KR20200003464A - Apparatus for moving of automatic welding robot - Google Patents

Abstract

The present invention relates to an automatic welding robot moving apparatus capable of moving a heavy object in a large assembly block for a ship, which is configured to move a robot module for performing automation welding of a large assembly block for a ship, and comprises: a loading and unloading module moved along a cell of the large assembly block for a ship, and having a rotating plate capable of moving upward and rotating based on a lifting plate that is raised or lowered in the cell; a rail module carried by the loading and unloading module through a hole of a partition wall corresponding to the boundary of the cell, and selectively mounted to be attached to and detached from the rotating plate or installed on a reinforcement material of the large assembly block for a ship; and a bogie module moved along the rail module and on which the robot module is mounted.

Description

Automatic welding robot moving device {APPARATUS FOR MOVING OF AUTOMATIC WELDING ROBOT}

The present invention relates to an automatic welding robot moving device used for ship building.

In general, welding-related technologies are used to build ships and offshore structures.

Welding technology in shipbuilding is the main technology of shipbuilding industry and is widely used throughout the shipbuilding process.

In the construction of ships, offshore structures, etc., blocks of a certain size (eg, control blocks) are assembled by welding with each other.

The parts of the hull manufactured at the processing plant are transferred to the assembly site, followed by a small assembly process of attaching reinforcement materials (eg, longi) to the hull internal structure, followed by a heavy assembly process of attaching the ribs to the hull shell plate, It goes through a contrasting process of connecting and completing each other.

In other words, the contrasting block may refer to a large or super-large block in which a heavy assembled block is assembled into blocks of a size that can be mounted in a dock, thereby forming a three-dimensional shape again.

In recent years, automatic welding apparatuses have been used to increase the efficiency of assembling blocks.

Automatic welding device is composed of a system having a plurality of device configuration, the operation may be limited due to the interference problem of various structures for the block or welding.

For example, a structure such as a large block is provided with a complex of a longage, a floor, a panel, and the like. In order to perform automated welding on these objects, the device is transported or welded in addition to the main device such as an automatic welding robot that actually performs the welding. Many additional systems are needed to supply material, move control systems, and the like.

In particular, in the contrast block, a cell may refer to the spaces between the reinforcements present inside the assembled block.

That is, in order to connect the counterpart blocks with each other by welding, an apparatus for moving the automatic welding robot in the direction in which the cells extend or in the arrangement interval of the cells is required.

The automatic welding device according to the prior art has a welding body which is a crawler type or crawler type moving means that mounts a welding robot and simply moves on an uneven welding structure.

However, the automatic welding device according to the prior art has a disadvantage in that the device configuration is very complicated because it is provided with a separate means for simply laying down on the passage leading to the welding site, moving along the passage cell or climbing the cell.

That is, the automatic device of the prior art has the disadvantage that the precision movement is very difficult because it moves in the extending direction of the cell, which is the movement passage of the device, or moves over the reinforcement having an irregular surface.

In particular, the automatic welding device according to the prior art has a disadvantage in that the straight mobility is very low when the structure inside the large block is irregular, and the working efficiency for the position correction is long, and the working efficiency is very low.

In addition, the automatic welding device according to the prior art corresponds to a very heavy weight only by the welding body, there is a disadvantage that the operator can not carry.

For example, an automatic welding device requires a separate means to move through a hole from one cell to the next cell based on a girder of a large block.

In addition, the automatic welding apparatus according to the prior art has a means for applying the rail and the bogie system to the welding robot in favor of the straight mobility, it is easy to move the rail and bogie system and the automatic welding robot from one cell to the other cell. none.

Therefore, there is an urgent need for a means of transportation in which a lightweight structure can be conveniently operated.

In addition, when applying a conventional scissor lift having a link of a conventional pantograph structure to the automatic welding device according to the prior art, the slider and the slider of the scissor lift and the load of the rail and the bogie system and the automatic welding robot are applied to the scissor lift. The power transmission shaft connecting between the links of the pantograph structure is bent, and as a result, the height of the scissor lift is not fixed, and has the disadvantage of causing an adverse effect on the welding quality.

In the present invention, it is possible to easily and stably transfer the rail module, the bogie module and the robot module for automatic welding through a hole (for example, an access hole) formed between the cell walls of the ship, and the components are separated from each other in a modular type. Since it can be assembled, it can be carried by the operator to provide an automatic welding robot mobile device that is very easy to operate.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned above will be clearly understood by those skilled in the art from the following description. Could be.

In order to solve the above problems, the present invention, in the automatic welding robot moving apparatus for moving the robot module for performing the automated welding of the ship's counterpart block, moved along the cell of the ship's counterpart block, the cell Lifting and unloading module having a rotary plate that can be moved up and down based on the lifting plate is raised or lowered in the; A rail module carried by the loading and unloading module through a hole of a partition corresponding to a boundary of the cell and optionally mounted on the rotating plate to be detachably mounted or installed on a reinforcement of the ship's counterpart block; And a trolley module which is moved along the rail module and on which the robot module is mounted.

In addition, the loading and unloading module, the base moving in all directions in the interior of the cell; A scissor lift detachably coupled to the moving base; And a wheel for omnidirectional movement of the moving base.

The wheel may also be a mecanum wheel or an omni-directional caster wheel.

In addition, the moving base, the wheel bracket portion to which the wheel is rotatably coupled respectively; A plurality of pillar parts that are respectively erected and connected to an upper surface of the wheel bracket part; And a rectangular ring-shaped base plate portion connected to the upper portion of the pillar portion, wherein a plurality of through holes may be formed on an upper surface of the wheel bracket portion.

In addition, the moving base may have a bolt coupling or a lever clamp for attaching and detaching between the square ring-shaped base plate portion and the scissor lift.

In addition, the scissor lift, the porous plate seated on the rectangular ring base plate portion; A track disposed in the middle of the porous plate; A fixed link coupled to both sides of the porous plate so as to be spaced apart from both sides of the track and having a long hole; A main slider coupled to the track to be movable along the track; A main screw shaft provided to the main slider to be rotatable in the porous plate for reciprocating movement of the main slider, the main screw shaft having a sprocket cassette for power distribution; A plurality of sub-screw shafts disposed in parallel with the fixing links, each having a sprocket rotated by receiving power from the sprocket cassette; A sub slider screwed to the sub screw shaft; A power transmission shaft passing through the long hole and connecting the sub slider and the main slider to each other; And a link of a pantograph structure hinged based on the power transmission shaft and the fixed link.

In addition, the scissor lift, lifting plate coupled to the link to be raised or lowered by the link; A rotary plate spaced apart from the upper side of the elevating plate; And a hollow rotating shaft unit coupled to the center of the lifting plate and the rotating plate so that the rotating plate moves in yaw and heave based on the lifting plate.

In addition, the scissors lift, a plurality of legs attached to the bottom of the corner of the rotating plate for supporting the rotating plate based on the lifting plate; A wedge-shaped guide block coupled to an upper corner of the rotary plate and configured for self-alignment between the rail module and the rotary plate; A roller unit coupled to a side surface of the side of the rotating plate based on a position between the legs; And a stop groove formed on an upper surface of the elevating plate based on a position corresponding to the roller part.

In addition, the scissor lift may include a tightening lever that is screwed into a screw hole formed in the wedge-shaped guide block to restrain the rail module.

According to the automatic welding robot moving device according to an embodiment of the present invention, the trolley module equipped with the robot module for automatic welding along the rail module connected in the state that the rail modules are connected to each other through the holes formed in the girder of the large block of the ship There is an advantage that can be moved precisely.

According to the automatic welding robot moving device according to an embodiment of the present invention, through the loading and unloading module, the entire rail module, the bogie module and the robot module can be lifted or lowered without bending deformation, and all the modules can be rotated. In other words, after the welding of one cell, the welding of the other cell can be quickly performed.

According to the automatic welding robot moving device according to an embodiment of the present invention, by applying the parallel power transmission mechanism to the link of the pantograph structure of the scissor lift provided in the unloading module, the bending deformation of the power transmission shaft can be minimized There is this.

According to the automatic welding robot moving device according to an embodiment of the present invention, there is an advantage that the operator can directly move by configuring the movable base and the scissor lift of the loading and unloading module can be separated and fastened.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned above may be clearly understood by those skilled in the art from the following description. will be.

1 is a perspective view of an automatic welding robot moving apparatus according to an embodiment of the present invention.
2 is a perspective view of the loading and unloading module of the automatic welding robot moving apparatus shown in FIG. 1.
3 is a front view of the loading and unloading module shown in FIG. 2.
4 is an enlarged cross-sectional view of the box C shown in FIG. 2.
5 and 6 are perspective views for explaining the operation relationship between the lifting plate and the rotating plate of the loading and unloading module shown in FIG.
7 is an enlarged perspective view of the box A shown in FIG. 1.
FIG. 8 is an enlarged perspective view of the box B shown in FIG. 1.
FIG. 9 is an enlarged front view of a part viewed based on the line DD of FIG. 8.
10 is a perspective view of the loading and unloading module according to an application example of the present invention.
11 to 14 are perspective views for explaining the working process of the automatic welding robot moving apparatus shown in FIG.

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

The detailed description, which will be given below with reference to the accompanying drawings, is intended to describe exemplary embodiments of the present invention.

It is not intended to represent the only embodiments in which the invention may be practiced.

In the drawings, parts irrelevant to the description may be omitted, and the same reference numerals may be used for the same or similar elements throughout the specification.

In addition, in embodiments of the present invention, an access hole may refer to a through structure that is previously formed in a girder that is a boundary of a cell in a control block.

For example, a hole may mean a hole through which an operator or a device enters or exits.

1 is a perspective view of an automatic welding robot moving apparatus according to an embodiment of the present invention.

Referring to FIG. 1, the automatic welding robot moving apparatus 10 may include any one or more of the loading and unloading module 100, the rail module 200, the trolley module 300, and the robot module 400.

Unloading module 100 may be moved to a plurality of wheels along the cell of the ship's control block.

The unloading module 100 has a lifting plate 171 that is raised or lowered in the cell. The unloading and loading module 100 may include a rotating plate 172 that is capable of moving upward and rotating based on the lifting plate 171.

Here, the upward movement may mean a heavy motion, which will be described later, and the rotation may mean a yaw motion.

Loading and unloading module 100 may be provided in plurality in the interior of the control block, each carrying and supporting the rail module 200, may have a movement for the movement or docking of the rail module 200.

The unloading and loading module 100 is a moving structure capable of supporting the static load and the dynamic load of the rail module 200, the bogie module 300, and the robot module 400, and the rail module 200 and the bogie module 300. And adjusting the displacement (eg, up and down position, rotation position) of the robot module 400.

The rail module 200 may be carried by the loading and unloading module 100 through a hole of the partition wall at a partition corresponding to a cell boundary.

The rail module 200 may be detachably mounted to the rotating plate of the loading and unloading module 100 or may be installed on the reinforcement of the counter block.

Rail module 200 may be a unitized rail structure having a standard that can be mounted on the loading and unloading module 100.

The rail module 200 may be formed in plural, and may include mutual fastening means as described below for coupling with each other.

Rail module 200 may include a fixing means described later to be installed or separated on the reinforcement of the interior of the control block.

The balance module 300 is configured to be moved or stopped along the rail module 200.

For example, the balance module 300 may include a plurality of rail wheels that may be reciprocated along the rail module 200.

The balance module 300 may include a plurality of magnetic clamp devices 310 that may be temporarily fixed to the rail module 200.

For example, each of the magnetic force clamp devices 310 may be mounted on the trolley module 200 so as to exert magnetic or frictional forces toward the upper surface of the rail module 200 with respect to the side of the trolley module 300.

The magnetic force clamp device 310 generates a magnetic force through the on / off function to operate a plurality of pairs of magnetic or switching permanent magnets attached to the rail module 200, and to turn on or off the magnetic body or permanent magnet It may consist of a lever.

That is, when the rotary shaft is rotated by the rotation of the operating lever, the internal pole position of the permanent magnet coupled to the rotary shaft is mechanically changed and released from the on-state or the trolley module 200 that is magnetically fixed to the trolley module 200. The off state can be switched.

The robot module 400 may be mounted on the balance module 300. The robot module 400 may have multiple joints with an automated welding device to perform automated welding of the control block.

For example, the robot module 400 may be an industrial robot having six degrees of freedom in which welding or painting may be performed.

Of course, the robot module 400 may include a six degree of freedom controller for the industrial robot not shown.

The robot module 400 is basically manufactured by a design technology for a robot capable of following the position and orientation of six degrees of freedom.

More specifically, the robot module 400 may be an articulated robot or a polar type robot having a design and structure specialized for welding a counterpart block, and an automated welding tool or end-effector may be mounted on an end mounting area of the robot. effector).

The robot module 400 performs a welding operation in a cell of a contrasting block divided into two zones by including a main body having a plurality of rotary joints and various servo motors and reduction gears based on the trolley module 300. In charge of.

2 is a perspective view of the loading and unloading module of the automatic welding robot moving apparatus shown in FIG. 1, and FIG. 10 is a perspective view of the loading and unloading module according to the application example of the present invention.

1, 2 and 10, the unloading module 100, 100a includes a moving base 110 corresponding to the lower moving frame and a scissor lift 150 capable of raising or lowering.

The moving base 110 may be configured in various forms as long as the device can move or carry the scissor lift 150 as shown in FIGS. 1 and 10.

For example, the movement base 110 shown in FIG. 1 is configured to move forward in the cell.

For omnidirectional movement of the movement base 110, for example, the wheel 111 of the movement base 110 may be a mecanum wheel or an omni-directional caster wheel.

The moving base 110 of FIG. 10 according to an application may be composed of a caster wheel 111a (caster wheel).

The scissor lift 150 is detachably coupled to the moving base 110.

For example, the moving base 110 may have a lever clamp 115 for attaching and detaching between the square ring-shaped base plate portion 114 and the scissor lift 150 as shown in FIG. 10.

In addition, the movable base 110 may have a bolt coupling 116 for detachment between the square ring-shaped base plate portion 114 and the scissor lift 150 as shown in FIG. 1, and the scissor lift 150 may be detached in various ways. Can be separated or combined from each other.

That is, the moving base 110 and the scissor lift 150 may be too hard to move into the cells of the control block in a combined state.

On the other hand, since the moving base 110 and the scissor lift 150 are formed to be separated and fastened according to the present exemplary embodiment or the application example, the operator may move the movable base 110 and the scissor lift 150 in a disassembled state. Each can be very conveniently and easily transported into the interior of the cell of the contrasting block and then used in combination with each other.

Through this, work convenience can be maximized.

More specifically, as shown in Figure 1, the moving base 110 has a wheel bracket portion 112 of the lightweight structure.

For example, a plurality of through holes are formed on the upper surface of the wheel bracket part 112, thereby reducing structural weight and having a structurally robust device configuration.

Wheels 111 are rotatably coupled to the wheel brackets 112, respectively.

In addition, the movable base 110 includes a plurality of pillars 113 which are respectively erected and connected to the upper surface of the wheel bracket portion 112.

The pillar length of the pillar portion 113 may be determined in consideration of the height of the cell of the control block or the height of the reinforcement and may not be limited to a specific value.

Furthermore, the pillar portion 113 may be configured so that the pillar length is variable as a telescopic structure.

In addition, the moving base 110 includes a rectangular ring-shaped base plate portion 114 connected to the upper portion of each pillar portion 113.

As shown in FIG. 10, the ring-shaped base plate portion 114 has an opening 117 in which the center portion is opened in the vertical direction for weight reduction.

As a result, the ring-shaped base plate 114 has an advantage that can be reduced in weight compared to the structure without the hole.

The ring-shaped base plate 114 may include an inclined support block 118 spaced apart along the opening 117 for self-alignment between the scissor lift 150 and the moving base 110.

At this time, the inclined support block 118 is disposed in the four sides of the ring-shaped base plate portion 114, and maintains the downward inclination in the direction toward the center of the opening 117.

Therefore, when the scissor lift 150 is moved downward toward the edge circumferential portion 119 of the opening 117, the self-alignment is achieved by contacting the inclined surface of the scissor lift 150 with the inclined support block 118. Can be.

Through this, there is an advantage that the coupling between the scissor lift 150 and the moving base 110 can be easily made, there is an advantage that the separation or coupling operation can be made quickly.

The scissor lift 150 moves in a state mounted on the moving base 110 and moves under the robot system, that is, under the rail module 200 to be docked with the rail module 200.

In this state, the loading and unloading module 100 may lift the rail module 200, the bogie module 300, and the robot module 400 with the scissor lift 150.

The unloading module 100 then moves to the hole passing position formed in the girder of the control block.

Since the loading and unloading module 100 rotates the rotating plate of the scissor lift 150, the rail module 200, the bogie module 300, and the robot module 400 are rotated 90 degrees, and then pass through the holes. Scissor lift 150 of the unloading module 100 is a configuration that can easily perform the lifting and rotation function for passing the hole can be described with reference to FIGS.

3 is a front view of the loading and unloading module shown in FIG. 2, and FIG. 4 is an enlarged cross-sectional view of the box C shown in FIG. 2.

5 and 6 are perspective views for explaining the operation relationship between the lifting plate and the rotating plate of the loading and unloading module shown in FIG.

Referring to FIGS. 2 and 3, the scissor lift 150 includes a porous plate 151 seated on the rectangular ring-shaped base plate portion 114 shown in FIG. 1, and a guide rail in the middle of the upper surface of the porous plate 151. And a track 152 arranged to serve.

Here, a plurality of holes are also formed in the porous plate 151, so that the openings 117 (see FIG. 10) of the rectangular ring-shaped base plate portion 114 may be mutually connected in space.

In addition, the porous plate 151 of the scissor lift 150 is formed to be geometrically mated to the edge circumferential step portion 119 of the opening 117, or as shown in FIG. 1, the outer edge of the rectangular ring-shaped base plate portion 114. It can be sized to fit.

In addition, the scissors lift 150 includes a fixing link 154 coupled to both sides of the porous plate 151 and having a long hole 153 so as to be spaced apart from both sides with respect to the track 152.

In addition, the scissors lift 150 includes a main slider 155 coupled to the track 152 to be movable or sliding reciprocating along the track 152.

Here, the main slider 155 may be a kind of a ball screw type transfer block or a transfer body.

In addition, the scissor lift 150 includes a lift motor not shown, and includes a main screw shaft 156 that receives the rotational force of the lift motor.

Here, the main screw shaft 156 is rotatably installed in the porous plate 151 to provide a rotational force to the main slider 155 to reciprocate the main slider 155.

For example, the porous plate 151 is formed with a bearing block that supports the rotation of the main screw shaft 156.

At this time, the main screw shaft 156 has a sprocket cassette 157 for power distribution. The racket cassette 157 may be a means for implementing a parallel power transmission mechanism.

The reciprocating movement of the main slider 155 may be converted to the rising or falling of the lifting plate 171 through the link 170 of the pantograph structure.

The scissor lift 150 also includes a plurality of sub screw shafts 158 disposed in parallel with the stationary links 154, respectively.

Here, the sub screw shaft 158 is provided with a sprocket 159 that is rotated by receiving power from the sprocket cassette 157 through a power transmission means such as a chain or an interlocking means.

The sub screw shaft 158 may also be rotatably supported by a separate bearing block provided in the porous plate 151.

The scissor lift 150 also includes a sub slider 160 screwed to the sub screw shaft 158.

The sub slider 160 may also be a ball screw type transfer block or a transfer body.

The scissor lift 150 also includes a power transmission shaft 161 that penetrates the long hole 153 of the fixed link 154 and connects the sub slider 160 and the main slider 155 to each other.

In addition, the scissor lift 150 includes a link 170 of a pantograph structure hinged based on the power transmission shaft 161 and the fixed link 154.

When the main screw shaft 156 for elevating is rotated, the sub screw shaft 158 is also interlocked, and thus, rigidity can be improved since the sub screw shafts 158 are interlocked.

Here, the fixed point may refer to the sub slider 160.

In addition, the same or similar structure as the long hole 153, the sub slider 160, the main slider 155, and the like may also be formed on the upper portion of the scissor lift 150. Tension springs 162 may be used to enhance the restraint to reduce concern.

Here, the tension spring 162 exerts an elastic force between the upper slider 163 and the other point 164 corresponding to one point of the top pivot of the link 170.

The upper slider 163 is coupled to be movable along the long hole of the support frame 171a disposed on both sides of the bottom surface of the lifting plate 171 of the scissor lift 150, and the other side point 164 is the support frame 171a. (Eg, the upper hinge point of the link 170).

That is, stiffness can be significantly improved through a fixed point at the bottom of the scissor lift 150 (e.g., the sub slider 160), and in addition, the link 170 is provided by a tension spring 162 at the top of the scissor lift 150. Stiffness can be increased.

As a result, the bending deformation of the power transmission shaft 161 can be reduced, and the height of the scissor lift 150 can be stably fixed, so that an advantage of maintaining welding quality can be generated.

Meanwhile, as shown in FIGS. 2 to 4, the scissor lift 150 is spaced apart from the lifting plate 171 coupled to the link 170 so as to be lifted or lowered by the link 170, and the upper side of the lifting plate 171. It includes a rotating plate 172 disposed.

In addition, the scissors lift 150 may include a hollow rotating shaft unit 173.

The rotating plate 172 may be rotated by a rotation force providing means not shown.

For example, the rotation force providing means may be installed below the elevating plate 171 to provide a rotational force to the hollow rotating shaft portion 173, or a roller using a drive motor that can be installed inside each of the roller portions 177 to be described later. It may be configured in the form of a driving device.

The hollow rotating shaft part 173 includes the elevating plate 171 and the rotating plate 172 such that the rotating plate 172 moves on the yaw and the heaves H based on the elevating plate 171. It is bound to the center.

More specifically, the upper portion of the hollow rotating shaft portion 173 is coupled to the bottom of the hole edge formed in the center of the rotating plate 172, the lower portion of the hollow rotating shaft portion 173 is provided in the center of the elevating plate 171 The part 174 is slidably fitted.

Here, the yaw (Y) movement means that the rotating plate 172 rotates along the circumferential direction of the hollow rotating shaft portion 173 based on the hollow rotating shaft portion 173, and the hive (H) movement is hollow. It means moving along the axial direction of the rotating shaft portion 173 (for example, rising or falling).

To this end, a bearing portion 174 in sliding contact with the outer circumferential surface of the hollow rotating shaft portion 173 is interposed in the coupling hole at the center position of the elevating plate 171.

In addition, the bottom of the hollow rotating shaft portion 173 may be further coupled to the flange type stopper portion 175 to prevent separation.

The rotating plate 172 of the scissor lift 150 may perform a role of stealing rotation or temporary stop at intervals of 90 degrees as well as free rotation for each section.

5 and 6, the scissor lift 150 includes a plurality of legs 176 attached to a corner bottom of the rotating plate 172 and supporting the rotating plate 172 based on the lifting plate 171. .

That is, the end of the leg 176 may contact the upper surface of the corner of the elevating plate 171 in the stationary state of the rotating plate 172.

In addition, the scissor lift 150 has a roller portion 177 coupled to the side surface bottom of the rotating plate 172 based on the position between the leg portions 176, and a lifting plate based on the position corresponding to the roller portion 177. It includes a stop groove 178 formed on the upper surface of the (171).

Here, the stop groove 178 is disposed at an interval of 90 degrees from the upper surface of the elevating plate 171.

The roller unit 177 may include a roller support 177a coupled to the bottom of the rotating plate 172 and a roller 177b rotatably coupled to the roller support 177a.

As shown in FIG. 5, when the rotating plate 172 is stopped, the roller 177b is seated in the stop groove 178. In this case, the bottom of the end of the leg 176 is in contact with the upper surface of the elevating plate 171. As a result, the plurality of legs 176 may support the rotating plate 172 based on the lifting plate 171.

That is, the rotating plate 172 and the load thereon may be transmitted toward the lifting plate 171 through the plurality of leg portions 176.

As shown in FIG. 6, when the rotating plate 172 rotates, the yaw (Y) motion and the hive (H) motion of the rotating plate 172 are performed.

As a result, the roller 177b exits the stop groove 178 and can be driven along the upper surface of the elevating plate 171.

In addition, the bottom of the end of the leg portion 176 may also be spaced upwardly from the top surface of the lifting plate 171.

In this case, the plurality of rollers 177 may also support the rotating plate 172 based on the lifting plate 171.

Again, the rotating plate 172 and the load thereon may be transmitted toward the lifting plate 171 through the plurality of rollers 177b and the roller portion 177.

After the rotating plate 172 is rotated 90 degrees on the basis of the stop position, the roller 177b is seated in the other stop groove 178 of FIG. 6 when the rotating plate 172 is in the stopped state, thereby rotating the rotating plate 172. The rail module 200, the balance module 300, and the robot module 400 may be changed to a 90 degree rotation position.

As such, the scissors lift 150 may rotate the rotating plate 172 through the stop groove 178 by 90 degrees, and seat the roller 177b of the roller unit 177 in each stop groove 178.

Accordingly, while the rotation angle of the rotating plate 172 can be accurately adjusted, the rotating plate 172 can have an effect that can be fixed relative to the stop groove 178.

In addition, the scissor lift 150 includes a wedge-shaped guide block 180 coupled to the top surface of the corner of the rotating plate 172 for self-alignment between the rail module 200 and the rotating plate 172 described above with reference to FIG. 1. .

Here, the wedge-shaped guide blocks 180 are arranged in pairs so that the inclined surfaces face each other and are spaced apart from each other.

Therefore, when the rail module 200 is moved downwardly toward the rotating plate 172 between the wedge-shaped guide block 180, the inclined surface of the rail module 200 and the wedge-shaped guide block 180 is in contact with each other to achieve self alignment. Can be done.

Through this, there is an advantage that the coupling between the rail module 200 and the scissor lift 150 can be easily made, there is an advantage that the separation or coupling operation can be made quickly.

7 is an enlarged perspective view of the box A shown in FIG. 1.

Referring to FIG. 7, the scissor lift 150 includes a tightening lever 179 for fixing the rail module 200. Here, the wedge-shaped guide block 180 is further formed with a through screw hole.

The screw portion of the tightening lever 179 is screwed into the through-type screw hole, and the end of the screw portion of the tightening lever 179 passing through the screw hole is pressed against the side of the rail module 200, so that the rail module 200 It may be fixed or constrained to the scissor lift 150.

FIG. 8 is an enlarged perspective view of the box B shown in FIG. 1, and FIG. 9 is an enlarged front view of the portion seen based on the line D-D of FIG. 8.

8 and 9, the rail module 200 may be connected to and used with another rail module 200a (see FIG. 13) of the same standard for extending the rail length or transferring the robot module 400.

Each rail module 200 and 200a may include a rail connection device 190 for fixing both rail modules 200 and 200a to each other when passing through the hole 20.

The rail connection device 190 may be an interlocking means for the rail modules 200 and 200a.

The rail connection device 190 has a plurality of tightening devices 191 and brackets 192 having a U-shaped cross section in which the tightening devices 191 are screwed.

Since the level of the groove of the bracket 192 may be the same as the level of the rail module 200a to be connected, the rail module 200a may be fitted into the groove of the bracket 192.

Thereafter, the fastening device 191 is screwed, so that both rail modules 200 and 200a can be fixed to each other at the same level, in which case the bogie module 300 will pass through the hole 20. When the one side rail module 200 may move along the other side rail module 200a.

In addition, the rail module 200 may include a plurality of magnetic fixing devices 195 that may be fixed to the reinforcement of the control block using a magnetic force as a fixing means.

The magnetic force fixing device 195 may be installed in the rail module 200 so that the magnetic force can be acted downward from the corner bottom of the rail module 200.

Hereinafter, a working process of the automatic welding robot moving apparatus according to the present embodiment or application example will be described.

11 to 14 are perspective views for explaining the working process of the automatic welding robot moving apparatus shown in FIG.

Referring to FIG. 11, the loading and unloading module 100a is inserted into a lower position of the rail module 200.

Thereafter, the scissor lift 150 of the loading and unloading module 100a moves upward to make a docking state with the rail module 200.

Thereafter, the worker releases the rail connecting device and the magnetic fixing device of the rail module 200, respectively.

Referring to FIG. 12, the scissor lift 150 of the loading and unloading module 100a raises the rail module 200, the bogie module 300, and the robot module 400 to the height of the hole 20, and the hole 20. Perform a 90 degree turn towards).

Referring to FIG. 13, two unloading modules 100a are moved to face each other toward their holes 20 at their positions, that is, cells 30 and 31, and as a result, the rail modules 200 and 200a move into holes. 20 may be connected to each other inside.

Accordingly, the rail length is extended, so that a movement path for passing the hole 20 of the trolley module 300 may be made.

Referring to FIG. 14, in this case, the trolley module 300 moves the rail modules 200 and 200a connected to each other and passes through the hole 20, so that the robot module 400 is moved from one cell 30 to the other side. May be carried towards the cell 31.

As described above, the automatic welding robot moving device according to the embodiment of the present invention connects the rail modules 200 and 200a to each other through holes 20 formed in the girder of the large block of the ship, and the robot module 400 for automatic welding. There is an advantage that can be precisely moved the mounted balance module 300.

As such, the automatic welding robot moving device according to the embodiment of the present invention performs the welding operation precisely after the robot module 400 moved through the balance module 300 is moved to the other cell 31.

The embodiments of the present invention disclosed in the specification and the drawings are only specific examples to easily explain the technical contents of the present invention and aid the understanding of the present invention, and are not intended to limit the scope of the present invention.

Therefore, the scope of the present invention should be construed that all changes or modifications derived based on the technical spirit of the present invention are included in the scope of the present invention in addition to the embodiments disclosed herein.

10: automatic welding robot moving device 100, 100a: loading and unloading module
110: moving base 150: scissor lift
155: main slider 160: sub slider
171: lifting plate 172: rotating plate
173: hollow rotary shaft 200, 200a: rail module
300: balance module 400: robot module

Claims (9)

In the automatic welding robot moving device for moving the robot module for performing the automated welding of the marine counterpart block,
A loading and unloading module which is moved along a cell of the ship's control block and has a rotating plate which is capable of moving upward and rotating based on a lifting plate that is raised or lowered in the cell;
A rail module carried by the loading and unloading module through a hole of a partition wall corresponding to a boundary of the cell and optionally mounted on the rotating plate to be detachably mounted or installed on a reinforcement of the ship's counterpart block; And
And a trolley module moving along the rail module and on which the robot module is mounted. The method of claim 1,
The unloading module,
A moving base moved forward in the cell;
A scissor lift detachably coupled to the moving base; And
Automatic welding robot moving device including a wheel for the omni-directional movement of the moving base. The method of claim 2,
And the wheel is a mecanum wheel or an omni-directional caster wheel. The method of claim 2,
The moving base,
Wheel brackets to which the wheels are rotatably coupled, respectively;
A plurality of pillar parts that are respectively erected and connected to an upper surface of the wheel bracket part; And
And a square ring-shaped base plate portion connected to the upper portion of the pillar portion.
And a plurality of through holes formed on an upper surface of the wheel bracket part. The method of claim 4, wherein
The moving base,
Automatic welding robot moving device having a bolt coupling or a lever clamp for attaching and detaching between the square ring base plate portion and the scissors lift. The method of claim 4, wherein
The scissors lift,
A porous plate seated on the rectangular ring base plate;
A track disposed in the middle of the porous plate;
A fixed link coupled to both sides of the porous plate so as to be spaced apart from both sides of the track and having a long hole;
A main slider coupled to the track to be movable along the track;
A main screw shaft provided to the main slider to be rotatable in the porous plate for reciprocating movement of the main slider, the main screw shaft having a sprocket cassette for power distribution;
A plurality of sub-screw shafts disposed in parallel with the fixed links, each having a sprocket which is rotated by receiving power from the sprocket cassette;
A sub slider screwed to the sub screw shaft;
A power transmission shaft passing through the long hole and connecting the sub slider and the main slider to each other; And
And a link of the pantograph structure hinged based on the power transmission shaft and the fixed link. The method of claim 6,
The scissors lift,
An elevating plate coupled to the link to be raised or lowered by the link;
A rotary plate spaced apart from the upper side of the lifting plate; And
And a hollow rotary shaft unit coupled to the center of the elevating plate and the rotating plate such that the rotating plate moves yaw and heave based on the elevating plate. The method of claim 7, wherein
The scissors lift,
A plurality of legs attached to a corner bottom of the rotating plate and supporting the rotating plate based on the lifting plate;
A wedge-shaped guide block coupled to an upper corner of the rotary plate and configured for self-alignment between the rail module and the rotary plate;
A roller unit coupled to a side surface of the side of the rotating plate based on a position between the legs; And
And a stop groove formed on an upper surface of the lifting plate based on a position corresponding to the roller part. The method of claim 8,
The scissors lift,
And a tightening lever each screwed into a screw hole formed in the wedge-shaped guide block to constrain the rail module.

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