KR20170056345A

KR20170056345A - Vertical articulated robot for narrow space welding

Info

Publication number: KR20170056345A
Application number: KR1020150159911A
Authority: KR
Inventors: 이동준; 권순도; 정성균; 박제욱; 안준수; 강성원
Original assignee: 대우조선해양 주식회사
Priority date: 2015-11-13
Filing date: 2015-11-13
Publication date: 2017-05-23
Also published as: KR101808288B1

Abstract

The present invention relates to a vertical articulated robot to perform a welding process in a narrow space comprising: a base (10) on which a main substrate (13) is mounted; a first module combined to the base (10), including a roll unit (21) and a pitch unit (22) to perform multi-axial movements; a second module (30) combined to the first module (20), including a roll unit (31) and a pitch unit (32) to perform multi-axial movements; and an electric field means (50) including an electric wire (53) connected with the base (10), the first module (20), and the second module (30) in a daisy-chain method. According to the present invention, it is possible to achieve a compact and lightweight structure for automatic welding process in a narrow space such as U-cell welding of an icebreaker LNG carrier; and is also possible to achieve flexibility in process by modular combinations in response to changes in a work environment.

Description

Technical Field [0001] The present invention relates to a vertical articulated robot for narrow space welding,

The present invention relates to a vertical articulated robot, and more particularly, to a vertical articulated robot for narrow space welding for smoothly applying automatic welding in the case where the size of a longevity is relatively reduced, such as an icebreaking LNG line.

The ice hull of an icebreaking LNG ship with ICE-Breaker class rigidity and strength is very difficult to pass by manual welding because the hull spacing is narrowed to 400 ~ 480mm, which is half the longevity gap. As shown in FIG. 1, in order to weld two types of Longevity U cells of 400x400 and 480x300 in Rongsize size, a multi-joint welding robot having a structure of more than 5 axes and being miniaturized is required.

Korean Patent Publication No. 1407995 (Prior Art 1) and Korean Patent Publication No. 2012-0122055 (Prior Art 2) can be referred to as prior art documents related to welding robots applied to a narrow space.

The prior art document 1 includes a main body having a front body and a rear body and having a magnet on a bottom surface thereof; A multi-joint part having a base, a lower arm, an upper arm, and a welding torch movably mounted on one side of the main body, A grip portion provided on an outer surface of the main body so as to be gripable for transportation; And a front end mounted on the body to assist coordinate recognition and welding operations.

The prior art document 2 includes a base portion fixedly disposed on a worksite, an arm portion connected to the base to be rotated and folded to be driven, and a weld portion connected to a distal end portion of the arm portion, And the first arm to the fifth arm, and each of the arms has a pivotal connection portion for pivotal connection with the other arms to be connected.

However, according to the above-mentioned prior art, it is not implemented in a size that can be put into the longe size as shown in Fig. 1, and it shows limitations in securing the quality and productivity of automatic welding with various attitude variations.

1. Korean Patent Registration No. 1407995 entitled "Portable Welding Robot with Lightweight Structure" (Published on Mar. 19, 2014). 2. Korean Patent Laid-Open Publication No. 2012-0122055 entitled " Portable Folding Type Welding Robot "

SUMMARY OF THE INVENTION It is an object of the present invention to overcome the above-mentioned problems in the prior art by providing a compact and lightweight six-axis welding robot incorporating an integral joint technology, a wire connection technology, and the like in a U-Cell section and a color plate Sectional view of a conventional articulated robot apparatus for welding a narrow space.

In order to achieve the above object, the present invention provides a vertical articulated robot apparatus for performing welding in a narrow space, comprising: a base for mounting a main board; A first module coupled to the base and having a roll unit and a pitch unit for performing multi-axis motion; A second module coupled to the first module and having a roll unit and a pitch unit for performing multi-axis motion; And electrical means having electric wires daisy-chained between the base, the first module and the second module.

In the detailed configuration of the present invention, the first module and the second module drive a drive shaft using a frameless motor.

The detailed structure of the present invention is characterized in that the first module and the second module maintain the same coupling standard between the input end and the output end so that the first module and the second module can be expanded in plural numbers via a link.

In a detailed configuration of the present invention, the first module and the second module are characterized by having a drive shaft of at least partly hollow structure.

In the detailed configuration of the present invention, the electric field means is characterized in that a power line and a signal line are connected in a daisy chain manner via a sub-board mounted on the first module and the second module.

In the detailed construction of the present invention, the electric field means includes an relative encoder provided at an input end of a motor and an absolute encoder provided at an output end of the speed reducer.

In the detailed configuration of the present invention, the electric field means includes a WI-FI module mounted on a base and a wireless TP transmitting and receiving a control signal through a WI-FI module.

As described above, according to the present invention, it is possible to realize a compact and lightweight structure for automatic welding of narrow spaces such as U-cell welding of ice-breaking LNG carriers, There is an effect to enlarge.

1 is a schematic diagram illustrating a runge to which a welding apparatus of the present invention is applied;
Fig. 2 is a block diagram generally showing a robot apparatus according to the present invention.
3 is a schematic view showing a base of a robot apparatus according to the present invention.
4 is a configuration diagram showing a first module of the robot apparatus according to the present invention;
5 is a configuration diagram showing a second module of the robot apparatus according to the present invention;
6 is a configuration diagram showing electric means of the robot apparatus according to the present invention
Figs. 7 and 8 are diagrams showing the wiring of the robot apparatus according to the present invention

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

The present invention proposes a vertical articulated robot apparatus for performing welding in a narrow space. The narrow space is not limited to the U-Cell section and the color plate section in the Longeon of LNG carriers and the like. Robotic devices for automatic welding must implement various welding postures as well as manual welding.

According to the present invention, the main board 13 is mounted on the base 10. The base 10 has a stationary magnet 11 detachably attachable to the bottom surface and has a handle 12 for carrying and alignment at a plurality of points on the outer surface. The main board 13 is mounted inside the base 10 together with the power supply 15 as a part performing an overall control function.

On one side of the base 10, a line laser 16 for setting a reference point of welding is provided.

In addition, according to the present invention, a first module 20 including a roll unit 21 and a pitch unit 22 is mounted to the base 10 to perform multi-axis motion. 2 and 4, the roll unit 21 may be disposed on the upstream side close to the base 10 to the downstream side of the pitch unit 22 away from the base 10, but opposite to each other. The roll unit 21 is provided with a drive shaft 41 concentrically with the center to perform a rolling motion and the pitch unit 22 has a drive shaft 41 in a direction orthogonal thereto to perform a pitching motion. The sub-board 23 for controlling the roll unit 21 and the pitch unit 22 is mounted on the pitch unit 22 side.

At this time, the roll unit 21 has a motor 43, a speed reducer 45, and a brake 47 on a drive shaft 41. The input stage 25 is connected to the rotor shaft of the motor 43 and the output stage 26 is connected to the output shaft of the speed reducer 45. A drive shaft 41, a speed reducer 45, a brake 47 and the like are provided between the input stage 25 and the output stage 26. The pitch unit 22 also includes a motor 43, a speed reducer 45 and a brake 47 on a drive shaft 41 in the same manner as the roll unit 21. The drive shaft 41 is connected to the motor 43 such that an input shaft forming the input stage 25 and an output shaft connected to the reduction gear 45 and forming the output stage 26 are installed concentrically. The input unit 25 of the roll unit 21 and the output unit 26 of the pitch unit 22 are shown in FIG.

In addition, according to the present invention, a second module 30 including a roll unit 31 and a pitch unit 32 is installed to perform multi-axis motion by being coupled to the first module 20. The roll unit 31 of the second module 30 remains structurally identical to the roll unit 21 of the first module 20. The pitch unit 32 of the second module 30 remains structurally identical to the pitch unit 22 of the first module 20. The sub-board 33 for controlling the roll unit 31 and the pitch unit 32 is mounted on the side of the pitch unit 22 (see Fig. 5)

In the case where the welding robot of the present invention is constituted by six shafts, the first module 20, the fifth module, and the sixth module may be assembled so that the first module 20, the second module 30, 7 illustrates a state in which the first module 20, the first module 20, and the second module 30 are connected in a roll-pitch-roll-pitch-roll manner. A torch (48) is provided on the roll unit (31) of the second module (30) at the downstream end of the power transmission.

On the other hand, the base 10, the first module 20, and the second module 30 can be reduced by about 7 kg as compared with the six-axis welding robot of the same standard by using a lightweight magnesium alloy.

The first module 20 and the second module 30 drive the drive shaft 41 using the frameless motor 43 as a detailed configuration of the present invention. The frameless motor 43 is a stator-rotor structure that excludes a frame, which is advantageous in reducing the size and weight. The stator of the motor 43 is fixed directly to the inner wall of the first module 20 and the second module 30 and the rotor is mounted on the drive shaft 41.

As a detailed configuration of the present invention, it is preferable that the first module 20 and the second module 30 maintain the same coupling standard between the input end and the output end so that a plurality of the modules can be expanded via the link 40 . The first module 20, the second module 30 and the second module 30 are changed by changing the manner in which the first module 20, the first module 20 and the second module 30 are connected, . In this case, the coupling specification of the input / output ends of the first module 20 and the second module 30 is unified to enhance the flexibility of the welding posture variation. In addition, the link 40 connecting the pitch units 22 and 32 of adjacent modules is preferably configured to be replaceable in various lengths. The coupling portion of the link 40 conforms to the specification of the input / output stage, and the length of the link 40 is determined in consideration of the working radius. Therefore, the outer shape of the welding robot can be easily changed to any longe structure, including Fig. 1, and an optimal welding posture can be ensured.

In the detailed configuration of the present invention, the first module 20 and the second module 30 are characterized by having at least a driving shaft 41 of a hollow structure. Particularly, if the drive shaft 41 of the roll units 21 and 22 has a hollow structure, it is advantageous for a lightweight structure and, as will be described later, wiring of the electric wire 53 is easy and efficient. It is advantageous in terms of allowing a relatively large limit angle of the robot joint due to the efficiency of the wiring. That is, since the wiring is twisted by itself during the rotation of the robot, the rotation angle can be relatively increased as compared with the external wiring method or other wiring method. On the other hand, the pitch units 22 and 32 basically have a solid shaft, and a hollow shaft is partially provided at one end to wire the electric wire 53. [

According to the present invention, the electric field means 50 includes a wire 53 daisy-chained between the base 10, the first module 20, and the second module 30. In the daisy chain method, the wires 53 of the power line and the signal line are connected to each other, and the amount of wiring is reduced in conjunction with the driving shaft 41 of the hollow structure.

In the detailed configuration of the present invention, the electric field means 50 connects a power line and a signal line in a daisy chain manner via a sub-substrate 23 (33) mounted on the first module 20 and the second module 30 . The first module 20 includes a sub-substrate 23 between the roll unit 21 and the pitch unit 22 and the second module 30 includes a sub-substrate 23 between the roll unit 31 and the pitch unit 32. The sub- And a substrate (33). 6, the sub-boards 23 and 33 are connected to the motor 43, the brake 47, the relative encoder 51, and the absolute encoder 52 based on the motor drive circuit. 7, the wire of the electric wire 53 is connected to one point of the sub board 23 through the hollow of the drive shaft 41 of the roll unit 21, and the sub board 23 ) To the outside through one side of the drive shaft 41 of the pitch unit 22. 8, the first module 20, the first module 20, and the second module 30 are also wired in a daisy chain manner having the same principle. According to the daisy chain type wiring connection method, the amount of electric charges can be drastically reduced as compared with the conventional method in which the wiring is separately provided for each axis. According to actual measurement, the amount of wiring is reduced to about 1/6.

The electric field means 50 includes a relative encoder 51 provided at an input end of a motor 43 and an absolute encoder 52 provided at an output end of the speed reducer 45 . The relative encoder 51 is provided at the input end of the motor 43 to detect the number of revolutions. The absolute encoder 52 is installed at the output terminal of the speed reducer 45 and detects the rotation angle of the output terminal. The use of the single-turn relative encoder 51 eliminates the need for a separate battery and multi-turn error. By using the multi-turn absolute encoder 52, the signal can be stored by the battery power even after the power supply is turned off.

The electric field means 50 includes a WI-FI module 55 mounted on the base 10 and a wireless TP 57 transmitting and receiving control signals through the WI-FI module 55 . The wireless TP 57 eliminates the wire, thereby reducing the amount of wiring and enhancing the convenience of operation. The WI-FI module 55 is mounted with the shielding cover on the base 10 and relays signal transmission / reception between the wireless TP 57 and the main board 13. [

According to this structure, a prototype of 17Kg hand-held 6-axis vertical articulated robot is completed. Welding robots that are welded up to the vertical, horizontal welding section and color plate welding section of the Rongji U cell can be designed as an integral joint module, which can reduce the size and weight of the robot while drastically reducing the amount of electrical and electric radiation.

As an example of the operation, when the apparatus of the present invention is utilized, 20 robots, 10 workers, and 5 repair welders are put in order to complete the U-cell welding section 500 m in 1.2 days. And a process time of 10 days is required. In addition to securing source technology for robot development and improving productivity, intangible effects such as worker's musculoskeletal disease prevention and safety accident prevention can be promoted.

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 and scope of the invention as defined by the appended claims. It is therefore intended that such variations and modifications fall within the scope of the appended claims.

10: Base 13: Main substrate
15: power supply 16: line laser
20: first module 21, 31: roll unit
22, 32: pitch unit 23, 33: sub board
25, 35: input stage 26, 36: output stage
30: second module substrate 40: link
41: drive shaft 43: motor
45: Reducer 47:
50: electric field means 51: relative encoder
52: absolute encoder 53: wire
55: WI-FI module 57: Wireless TP

Claims

1. A vertical articulated robot apparatus for performing welding in a narrow space, comprising:
A base 10 on which the main board 13 is mounted;
A first module (20) coupled to the base (10) and having a roll unit (21) and a pitch unit (22) for performing multiaxial motion;
A second module (30) coupled to the first module (20) and having a roll unit (31) and a pitch unit (32) for performing multiaxial motion; And
And electrical means (50) having a wire (53) daisy-chained between the base (10), the first module (20) and the second module (30) Vertical articulated robot apparatus for welding.

The method according to claim 1,
Wherein the first module (20) and the second module (30) drive the drive shaft (41) using a frameless motor (43).

The method according to claim 1,
Characterized in that the first module (20) and the second module (30) maintain the same coupling standard between the input end and the output end so that the first module (20) and the second module (30) Articulated robot apparatus.

The method according to claim 1,
Wherein the first module (20) and the second module (30) are provided at least partially with a driving shaft (41) having a hollow structure.

The method according to claim 1,
The electric field means 50 is connected to a power supply line and a signal line in a daisy chain manner via sub-substrates 23 and 33 mounted on the first module 20 and the second module 30, Vertical articulated robot apparatus for welding.

The method according to claim 1,
Wherein the electric field means comprises a relative encoder installed at an input end of the motor and an absolute encoder installed at an output end of the speed reducer. Robot device.

The method according to claim 1,
The electric field means 50 includes a wireless TP 57 for transmitting and receiving a control signal through the WI-FI module 55 and the WI-FI module 55 mounted on the base 10, Vertical articulated robot apparatus for welding.