KR20180045304A - Light weight robor for welding curved block in narrow area - Google Patents

Abstract

The present invention relates to a lightweight robot to weld a curved block in a narrow area, comprising: a main body having a structure sequentially connecting a first link (21), a second link (22), a third link (23), a fourth link (24), and a torch (25) on a base (20); a driving means (30) to connect first to fourth shaft part (31, 32, 33, 34) to induce movement of the links (21, 22, 23, 24); and a control means applying set output to the driving means (30) to change a posture of a torch (25). Accordingly, a trans lower part welding work, which is manually performed in a conventional method, for a curved block in a narrow area is automated based on a lightweight structure receiving a motion required for welding with four shafts, thereby providing an effect capable of enhancing work efficiency.

Description

Technical Field [0001] The present invention relates to a lightweight robot for welding narrow block welding blocks,

The present invention relates to a robot for ship welding, and more particularly to a lightweight robot for welding a narrow zone bending block for inputting a general welding robot in a vessel in a region where it is difficult to use.

The lower part of the transverse section of the ship curved block is an area including the color plate, and the working angle is not constant, and there is an angular / acute angle part in the frontal part, and the orthogonal type robot is inadequate. For a vertical articulated robot, adjustment of 6 axes (forward angle, working angle, torch Z axis) and collision avoidance structure are required. When a general robot and a carriage are used, it is difficult to cope with the collar portion. Because of this reason, the welding section of the narrow groove block of the ship is inefficient due to the lack of automation.

Korean Patent Publication No. 1407995 and Korean Patent Laid-Open Publication No. 2014-0118151 are known as prior art documents which can be referred to in this connection.

A lower joint, an upper arm, and a welding torch, which are capable of multi-axis motion; A grip portion provided on an outer surface of the body so as to be gripable for transportation; And a front end mounted on the body to assist coordinate recognition and welding operations. Therefore, it is expected that the effect of contributing to the improvement of the productivity by increasing the convenience of carrying out the welding while one worker carries the work space in a narrow space.

However, this is the subject of a double hull block of a ship as a prior patent by the present applicant, and there is room for improvement for the welding of the narrow zone bending block.

In the latter, the welding sections are composed of a preceding torch and a trailing torch arranged side by side at a certain interval from each other, and the preceding torch and the trailing torch are respectively connected to a weaving motor for operating the preceding torch and the trailing torch respectively. The butt welding of flat and curved blocks is expected.

However, this is a structure using a moving wheel and two torches, and shows a limitation in application to a curved block welding in a narrow space, even if it is miniaturized.

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. 2014-0118151 entitled " Welding Apparatus for Vessels and Tune Blocks "(Published on October 10, 2014).

It is an object of the present invention to solve the above-mentioned problems of the related art, and it is an object of the present invention to provide a torch- And to provide a lightweight robot for welding a narrow zone bending block with constant angular orientation and forward angle control and manual control angle adjustment.

In order to achieve the above object, the present invention provides a lightweight robot for performing welding in a narrow space, comprising: a main body in which a first link, a second link, a third link, a fourth link and a torch are sequentially connected on a base; Driving means for connecting the first shaft portion and the fourth shaft portion to each other to cause movement of the links; And control means for varying the attitude of the torch by applying an output set to the driving means.

In the detailed construction of the present invention, the driving means is installed to cause up and down movement through the uniaxial portion, and rotational movement through the two to four axis portions.

According to a further aspect of the present invention, the main body further includes a balanced link maintaining a constant parallel with the second link, and a balanced link maintaining a constant parallel with the third link.

As a detailed configuration of the present invention, the driving means is characterized by having a regulator on the reference curve so as to manually vary the working angle of the torch.

In the detailed construction of the present invention, the reference curved surface of the regulator is characterized in that the center of rotation of the radius of curvature is held on the torch.

In the detailed construction of the present invention, the control means controls the forward angle of the torch by applying the set output corresponding to the working angle of the torch to the four-axis portion.

As described above, according to the present invention, it is possible to automate the welding operation of the lower portion of the narrow zone tile block which is manually operated based on the lightweight structure in which the motion required for welding is implemented in four axes.

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
2 is a perspective view showing the entirety of the lightweight robot according to the present invention.
Fig. 3 and Fig. 4 are diagrams showing the attitude variation of the lightweight robot according to the present invention
Fig. 5 is a schematic diagram showing the operation of the lightweight robot 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 lightweight robot for performing welding in a narrow space such as a ship. Referring to FIG. 1, a ship block having members (T-bar members, Trans members) arranged at various angles is illustrated. In the case of the tune block, the space formed by the inclination angles? (?) (?) Formed between the main plate 12, the T bar 14 and the transformer 16 is narrow.

For example, in the case of the icebreaker, the inclination angle of the curved block is about 30 degrees at maximum, so that a general welding robot causes interference and welding automation is difficult. The lightweight robot of the present invention is intended to be but is not necessarily limited to welding in a narrow zone such as a U-cell in a curved block.

A main body according to the present invention includes a structure in which a first link 21, a second link 22, a third link 23, a fourth link 24, and a torch 25 are sequentially connected on a base 20 to be. The base 20 is a part for mounting a mag switch or the like and detachably fixing to the hull. The first link 21 is vertically movably connected to the base 20 and the second link 22 is rotatably connected to the first link 21. The third link 23 is connected to the second link 22, (22), and the fourth link (24) is rotatably connected to the third link (23).

According to the present invention, the driving means 30 is installed in the single-shaft portion 31 to the four-shaft portion 34 so as to induce the motions of the links 21, 22, 23 and 24, respectively. In order to obtain a working range without interferences in narrow spaces, it is possible to adopt a forward rotation angle and working angle required for the welding by employing a four-axis rotary type structure instead of a six-axis type. The forward angle is an angle inclined with respect to the moving direction of the torch 25, and the working angle is an inclined angle of the torch 25 with respect to the bottom surface.

In addition, in the case of a rotary articulated robot, the posture is not constant but varies depending on the position of the robot. Therefore, in the case of controlling the posture, additional three axes are required. The transverse bottom weld zone of the narrowed zone should be adjusted only for the forward angle in the straight section, which also requires additional three axes, which makes it difficult to reduce the number of axes in the six axes. In the case of 6 axes, the weight is reduced to the maximum of about 13 kg, which makes it difficult for a worker to use the machine in a portable manner.

In the detailed construction of the present invention, the driving means (30) causes up and down movement through the uniaxial portion (31), and rotational movement through the two shaft portions (32) to the four shaft portion (34). The first shaft portion 31 has a linear guide, a motor, a timing belt, and the like on the first link 21. The two-shaft portion 32 and the three-shaft portion 33 each have a motor at one end of the second link 22 and the third link 23, respectively. The four-axis portion 34 includes a motor, a timing belt, and the like on the fourth link 24. The rotational motion of the four-axis portion 34 also causes the advance angle variation of the torch 25 as described later.

As a detailed configuration of the present invention, the main body includes an equilibrium link 27 maintaining a constant parallel with the second link 22, and a balanced link 27 constantly parallel to the third link 23 . The second link 22 and the third link 23 connected on the first link 21 performing the linear motion move in parallel with each other by the respective balanced links 27 in addition to the rotational movement, Structure. The upstream side equilibrium link 27 is connected between an auxiliary link 28 coupled to the biaxial portion 32 and an auxiliary link 28 coupled to the triaxial portion 33. The downstream side equilibrium link 27 is also connected via the auxiliary link 28 of the three-axis portion 33 and the four-axis portion 34 in the same manner.

3 and 4, even if the position of the link is changed in the coordinate system XYZ of the work space, the balance link 27 restricts the motion and the attitude of the torch 25 is constant . 3, the posture of the torch 25 does not change even if the 1/2-axis is changed due to the balanced structure of 2 or 3 axes. According to FIG. 4, the attitude of the torch 25 does not change even if the three axes or the first, second, and third axes fluctuate due to the balanced structure of 2 and 3. Therefore, the forward angle and the working angle can be adjusted independently of the TCP position of the torch 25.

In a detailed configuration of the present invention, the driving means (30) is characterized in that a regulator (36) is provided on the reference curve so as to manually vary the working angle of the torch (25). Although the working angle does not change during welding, a typical vertical articulated robot must continuously control the associated axis during welding to maintain the working angle. In the present invention, the configuration for defining the position and the configuration for defining the working angle may be separated from each other so that the working angle can be manually specified. Referring to Fig. 5 (a), there is illustrated a state in which the regulator 36 is mounted with a reference curved surface at a portion indicated by a circle having a rotation center 38. Fig. The regulator 36 employs a known spiral-knob approach to allow for the working angle fixation and variation of the torch 25. [ Due to such a configuration, components required for driving such as a motor and a speed reducer can be removed, thereby reducing external dimensions and weight and increasing maintainability.

In the detailed configuration of the present invention, the reference curved surface of the regulator 36 is characterized in that the rotation center 38 of the radius of curvature thereof is held on the torch 25. 5A illustrates a state in which the center of rotation 38 of the portion indicated by a circle is located on the torch 25. As shown in Fig. When the rotational center 38 of the working angle is located on the torch 25, the adjustment range in the height direction can be generally reduced and the range of the forward angle can be secured more than that existing on the link.

According to the present invention, the control means (40) applies the output set to the driving means (30) to change the posture of the torch (25). The control means 40 is a microcomputer controller equipped with a microprocessor, a memory, and an input / output interface, and performs an algorithm for preventing interference in a narrow space and performing an algorithm for pounding. The attitude of the torch 25 is preferentially determined and the motion of the remaining link is interlocked with this.

The control means 40 controls the forward angle of the torch 25 by applying the set output corresponding to the working angle of the torch 25 to the four-axis portion 34. In this case, It is necessary to minimize the link height of the robot motion process due to the characteristics of the narrow zone. And, as the work angle is kept small, the link becomes closer to the bottom, so the range of the forward angle is reduced.

Such a control algorithm can be understood from the diagram of Fig. 5 (b). The solid line in the figure is an embodiment in which the rotation center 38 is positioned on the torch 25 and the dotted line is a comparative example in which the rotation center 38 is located on the link. The right side shows the shape of the torch 25 with respect to the bottom surface, and the left side shows the shape of other links.

In the case of the embodiment of the present invention, the Z-axis adjustment range is further reduced for the same working angle range as compared with the comparative example, so that the height of the entire mechanism can be further reduced. In addition, since the height of the link can be maintained higher at the lowest working angle, the forward angle can be further increased. For example, in the case of the working angle of 35 degrees, the height of the other links in the embodiment is 71.42, and the height of the other links in the comparative example is 66.38. Accordingly, the controller of the control means (40) enlarges the forward attitude range of the torch (25) by the height difference so that it is easy to cope with interference or collision, and consequently, it is advantageous in improving quality and productivity.

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

20: Base 21-24: Link
25: torch 27: equilibrium link
28: auxiliary link 30: driving means
31: 1-shaft portion 32: 2-shaft portion
33: three shafts 34: four shafts
36: regulator 38: center of rotation
40: control means

Claims (6)

A lightweight robot for performing welding in a narrow space, comprising:
A main body in which a first link 21, a second link 22, a third link 23, a fourth link 24 and a torch 25 are successively connected on a base 20;
Driving means 30 connecting the single shaft portions 31 to the four shaft portions 34 to cause the motions of the links 21, 22, 23 and 24, respectively; And
And a control means (40) for changing the attitude of the torch (25) by applying an output set to the driving means (30). The method according to claim 1,
Characterized in that the driving means (30) is installed to cause upward and downward movement through the uniaxial portion (31), and rotational movement through the two shaft portions (32) to four shaft portions (34) . The method according to claim 1,
Characterized in that the body further comprises an equilibrium link (27) which is always parallel to the second link (22) and an equilibrium link (27) which is always parallel to the third link (23) Lightweight robot for welding of narrow block groove blocks. The method according to claim 1,
Characterized in that the drive means (30) comprises a regulator (36) on the reference curve to manually vary the working angle of the torch (25). The method of claim 4,
Characterized in that the reference curved surface of the regulator (36) holds the center of rotation (38) of its radius of curvature on the torch (25). The method according to claim 1,
Characterized in that the control means (40) applies a set output corresponding to the working angle of the torch (25) to the four-axis portion (34) to control the advancing angle of the torch (25) robot.

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