KR 10-1041468 B1 (2011.06.08 Enrollment)

One embodiment of the present invention is a welding robot that can be installed in a narrow place such as a channel head of a steam generator or inside a piping of a nuclear power plant and can perform a welding operation following a curved welded portion as well as a straight line .

According to a preferred embodiment of the present invention, a base frame, A first moving unit movably coupled to the upper side of the base frame in a lateral direction; A second moving unit coupled to one side of the first moving unit so as to be able to move up and down in a height direction; A rotating member rotatably coupled in front of the second moving unit; An arm portion movably coupled to one side of the rotating member in the forward and backward directions; And a welding portion rotatably coupled to one end of the arm portion.

The apparatus further includes a fictitious material dispensing portion rotatably coupled to one end of the arm portion so as to face the welding portion.

The first moving unit includes a first moving block slidably coupled to a first guide plate on the upper side of the base frame, and a vertical frame vertically coupled to the upper side of the first moving block.

The first moving unit may further include a first supporting plate coupled to the upper side of the first moving block, and the vertical frame is coupled to one side of the first supporting plate.

At this time, a first feed motor is provided on one side of the base frame, a lead screw is rotatably rotated by the first feed motor inside the base frame, and the first moving block is screwed to the lead screw .

The second moving unit includes a second moving block movably coupled to one side of the first moving unit, and a second moving block provided at one side of the second moving block, wherein the second moving block is moved up and down in the height direction of the first moving unit And a second feed motor.

At this time, a first engaging block is coupled to one side of the second moving block, and the second conveying motor is coupled to one side of the first engaging block.

Further, a first rotating motor is provided on one side of the second conveying motor, and the rotating member is coupled to a rotating shaft of the first rotating motor.

The arm portion may include a guide block coupled to the front of the rotary member, a third moving block coupled to one end of the rotary member so as to be movable in the forward and backward directions along the guide block, 3 feed motor.

The arm portion may include a third engaging block coupled to one side of the third moving block, an arm member rotatably coupled to one side of the third engaging block, and a second rotation provided on one side of the arm member Further comprising a motor.

The welding portion includes a welding member rotatably coupled to one end of the arm member, and a welding torch provided at one end of the welding member.

At this time, a third rotating motor for rotating the welding member with respect to the arm member is provided at one side of the welding member.

The molten material feeding portion includes a molten material feeding pipe rotatably coupled to one end of the arm portion so as to face the welding portion, and a molten material feeding motor provided on one side of the molten material feeding pipe.

Further, a coupling plate for jig coupling is provided on one side of the base frame.

According to the welding robot according to an embodiment of the present invention, straight and curved welding can be performed in a narrow place such as a channel head or a pipe of a steam generator through multi-axis control.

1 is a cross-sectional view schematically showing an example of a general steam generator.
2 is a cross-sectional view illustrating various welds within a channel head;
3 and 4 are perspective views of a welding robot according to an embodiment of the present invention.
5 is a side view of a welding robot according to an embodiment of the present invention;

Hereinafter, preferred embodiments of a welding robot according to the present invention will be described 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.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, Embodiments that include components replaceable as equivalents in the elements may be included within the scope of the present invention.

In the following embodiments, an articulated manipulator according to the present invention is installed inside a channel head of a steam generator to inspect and repair a welded portion of a partition plate. However, the articulated manipulator of the present invention includes not only a nuclear power plant, It should be noted that it can be used in narrow places such as pipelines.

Example

FIGS. 3 and 4 are perspective views of a welding robot according to an embodiment of the present invention, and FIG. 5 is a side view of a welding robot according to an embodiment of the present invention.

3 to 5, a welding robot 100 according to an embodiment of the present invention includes a base frame 200, a first frame 200 coupled to the upper side of the base frame 200 to be movable in the left- A second moving part 400 coupled to one side of the first moving part 300 so as to be elevated in a height direction, a second moving part 400 rotatably coupled to the front of the second moving part 400, An arm portion 600 coupled to one side of the rotary member 500 so as to be movable in forward and backward directions and a weld portion 700 rotatably coupled to one end of the arm portion 600.

In addition, a filler material feeding portion 800 may be rotatably coupled to one end of the arm portion 600 so as to face the welding portion 700.

The base frame 200 has a rectangular parallelepiped shape having a length longer than a width, and a space portion is formed in the base frame 200 and a first guide plate 210 is coupled to the upper side. A coupling plate 220 is vertically provided at the rear of the longitudinal middle portion of the base frame 200 so that the welding robot can be installed in a fixed robot or a manipulator or a separate installation jig.

The first moving part 300 is slidably coupled along the longitudinal direction of the base frame 200 (the left and right direction in the drawing).

The first moving part 300 includes a first moving block 310 slidably coupled to the first guide plate 210 on the upper side of the base frame 200, And a vertical frame 330 vertically coupled to the vertical frame 330.

The first moving plate 310 may include a first moving plate 310 and a first moving plate 310. The first moving plate 310 may include a first moving plate 310, And the vertical frame 330 is coupled to one side of the first support plate 320. [ At the lower end of the first support plate 320, a support portion 321 coupled to the upper side of the first movement block 310 is integrally formed.

A first feed motor 230 is provided at one side of the base frame 200 and a lead screw (not shown) which is rotated by a first feed motor 230 is inserted into a space inside the base frame 200, (200).

In this case, the lead screw is screwed so as to penetrate through the first moving block 310, so that when the first feeding motor 230 is driven, the first moving block 310 moves along the lead screw in the left-right direction of the base frame 200 It will slide.

The second moving part 400 is coupled to the first moving part 300 so as to be elevated in the height direction (vertical direction in the figure).

The second moving unit 400 includes a second moving block 410 that is vertically coupled to one side of the vertical frame 330 of the first moving unit 300 and a second moving block 410 that is provided on one side of the second moving block 410 And a second conveying motor 440 for elevating the second moving block 410 in the height direction of the vertical frame 330.

Preferably, a second guide plate (not shown) is coupled to one side of the vertical frame 330. The second moving block 410 is coupled to both ends of the second guide plate in the width direction so that both ends of the second moving block 410 are coupled to the second supporting plate 420 at one side of the second moving block 410.

A first coupling block 430 is coupled to one side of the second support plate 420 and a second feed motor 440 is provided at a front side of the first coupling block 430.

At this time, the second conveying motor 440 moves the second moving block 410, the second supporting plate 420 and the first coupling block 430 integrally along the vertical direction of the vertical frame 330 .

A plurality of gears (not shown) that mate with each other are provided in the first coupling block 430 and the rotary shaft of the second conveying motor 440 is coupled with the gears in the first coupling block 430 The first and second support plates 420 and 420 and the first and second support blocks 420 and 420 coupled to each other when the second conveying motor 440 is driven when the first conveying motor 440 is coupled with a rack gear (not shown) The vertical frame 330 is moved upward and downward.

A first rotation motor 450 is provided on one side of the second feed motor 440 in the direction of the second support plate 420. The rear end of the first rotation motor 450 is coupled to the first coupling block 430 and the end of the rotation shaft of the first rotation motor 450 extends forward of the base frame 200.

A rotary member 500 in the form of a bar having a rectangular cross section is coupled to the end of the rotary shaft of the first rotary motor 450. Accordingly, when the first rotary motor 450 is driven, And is rotated vertically with respect to the frame 200.

The arm portion 600 moves in the front-rear direction with respect to the rotary member 500, and the end portion thereof is rotatable by a predetermined angle.

The arm unit 600 includes a guide block 610 coupled to the front of the rotating member 500 and a third moving block 620 moving back and forth along the guide block 610.

At this time, the guide block 610 surrounds the upper part and the one side of the third moving block 620, and the guide part 611 having the guide groove 611 is formed on the surface facing the third moving block 620 Respectively. A guide protrusion (not shown), which is coupled to the guide groove 611 of the guide block 610, is protruded from an upper surface and a side surface of the third moving block 620.

A second coupling block 630 is coupled to one side of the guide block 610 and a third support plate 640 is coupled to one side of the second coupling block 630. A third feed motor 650 is provided at one side of the third support plate 640 to move the third movement block 620 forward and backward along the guide groove 611 of the guide block 610.

for example. (Not shown) of the third moving block 620 through a gear train constituted by at least one gear (not shown), so that the third conveying motor 650 rotates, The guide block 610 may be slidably moved along the guide block 610 in the forward and backward directions while the guide block 610 is fixed to the rotary member 500. [

A third engaging block 660 is coupled to the other side of the third moving block 620. The third coupling block 660 has an upper end coupled to the other side of the third moving block 620 and a lower end inserted with an insertion portion 661 into which an arm member 670 described later is inserted.

The arm member 670 is rotatably engaged with the insertion portion 661 of the third coupling block 660. [ One end of the arm member 670 extends forward of the third engaging block 660 and the other end of the arm member 670 is inserted into the inserting portion 661 of the third engaging block 660, Hinged. In addition, a second rotary motor 680 for vertically rotating the arm member 670 is provided at one side of the third coupling block 660.

As described above, the arm member 670 is movable in three axial directions and has two different rotational shafts.

3, the arm member 670 can be moved in the x-axis direction by the movement of the first moving block 310 according to the driving of the first conveying motor 230. In addition, movement in the z-axis direction is possible by the movement of the second moving block 410 in accordance with the driving of the second feeding motor 440. In addition, it is possible to move in the y-axis direction by the movement of the third moving block 620 according to the driving of the third feeding motor 650.

In addition, when the first rotation motor 450 is driven, the end of the arm member 670 is vertically rotated along a plane parallel to the zx plane about a rotation axis parallel to the y axis, and the second rotation motor 680 The end of the arm member 670 is vertically rotated along a plane parallel to the zy plane about a rotation axis parallel to the x axis.

The welding member 700 is provided at one end of the arm member 670 to perform a welding operation and includes a welding member 710 rotatably coupled to one end of the arm member 670, And a welding torch 720 provided on one side.

At this time, it is preferable that one end of the welding member 710 is rotatably coupled to one end of the arm member 670 and the other end is bent forwardly of the arm member 670, and the welding torch 720 is connected to the gas supply Thereby sparking a welding flame. A third rotary motor 730 for rotating the welding member 710 with respect to the arm member 670 is provided at one side of the welding member 710.

The molten metal supply portion 800 is provided at one end of the arm member 670 so as to face the welding portion 700 and serves to supply a welding material (welding wire) to a portion to be welded.

The filler material feeding portion 800 includes a filler material feed member 810 rotatably coupled to one end of the arm member 670 so as to face the welding member 710 and a filler material 810 disposed on one side of the filler material feed member 810, A feed tube 820, and a filler feeder 830 that supplies the filler material through the filler feed tube 820. At this time, it is also possible that the consumable matter feeding motor 830 is installed outside the welding robot 100.

It is preferable that the sparger feed tube 820 is disposed adjacent to the welding torch 720 at the front end of the arm member 670 and the sparger feeding member 810 is welded by the operation of the third rotating motor 730 And rotates integrally with the member 710. At this time, it is also possible to provide a separate rotary motor on one side of the filler material feeding member 810 so that the filler material feeding member 810 rotates independently of the welding member 710.

The welding robot 100 according to the embodiment of the present invention is configured such that the arm member 670 can be moved in three axes and biaxially rotatable as described above and the welding member 710 and the lubricant feeding member 810 Since the arm member 670 is rotatable with respect to the arm member 670, it is possible to perform repair welding while following the welded portion naturally even when the welded portion shape of the defective portion is not only a straight line but also a curved line.

The operation of the welding robot 100 according to an embodiment of the present invention is as follows.

First, the welding robot 100 is installed in a fixed cost robot or a separate installation jig, and is inserted into a channel head 13 (see FIG. 2) of a steam generator or a pipe requiring repair of weld defect such as piping of a nuclear power plant .

Thereafter, the welding torch 720 of the welding robot 100 and the filler feed tube 820 are positioned adjacent to the welding portion of the defective portion, and the repair welding operation is performed along the welding portion. Such position control and welder follow- It can be done remotely from the work place.

The position control and welding follow-up movement control is performed by driving and controlling a plurality of motors provided in the welding robot 100, respectively.

Referring to FIG. 3, movement of the welding torch 720 and the filler material feeding tube 820 in the x-axis direction is performed by the operation of the first feed motor 230. That is, when the first feed motor 230 is driven, the first moving block 310 moves along the longitudinal direction of the base frame 200 to move the welding torch 720 and the consumable material feeding tube 820 in the x-axis direction .

In addition, movement of the welding torch 720 and the filler material feeding tube 820 in the y-axis direction is performed by the operation of the third feed motor 650. That is, when the third conveying motor 650 is driven, the third moving block 620 moves along the guide block 610 in the forward and backward direction of the rotary member 500, thereby moving the welding torch 720 and the filler material feeding tube 820 the y-axis direction movement is performed.

In addition, movement of the welding torch 720 and the consumable material feeding tube 820 in the z-axis direction is performed by the operation of the second feed motor 440. That is, when the second feed motor 440 is driven, the second moving block 410 moves up and down along the vertical frame 330 to move the welding torch 720 and the filler feed tube 820 in the z-axis direction.

On the other hand, the welding torch 720 and the filler material feeding tube 820 can rotate in a direction perpendicular to the base frame 200. At this time, the rotary member 500 is rotated by the driving of the first rotary motor 450 so that the welding torch 720 and the filler material feeding tube 820 rotate around an axis parallel to the y-axis.

In addition, the welding torch 720 and the filler material feeding tube 820 can rotate in a direction perpendicular to the rotating direction of the rotating member 500. At this time, the arm member 670 is rotated by the driving of the second rotary motor 680, so that the welding torch 720 and the filler material feeding tube 820 rotate about an axis parallel to the x axis.

In addition, the welding torch 720 and the filler material feeding tube 820 can be rotated about an axis parallel to the x axis with respect to the arm member 670 by the third rotating motor 730.

As described above, the welding robot 100 according to an embodiment of the present invention can perform welding work along straight lines and curves through multi-axis control even in a narrow place.

100: welding robot 200: base frame
230: first feed motor 300: first moving part
400: second moving part 410: second moving block
440: second feed motor 450: first rotation motor
500: rotating member 600:
620: third moving block 650: third feeding motor
670: arm member 680: second rotating motor
700: welding part 800:

Claims (15)

A base frame;
A first moving unit movably coupled to the upper side of the base frame in a lateral direction;
A second moving unit coupled to one side of the first moving unit so as to be able to move up and down in a height direction;
A rotating member rotatably coupled in front of the second moving unit;
An arm portion movably coupled to one side of the rotating member in the forward and backward directions; And
And a welding portion rotatably coupled to one end of the arm portion.
The method according to claim 1,
Further comprising a fictitious material dispensing portion rotatably coupled to one end of the arm portion so as to face the welding portion.
[2] The apparatus according to claim 1,
A first moving block slidably coupled to the first guide plate on the upper side of the base frame, and a vertical frame vertically coupled to the upper side of the first moving block.
4. The apparatus according to claim 3,
Further comprising a first support plate coupled to an upper side of the first moving block, wherein the vertical frame is coupled to one side of the first support plate.
The method of claim 3,
A first conveying motor is provided on one side of the base frame, and a lead screw is provided in the base frame for pivoting by the first conveying motor, and the first moving block is screwed to the lead screw .
[2] The apparatus according to claim 1,
And a second conveying motor provided on one side of the second moving block and elevating the second moving block in the height direction of the first moving part And the welding robot is a welding robot.
The method of claim 6,
Wherein a first coupling block is coupled to one side of the second moving block, and the second feeding motor is coupled to one side of the first coupling block.
The method of claim 6,
Wherein a first rotary motor is provided on one side of the second feed motor and the rotary member is coupled to a rotary shaft of the first rotary motor.
[2] The apparatus according to claim 1,
A third moving block coupled to one end of the rotating member so as to be movable forward and backward along the guide block, and a third conveying motor provided on one side of the guide block, And the welding robot is a welding robot.
The method of claim 9,
Wherein the arm portion includes a second engagement block coupled to one side of the guide block and a third support plate coupled to one side of the second engagement block and the third conveyance motor is coupled to one side of the third support plate, And the welding robot is a welding robot.
[12] The apparatus of claim 9,
A third engaging block coupled to one side of the third moving block, an arm member rotatably coupled to one side of the third engaging block, and a second rotating motor provided at one side of the arm member Features a welding robot.
[12] The method of claim 11,
A welding member rotatably coupled to one end of the arm member; and a welding torch provided at one end of the welding member.
The method of claim 12,
And a third rotating motor for rotating the welding member with respect to the arm member is provided on one side of the welding member.
3. The spark plug according to claim 2,
A filler material feed pipe rotatably coupled to one end of the arm portion so as to face the weld portion; and a consumable material feed motor provided on one side of the filler material feed pipe.
The method according to claim 1,
And a coupling plate for jig coupling is provided on one side of the base frame.

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