KR20220026125A - The welding robot system for curved block of the hull - Google Patents

Abstract

The present invention relates to a welding robot system for curved blocks of a vessel body. The welding robot system includes: an additional axis robot (25) mounted on a gantry (20), and performing a triaxial motion; a welding robot (30) mounted on the additional axis robot (25) to be multiaxially movable, and capable of changing a posture thereof in response to a welding line of a curved block; and a control means (40) including a controller (41) and a server (43) so as to control the additional axis robot (25) and the welding robot (30) with an algorithm. Therefore, as a curved block of the stern of a vessel is automatically welded through a gantry type welding robot, tact time can be shortened through a digitalized system, which can lead to effects of increasing production and preventing musculoskeletal diseases while implementing high-quality welding.

Description

{The welding robot system for curved block of the hull}

The present invention relates to ship construction, and more particularly, to a hull curved block welding robot system for automatically manufacturing curved blocks forming the bow and stern of a ship.

Since the flat block of the ship is arranged at right angles to the longie, T-bar, and floors with respect to the shell, it is easy to weld with a multi-axis robot based on the design data for the work area. However, in the case of a curved block, since the shape of the outer plate of the block changes according to the shape of the fore and aft of the ship, the shape of each block is also complicated and it is not easy to weld by robot, which increases the man-hours.

Such welding work (manual CO2 welding) of the fore and aft curved blocks of a ship is low in productivity as it mainly relies on semi-automatic mechanized work, and the risk of musculoskeletal disorders of workers is high because continuous repetitive work and welding work is performed in an unreasonable position. This is an urgent situation.

In this regard, reference may be made to prior art documents such as Korean Patent Publication No. 1272970 and Korean Patent Publication No. 2004183.

The former is an up-down boom consisting of an upper rectangular box up-down boom and a cylindrical up-down boom at the bottom; a pivoting member shaft-coupled to the lower part of the cylindrical up-down boom; A motor mounted on one side of the cylindrical up-down boom to provide a rotational force to the turning member; is configured by combining the robot attachment part to the pivoting shaft device consisting of. Accordingly, it is expected that the welding robot can be moved safely and quickly to facilitate the welding operation.

The latter includes the steps of (A) generating a virtual model for a working cell of a curved block and obtaining an inclination angle of the working surface; (B) moving the robot to an optimal robot base position; and (C) generating an optimal teaching point corresponding to the work surface, and checking and correcting the collision situation. Accordingly, the effect of improving productivity is expected by creating a program based on previously verified flat block welding.

However, according to the above-mentioned prior literature, it is insufficient to consider the situation in which a large number of welding robots are put in, so improvement is required.

Korean Patent Publication No. 1272970 "Gantry of curved block welding robot with end pivot shaft" (Published on: 2008.04.28.) Korean Patent Publication No. 2004183 "A curved block welding method using a distance measuring method of a welding robot" (published date: 2018.07.09.)

It is an object of the present invention to improve the conventional problems as described above, to facilitate mutual cooperation in a situation in which a plurality of welding robots are input in automatically welding fore and aft curved blocks based on a gantry-type robot. It is to provide a hull curved block welding robot system.

In order to achieve the above object, the present invention provides a welding robot system for welding a curved block of a hull: an additional axis robot mounted on a gantry and performing a three-axis motion; a welding robot mounted on the additional axis robot so as to be capable of multi-axis movement, and capable of changing its posture in response to the welding line of the curved block; and a control means having a controller and a server to control the additional axis robot and the welding robot with a set algorithm.

According to the detailed configuration of the present invention, the control means includes a CAD I/F module for tracking welding line data with design information of a curved block, a block recognition sensor module for recognizing a curved block of a work object with a sensor, and a welding robot work program. It is characterized in that it is provided with an OLP module for generating.

According to a detailed configuration of the present invention, the control means sequentially executes the algorithms of the CAD I/F module, the block recognition sensor module, and the OLP module.

According to the detailed configuration of the present invention, the control means is characterized in that the CAD I/F module, the block recognition sensor module, and the OLP module are linked with the central control module to respond to collisions and errors as well as work division for each robot. .

According to the detailed configuration of the present invention, the control means is characterized in that it further comprises a gap recognition module for adjusting the weaving speed by detecting the weld line gap of the curved block through the detector.

As described above, according to the present invention, there is an effect of realizing high-quality welding while increasing production and preventing musculoskeletal diseases by shortening the tact time with a digitalized system by automatically welding the fore and aft curved blocks with a gantry-type welding robot.

1 is a schematic diagram showing a first embodiment of a system according to the present invention;
2 is a schematic diagram showing a second embodiment of a system according to the present invention;
3 is a block diagram showing the module configuration of the system according to the present invention;
4 is a flowchart showing the operating sequence of the system according to the present invention;

Hereinafter, an embodiment of the present invention will be described in detail based on the accompanying drawings.

The present invention proposes with respect to a welding robot system for welding the curved block of the hull. It is intended for the curved block 10 of a curved surface shape forming the bow and stern of the ship, but is not necessarily limited thereto. The welding robot system is a method that at least partially automates a series of processes required for welding curved blocks.

According to the present invention, the additional axis robot 25 for performing a three-axis motion is configured to be mounted on the gantry 20 .

Referring to FIG. 1 , it shows a state in which the gantry 20 and the additional axis robot 25 are installed on one side of the work area (table plate) in which the song block 10 is accommodated. The working area is protected by a safety fence 12 and a control room 15 is installed adjacent to the gantry 20 . The additional axis robot 25 mounted on the gantry 20 is an X, Y, Z Cartesian coordinate system having a horizontal beam and a vertical arm, and performs X-axis motion of the horizontal beam and Y-axis motion and Z-axis motion of the vertical arm.

Referring to FIG. 2 , it shows a state in which two additional axis robots 25 are installed in the work area in which the song block 10 is accommodated.

In addition, according to the present invention, the welding robot 30 capable of changing its posture in response to the welding line of the curved block is configured to be mounted on the additional axis robot 25 so as to be capable of multi-axis movement.

In FIG. 1 , the welding robot 30 of the 6-axis vertical articulation type is shown in a state mounted on the additional axis robot 25 . In FIG. 2 , the welding robot 30 of the 6-axis vertical articulation method is respectively mounted on two additional axis robots 25 . In the case of the curved block 10, it is easy to cause musculoskeletal disorders because the operator performs welding work in an excessive posture. On the other hand, if the welding robot 30 of the 6-axis vertical articulation method is put in, it is possible to change the posture of the curved block 10 with respect to the welding line.

In addition, according to the present invention, the control means 40 has a structure including a controller 41 and a server 43 to control the additional axis robot 25 and the welding robot 30 with a set algorithm.

In FIG. 1 , a controller 41 , a server 43 , a camera 45 , a detector 47 and the like constituting the control means 40 are shown. The controller 41 is installed outside the control room 15 and performs local control of the individual welding robot 30 . The server 43 is installed in the control room 15 and mediates information processing between the song block 10 and the welding robot 30 using a plurality of modules to be described later. The camera 45 is mounted on the additional axis robot 25 and generates a signal for the position of the song block 10 .

According to the detailed configuration of the present invention, the control means 40 includes a CAD I/F module for aligning welding line data with design information of a curved block, a block recognition sensor module for recognizing a curved block of a work object with a sensor, and a welding robot ( 30) characterized in that it comprises an OLP (Off Line Program) module for generating the work program.

Referring to FIG. 3 , a CAD I/F module, a block recognition sensor module, an OLP module, etc. that are stored and executed in the form of programs and data in the server 43 of the control means 40 appear. The CAD I/F module extracts and converts design information on the CAD program (Tribon). Import 3D model (step file) of curved block, process model parsing, extract weld line, and perform coordinate transformation. The block recognition sensor module performs coordinate transformation for the position of the song block 10 on the surface plate. The camera 45 moves and takes pictures, calls image information, compares image information and design information, and corrects the position/direction. The OLP module is involved in the operation of the welding robot 30 . It calls the U-cell information of the curved block, analyzes the U-cell shape, calls the welding line information, and generates a program required for the welding robot 30 .

According to the detailed configuration of the present invention, the control means 40 is characterized in that it sequentially executes the algorithms of the CAD I/F module, the block recognition sensor module, and the OLP module.

Referring to FIG. 4 , the processing of the CAD I/F module, the block recognition sensor module, and the OLP module among the control means 40 should be sequentially performed. The CAD I/F module creates information necessary for the robot welding program by extracting information about the welding part using modeling information about the fore and aft curved blocks in Tribon, a CAD program for shipbuilding. The block recognition sensor module is attached to the top of the gantry 20, and after photographing the block with an area scan type camera 45, compares it with design information to determine the relative position and direction of the welding robot 30 and the curved block. Calculate. The OLP module automatically generates commands related to movement, welding, and control of the robot for the welding operation of the welding robot 30, and examines collisions and interferences with members in advance to induce efficient robot operation.

According to the detailed configuration of the present invention, the control means 40 links the CAD I/F module, the block recognition sensor module, and the OLP module with the central control module to respond to collisions and errors as well as work division for each robot. characterized.

In FIG. 3 , the central control module executes collision prevention, work division, monitoring, and performance aggregation of the welding robot 30 . As shown in FIG. 2, the central control module allocates a robot work program to optimal conditions to effectively operate a plurality of welding robots 30, calculates the robot's position in real time, and avoids collisions during work and creates an optimal path. be the main point. In FIG. 4 , the central control module is shown following the OLP module, but the central control module is individually/organically linked with the CAD I/F module, the block recognition sensor module, and the OLP module.

According to the detailed configuration of the present invention, the control means 40 is characterized in that it further comprises a gap recognition module for adjusting the weaving speed by detecting the weld line gap of the curved block through the detector (47).

3 and 4 , the gap recognition module senses welding current and voltage based on the artificial intelligence DLL algorithm to recognize and process the gap generated in the welding line in real time. In the case of the curved block 10, it is easy to generate a gap in the weld line due to a processing error, etc. compared to a flat block. Recognizing the gap is advantageous in terms of reliability to utilize the detector 47 rather than the camera 45 . The detector 47 is preferably a method of measuring the welding progress/voltage in the controller 41 , but is not limited thereto and may include a non-contact sensor method such as a laser installed adjacent to the camera 45 .

More specifically, the gap recognition module uses a deep neural network (DNN) algorithm to monitor the welding current/voltage values in real time and, when recognizing the size of the gap in the welding line, adjusts the welding conditions (weaving speed) to respond to the gap. ) to change the welding control.

The present invention is not limited to the described embodiments, and it is apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Accordingly, it should be said that such variations or modifications fall within the scope of the claims of the present invention.

10: song block 12: safety fence
15: control room 20: gantry
25: additional axis robot 30: welding robot
40: control means 41: controller
43: server 45: camera
47: detector

Claims (5)

A welding robot system for welding curved blocks of a hull, comprising:
An additional axis robot 25 mounted on the gantry 20 and performing a three-axis motion;
A welding robot (30) mounted on the additional axis robot (25) so as to be capable of multi-axis movement, and capable of changing its posture in response to the welding line of the curved block; and
The hull curved block welding robot, characterized in that it comprises; system. The method according to claim 1,
The control means 40 is a CAD I/F module for tracking welding line data with design information of a curved block, a block recognition sensor module for recognizing a curved block of a work object with a sensor, and a welding robot 30 to generate a work program Hull curved block welding robot system, characterized in that it has an OLP module. 3. The method according to claim 2,
The control means 40 sequentially executes the algorithms of the CAD I/F module, the block recognition sensor module, and the OLP module. 3. The method according to claim 2,
The control means 40 links the CAD I/F module, the block recognition sensor module, and the OLP module with the central control module to respond to collisions and errors as well as work division for each robot. system. The method according to claim 1,
The control means (40) detects the weld line gap of the curved block through the detector (47), the hull curved block welding robot system, characterized in that it further comprises a gap recognition module for adjusting the weaving speed.

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