KR20210028468A - Welding device for welding of weld reserve and welding method using the same - Google Patents

Abstract

The present invention relates to an apparatus for welding a welding reserve portion and a welding operation method using the same to automatically perform welding of the reserve portion by checking a bead of the welding reserve portion and proceeding with the work, and by changing the angle of a welding torch according to a welding position. According to the present invention, the apparatus for welding a welding reserve portion comprises: a main body; a link portion having a vertical axis installed in a direction perpendicular to the ground from the main body, a plurality of joints coupled to be elevated in a vertical direction along the vertical axis and rotated in a horizontal direction; and a torch holder coupled to the end of the link portion to move or rotate in the horizontal direction by the link portion and adjust a welding torch to be at any one of a first angle and a second angle.

Description

Device for welding the welding holding part and welding work method using the same {WELDING DEVICE FOR WELDING OF WELD RESERVE AND WELDING METHOD USING THE SAME}

The present invention relates to an apparatus for welding of a welding holding part and a welding work method using the same.In particular, the welding of the holding part can be performed by checking the bead of the welding holding part and performing the work, and changing the angle of the welding torch according to the welding position. The present invention relates to an apparatus for welding of a welding holding part that can be performed automatically, and a welding operation method using the same.

Welding is frequently used in the shipbuilding process. Recently, some of these weldings have been performed using welding using an automatic welding device such as a carriage and a V-ROD.

Such an automatic welding device is mainly used when the welding part is formed in a straight line. For example, automatic welding is performed on the floor-to-wall, wall-to-wall and surface-to-face areas such as cabins and bulkheads.

However, even when such automatic welding is used, a holding portion that cannot perform welding is formed by the automatic welding device. The holding portion is formed in the vicinity of a vertex in which the torch of the automatic welding device cannot access, and a holding portion in which welding is not performed is formed. In order to weld this holding part, it is common to use a dedicated carriage or to weld directly by an operator.

However, in the case of using a dedicated carriage, since the welding bead is not recognized, disconnection of the welding area or overlapping of the welding area occurs, there is a problem that the operator must continuously monitor. For this reason, there is a problem in that a problem occurs in the musculoskeletal system of a worker because the welding part is repeatedly checked in an uncomfortable posture. This problem occurs even when the operator directly welds, and as a result, there is a problem that leads to a decrease in work efficiency.

Republic of Korea Patent Registration No. 10-0684620 (Registration date February 13, 2007) How to operate the welding carriage of the holding part

Accordingly, an object of the present invention is an apparatus for welding of a holding part to automatically perform welding of a holding part by checking the bead of the welding holding part to proceed with the work, and changing the angle of the welding torch according to the welding position, and It is to provide a welding work method using this.

The apparatus for welding the welding holding part according to the present invention comprises: a main body; A link portion having a vertical axis installed in a direction perpendicular to the ground from the main body, a plurality of joints coupled to be vertically elevating and descending along the vertical axis and rotating in a horizontal direction; And a torch holder coupled to the end of the link unit to move or rotate in a horizontal direction by the link unit to adjust the welding torch to one of a first angle and a second angle.

In addition, the welding operation method using a device for welding the welding holding unit includes a working position setting step of setting the welding device to the working position; A first angle adjustment step of adjusting the welding torch of the welding device to be a first angle; A turnch sensing step of detecting a welding teaching point using a touch sensor provided on the welding torch or a torch holder to which the welding torch is coupled; A first welding step of performing welding on a first section using the identified teaching point information; A second angle adjustment step of adjusting the welding torch to be a second angle; And a second welding step of performing welding on the second section of the mountain excluding the first section.

The apparatus for welding the welding holding part according to the present invention and the welding work method using the same are performed by checking the bead of the welding holding part, and automatically performing the welding of the holding part by changing the angle of the welding torch according to the welding position. It is possible to increase the automatic welding work section, reduce the physical burden of the operator, and improve the work efficiency.

1 is an exemplary view showing an apparatus for welding a welding holding part according to the present invention.
FIG. 2 is an exemplary view for explaining a laser strip provided in the device of FIG. 1.
Figure 3 is an exemplary view for explaining the configuration and operation of the torch holder according to the present invention.
4 is an exemplary view for explaining driving of a torch holder by a driving device.
Figure 5 is a flow chart for explaining the welding method of the holding portion according to the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement them. It should be noted that, in the accompanying drawings, the same reference number is used as much as possible when indicating the same configuration in other drawings. In addition, in describing the present invention, when it is determined that a detailed description of a related known function or a known configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, certain features presented in the drawings are enlarged or reduced or simplified for ease of description, and the drawings and their components are not necessarily drawn to scale. However, those skilled in the art will readily understand these details.

1 is an exemplary view showing an apparatus for welding a welding holding part according to the present invention. FIG. 2 is an exemplary view for explaining a laser strip provided in the device of FIG. 1.

1 and 2, the apparatus for welding the welding holding part according to the present invention includes a main body 1, a link part 4, and a torch holder 8.

The main body 1 is coupled to the link unit 4 and serves as a body for driving the link unit 4 and the torch holder 8. In addition, the main body 1 may provide power and driving force for driving the link unit 4 and the torch holder 8. In addition, the main body 1 is connected through communication with an external device for controlling the welding function, such as a control terminal, and according to a control signal from the control terminal, the link unit 4, the torch holder 8 and the welding torch 9 ) To proceed to the welding of the holding part. Such a device for controlling, supplying, and driving power is installed inside the main body and can be easily implemented with reference to known techniques, and thus a detailed description thereof will be omitted in the present invention.

The main body 1 is installed at a position for welding of the holding portion by a plurality of support feet 11. At this time, the main body 1 is disposed to maintain a predetermined angle with respect to the holding portion, and may be configured to include a laser strip for confirming and installing the angle.

The laser strip (not shown) is installed on the main body 1 and includes a device that emits light emitted outside the main body. The light emitted from the laser strip is expressed as light 12 in a straight line when projected onto an object such as the ground or a welding object. For example, in the present invention, the light 12 emitted from the riser strip passes before and after the body (here, in FIG. 2, it is assumed that the side facing the vertex of the holding part is the front, and the side facing it is the rear side). It is set to be at an angle of 45 degrees to the center line. That is, a pair of laser strips are each configured to project light onto different sides of the main body 1, and the light 12 is superimposed on the holding portion 99a or positioned on an extension line of the holding portion 99a. In this case, the main body 1 may be disposed at an angle of 45 degrees with respect to the holding part 99a. That is, it is arranged such that the distance between each of the holding portions 99a forming a 90 degree angle and the main body 1 is constant.

The link unit 4 is coupled to the body 1 and serves to adjust the direction and position of the torch holder 8 to be suitable for welding work. To this end, the link unit 4 includes a vertical axis 41 and a link unit 42 having a plurality of joints.

The vertical shaft 41 is provided to adjust the height of the torch holder 8. To this end, the vertical axis 41 is coupled with the first joint 43 of the link unit 42 so that the link unit 42 and the torch holder 8 can move in the vertical direction on the vertical axis 41.

The vertical shaft 41 is installed on the main body 1 and is installed in a direction perpendicular to the ground. The link portion 42 connected by the first joint 43 is coupled to the vertical shaft 41 so as to be movable in the vertical direction. To this end, a driving device for vertical movement of the link unit 42 may be coupled to the vertical shaft 41.

The link unit 42 may be configured to include a plurality of joints, for example, first to third joints 43 to 45. Here, in the present invention, an example composed of the first to third joints is shown, but the number of joints is not limited by the bar as it may be composed of one or more joints.

Each joint configured in the link unit 42 is configured with a rotation shaft. For example, the joints 43 to 45 may be configured to rotate in a direction horizontal to the ground. Through this, it is possible to adjust the distance and angle between the welding torch 9 and the holding part 99a. Each of the joints 43 to 45 of the link unit 42 may have an axis for rotation parallel to the vertical axis 41. This is illustrated by a solid line in FIG. 1. These joints (43 to 45) may be connected by joint joints (46: 46a, 46b). The joint connection part 46 is coupled to one end of the shaft provided in the joints 43 to 45.

In particular, the joint connection part 46 may be connected alternately up and down for connection of the joints 43 to 45 adjacent to each other. That is, the joint connection part 46a for connecting the first joint 43 and the second joint 44 is coupled to the upper part of the first and second joints 43 and 44, and the second joint 44 and the second joint 44 The joint connection portion 46b for connecting the three joints 45 may be coupled to the lower portions of the second and third joints 44 and 45. Through this, it is possible to prevent the rotation angle from being restricted by the joint connection part 46 during rotation. The joints 43 to 45 may be provided with a driving device such as a motor for rotation. The torch holder 8 is connected to the third joint 45.

In this link part 42, when the joint connection part 46 is in a straight line by the rotation of each joint 43 to 45, the distance between the main body 1 and the welding torch 9 is maximized, and the joint connection part by rotation When the angle between (46a, 46b) is minimized, the distance between the main body 1 and the welding torch 9 becomes close. In addition, it is possible to adjust the direction in which the tip 91 of the welding torch 9 faces by rotating only one of the joints 43 to 45.

The torch holder 8 is fixed by coupling a welding torch. To this end, the torch holder 8 may be configured to include a support arm 81 and a track 83 connected to the third joint 45. One end of the support arm 81 is fixed to the third joint 45 and the track 83 is coupled to the other end. The support arm 81 may be configured to protrude diagonally so that the driving of the link portion 42 and the welding torch 9 does not cause interference. In addition, a driving device for driving the welding torch 9 may be provided in the torch holder 8, which will be described in more detail below with reference to other drawings.

The track 83 is provided for angular conversion of the welding torch 9. The welding torch 9 reciprocates the top dead center 84a and the bottom dead center 84b to secure a welding angle. The top dead center (84a) and the bottom dead center (84b) are the points at which the welding torch 9 has the maximum angle to the ground and the minimum angle to the ground, and the maximum and minimum angles are angles set by the user. .

That is, the track 83 is provided to maintain the first angle with respect to the ground when the welding torch is at the bottom dead center, and maintain the second angle with respect to the ground when the welding torch is at the top dead center. For example, when located at the bottom dead center (84b), the welding torch (9) maintains an angle of about 5 degrees to the ground, and when located at the top dead center (84b), the welding torch (9) is at an angle of about 35 degrees to the ground. You can try to keep it. However, this does not limit the present invention, and the angle can be changed as necessary.

At this time, in order to prevent the distance of the welding tip 91 of the welding torch 9 from changing with respect to the surface to be welded, the orbit 83 uses the welding tip 91 as an axis (or the center point of the virtual circle) to the bottom dead center. It is provided in a curved shape such that an arc-shaped slit 85 connecting or extending from the top dead center is provided.

The torch holder 8 is provided such that the welding torch 9 is fixed to the lower end of the track 83, and the angle is changed by changing the position of the track 83. That is, a coupling portion (not shown) provided on the support arm 81 is coupled to the slit 85 formed in the track 83 on the support arm 81. And, when moving the orbit 83, the movement path of the orbit 83 is limited by the coupling portion. Through this, the angle of the welding torch 9 coupled to the track 83 can be changed.

This will be described in more detail below. Here, for each conversion of the welding torch 9, the track 83 may be fixed, and the welding torch 9 may be moved along the slit 85 of the bend 83. Hereinafter, for convenience of description, the description will be mainly performed on the case where the orbit 83 moves.

This torch holder 8 is provided with a touch sensor. The touch sensor is provided to align the position of the welding tip 91 and adjust the correct position before operation. For example, the touch sensor 30 may be configured through a wire supply controller that supplies the welding tip 91. That is, if the wire supply by the obstacle is limited during wire supply, it may be recognized as a contact with the object, but this does not limit the present invention. In addition, a device such as a laser displacement sensor (LDS) for recognizing the position of the welding tip 91 is provided in the torch holder 8 or the main body 1, confirming the holding part and recognizing the position of the welding tip. You can do it. In addition, although omitted and illustrated in the drawings, a wire feeder for supplying the welding tip 91 in the form of a wire may be provided.

3 is an exemplary diagram for explaining the configuration and operation of the torch holder according to the present invention, and FIG. 4 is an exemplary diagram for explaining driving of the torch holder by a driving device.

Referring to FIG. 3, (a) and (b) show driving of the torch holder 8. As described above, the present invention is configured to adjust the angle formed between the torch holder 8 and the object to be welded according to the welding position. Through this, it is possible to arrange the welding torch 9 at an appropriate angle according to the location of the welding area and the welding direction.

For this purpose, a track 83 is provided at the end of the support arm 81 as described above. The body of the welding torch 9 is coupled to the lower end of the track 83. In addition, the orbit 83 is provided with an arc-shaped slit 85, and due to the shape of the slit 85, the orbit 83 may also be curved to form an arc.

In the slit 83, a coupling portion provided on the support arm 81 is inserted. 3 shows an example in which a gear 89 or a wheel of a motor (not shown) is coupled as a coupling part. The gear 89 is configured to come into contact with one side 88 of the slit 85 or mesh with a rare gear (not shown) provided on the one side 88. Through this, when the motor rotates, the gear 89 rotates to move the orbit in the X1 or X2 direction.

Through this, it is possible to rotate the welding torch 9 to the top dead center (A) and the bottom dead center (B) as shown. (a) shows the case where the welding torch 9 is placed at the top dead center, and (b) shows the case where the welding torch 9 is placed at the bottom dead center. At this time, limit switches P1 and P2 may be provided on the track 83 to control the rotation of the motor. That is, the toggle signal may be supplied to the control unit or the motor by the switches installed at P1 and P2, and the rotation direction may be reversed and driven when the control signal for driving the motor is transmitted.

Meanwhile, in addition to the motor and the gear 89, it may be configured by an electromagnet. Such an example is shown in FIG. 4.

Referring to FIG. 4, an electromagnet 89b may be provided at a position corresponding to the coupling portion or at an end of the support arm 81. In addition, the track 83 may be provided with a metal body (88b) attracted by the magnetic force of the electromagnet.

When driven by the electromagnet 89b, the electromagnet operates when the welding torch 9 is moved to the top dead center, and the operation of the electromagnet 89b is stopped when the welding torch 9 is moved to the bottom dead center. Through this, when the electromagnet 89b loses its magnetic force, the welding torch 9 moves to the bottom dead center by its own weight.

Figure 5 is a flow chart for explaining the welding method of the holding portion according to the present invention.

5, the work position setting (S10), the first angle adjustment (S20), the touch sensing performance (S30), the first welding (S40), the second angle adjustment (S50), and the second welding (S60). It consists of including.

The working position setting step (S10) is a step of adjusting the position by installing a welding device. In the step of setting the working position (S10), the welding device is moved to and installed near the holding unit by the operator, and the position for welding the holding unit is finely adjusted. To this end, as described above, the laser beam emitted by the laser strip device and the holding portion are matched. As shown in FIG. 1, when the holding portion is formed at a vertex where the vertical bar and the bottom surface forming 90 degrees meets the laser beams emitted to both sides of the main body 1 are matched with the holding portions installed on both sides of the main body 1. In addition, in this working position setting step (S10), information on a calculation point for progression of a melting point and initial information on a teaching point may be stored.

The first angle adjustment (S20) is a step of adjusting the welding torch to a first angle for performing touch sensing and first welding. This first angle may be an angle at which the welding torch is located at the top dead center. In this first angle adjustment (S20) step, the main body 1 transmits a control signal to the driving device of the torch holder 8 to drive the motor or operate the electromagnet to move the track 83, through which the welding torch ( 9) moves to the position of the first angle so that it is fixed.

The step of performing touch sensing (S30) is performed to check the position of the welding and to adjust the coordinate points. Prior to the touch sensing performing step (S30), items such as a starting point, a moving direction, a distance, and an order of welding may be stored. At this time, according to the position of the main body 1, it is necessary to check the exact welding start point, the end point, and whether they are in contact, and a process for matching the calculation point with the teaching point is required. To this end, the control unit inside the main body 1 performs touch sensing based on the coordinates of the calculated point stored in advance, and through this, corrects the teaching point information to check the welding position according to the robot position.

The first welding step (S40) is a step of performing welding of a predetermined first section. This first section is a section in which welding can proceed when the welding torch is at the first angle. As an example, when the first angle is an angle when the welding torch 9 is the position of the top dead center, the first welding may be a welding for a partial section in a horizontal direction from the vertex of the holding portion and in a vertical direction from the vertex. For example, when a holding part is formed at a vertex where the floor and two walls meet, in the first welding step (S40), one horizontal section is performed at the vertex, the other horizontal section is welded at the vertex, and then part of the vertical section can be welded. have. Here, the order and welding path can be changed.

The second angle adjustment step S50 is a step of adjusting the angle of the welding torch 9 to an angle suitable for performing the second welding. In this second angle adjustment step (S50), the welding torch 9 may be moved to the position of the bottom dead center. This second angle adjustment step (S50) is performed by controlling the position of the track 83 by driving the driving device provided on the support arm 81 as described above.

The second welding step (S60) is a step of welding the holding portion of the section where welding should be made by the welding torch 9 set at the second angle. When the second angle is the angle at which the welding torch 9 is positioned at the bottom dead center, the second welding step S60 may be performed with respect to the holding portion of the vertical section. For this reason, the second welding proceeds after the welding section partially progressed in the above-described first welding step (S60). This makes it possible to automatically proceed with the welding of the holding part.

In addition, the above-described first angle adjustment step (S20), the second angle adjustment step (S50), and the first welding step (S40) and the second welding step (S60) may be performed in a different order. It does not limit the invention.

Although shown and described as a specific example in order to illustrate the technical idea of the present invention, the present invention is not limited to the same configuration and operation as the specific embodiment as described above, and various modifications within the scope of not departing from the scope of the present invention. Can be implemented. Therefore, such modifications should be regarded as belonging to the scope of the present invention, and the scope of the present invention should be determined by the claims to be described later.

1: main body 11: support foot
12: optical 4: link portion
41: vertical axis 42: link portion
43: 1st joint 44: 2nd joint
45: third joint 46: joint connection
8: torch holder 81: support arm
83: orbit 85: slit
99a: reserved part

Claims (10)

main body;
A link unit having a vertical axis installed in a direction perpendicular to the ground from the main body, and a plurality of joints that are coupled to be elevating in a vertical direction along the vertical axis and rotating in a horizontal direction; And
Apparatus for welding of a welding holding unit including; a torch holder coupled to the end of the link unit and moving or rotating in a horizontal direction by the link unit and adjusting the welding torch to be at one of a first angle and a second angle . The method of claim 1,
The torch holder is
A track formed in the form of an elliptical arc so that a slit is formed in the center so that the coupling axis of the welding torch moves along the slit,
And a torch driving unit installed on the track and configured to adjust the angle of the welding torch by adjusting the position of the welding torch. The method of claim 2,
The torch drive unit
It is configured to include an electromagnet that raises the welding torch to the top dead center of the slit by magnetic force by a control transmitted from the control unit of the main body, or drops the welding torch to the bottom dead center of the slit by removing the magnetic force. A device for welding of a welding holding part, characterized in that. The method of claim 2,
The torch drive unit
Limit switches installed at the top and bottom dead centers of the slit,
An apparatus for welding of a welding holding part, comprising a motor that rotates according to the control of a control beam and reverses the rotation direction by the limit switch. The method of claim 1,
The device for welding of the welding holding portion, characterized in that the torch holder or the welding torch has a touch sensor. The method of claim 1,
The main body
An apparatus for welding of a welding holding part, comprising a laser strip for installing the main body at a predetermined angle with respect to the welding holding part. The method of claim 5,
The main body
An apparatus for welding of a welding holding part further comprising a displacement sensor for detecting the position of the torch holder or the welding torch. A working position setting step of setting the welding device to a working position;
A first angle adjustment step of adjusting the welding torch of the welding device to be a first angle;
A turnch sensing step of detecting a welding teaching point using a touch sensor provided on the welding torch or a torch holder to which the welding torch is coupled;
A first welding step of performing welding on the first section using the identified teaching point information;
A second angle adjustment step of adjusting the welding torch to be a second angle; And
A second welding step of performing welding on the second section of the mountain excluding the first section; The method of claim 8,
The step of setting the working position
A method of welding a holding part using a welding device, characterized in that the position of the welding device is set by aligning the beam of the laser strip provided in the welding device with the holding part. The method of claim 8,
Any one of the first angle and the second angle is an angle for welding on a horizontal surface, and the other angle is an angle for welding on a vertical surface.

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