KR20220055983A - Automatic welding apparatus for head plates of Type C tank - Google Patents

Abstract

The present invention relates to a device for automatically welding a head plate of a type C tank, which comprises: a rotator (20) mounting a head plate welded on a support (21) and having a rotation machine (25) for changing the posture of the head plate; a manipulator (30) mounting a torch of a welding machine (15) on a support (31) and having a conveyor (35) for changing the posture of the torch; and a control means (40) for controlling the rotator (20) and the manipulator (30). Accordingly, there is an effect of improving productivity and quality by applying automatic welding based on a dedicated jig instead of manual welding to a head plate constituting a tank capable of storing LNG or liquefied hydrogen in a cryogenic state in LFSC or the like.

Description

Automatic welding apparatus for head plates of Type C tank}

The present invention relates to head plate welding of a tank, and more particularly, to an automatic head plate welding apparatus for an LNG or liquid hydrogen storage tank for manufacturing a tank capable of storing LNG or liquid hydrogen in a cryogenic state in an LFSC or the like.

In order to respond to the 0.5% SOx regulation of the International Maritime Organization (IMO), which has been in effect since 2020, the demand for LFS (LNG Fueled Ship) using LNG as a propulsion fuel is increasing. In addition, the demand for liquid hydrogen storage containers is expected to increase to meet the deoxygenation emission standards that will be enforced from 2030.

Type C LFS tanks can be applied to the rest of the ship types except for super-large container ships, but since the end plate is generally manufactured by manual welding, it is imperative to improve the welding equipment in terms of productivity improvement and quality assurance.

In this regard, reference may be made to Korean Utility Model Registration No. 0275344 (Prior Document 1), Korean Patent Publication No. 1698122 (Prior Document 2), and the like.

Prior Document 1 is mounted between the support by pushing the lower end plate of the hot water tank transferred in a straight line with the protruding path of the driven support formed at the end of the piston shaft of the cylinder that is mounted opposite the driving support, and is mounted between the lower end of the head and the body. A welding machine having a welding rod mounted on the joint portion is installed. Accordingly, an effect of preventing airtightness problems caused by poor bonding is expected.

Prior Document 2 discloses a jig unit including a first jig and a second jig on which a head plate is seated and connected by a hinge, a first actuator disposed between the base frame and the jig unit and extending in length, and a base frame and a jig unit and a second actuator disposed between the Accordingly, it is expected that both sides of the head plate are smoothly welded, and the effect of adjusting the inclination is possible.

However, the above-mentioned prior literature is not suitable or somewhat insufficient to be applied to the head plate welding of a Type C tank applied to LFS (LNG Fueled Ship), etc., and thus needs to be supplemented.

Korean Utility Model Publication No. 0275344 "Hard plate welding device for hot water supply tank for hot water boiler" (Published on: May 11, 2002) Korean Patent Publication No. 1698122 "Jig device for welding head plate of a spherical tank" (Published date: 2017.01.19.)

It is an object of the present invention to improve the problems of the prior art, such as LFSC, liquid hydrogen storage tank, etc., based on a dedicated jig instead of manual welding on the end plate constituting a tank that can store a liquid in a cryogenic state. It is to provide an automatic end plate welding device of Type C tank for applying welding.

In order to achieve the above object, the present invention provides an apparatus for automatically welding a head plate of a type C tank, comprising: a rotator mounted with a head plate temporarily welded on a support and provided with a rotator for changing the posture of the head plate; A manipulator that mounts a torch of a welding machine on a support and includes a conveyer for changing the attitude of the torch; and a control means for controlling the rotator and the manipulator.

According to the detailed configuration of the present invention, the rotator is provided with a gripper on the support, it is characterized in that the rotator is provided with a first rotating part and a second rotating part.

According to the detailed configuration of the present invention, the manipulator includes a gripper on the support, and a horizontal transfer unit, a vertical transfer unit, and a rotation transfer unit are provided in the transfer unit.

According to the detailed configuration of the present invention, the gripper further supports the FCAW feeder together with the FCAW torch, and further supports the SAW wire with the SAW torch.

The control means inputs the signals of the posture detection unit for detecting the posture change of the head plate and the torch and the seam tracking unit for tracking the welding line of the end plate to the controller, and the controller controls the welding of the knuckle and the crown in a set order.

As described above, according to the present invention, instead of manual welding, automatic welding based on a dedicated jig is applied to the end plate part constituting a tank that can store LNG or liquid hydrogen in a cryogenic state in LFSC, etc. to improve productivity and quality. It works.

1 is a schematic diagram showing a main part of a welding apparatus according to the present invention;
2 is a schematic diagram showing an operating state of a welding apparatus according to the present invention;
3 is a schematic diagram showing a sequence of manufacturing a head plate according to the present invention;
Figure 4 is a schematic view showing a state of welding the knuckle in Figure 3;
5 is a schematic diagram showing a state of welding the crown in FIG. 3

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

The present invention proposes an apparatus for automatically welding the head plate of a type C tank. The head plate 10 of a Type C LNG storage tank applied to LFS (LNG Fueled Ship), etc. is not necessarily limited thereto.

Referring to FIG. 1 , the end plate 10 is formed in a substantially hemispherical shape by joining a plurality of knuckles 11 and one crown 12 . The head plate is loaded in the device of the present invention in a state in which the knuckle 11 and the crown 12 are attached. A lug 13 is installed at a portion where a plurality of knuckles 11 are adjacent to each other to form a wide opening on the opposite side to the crown 12 .

According to the present invention, the rotator 20 for mounting the head plate temporarily welded on the support 21 has a structure including a rotator 25 for changing the posture of the head plate.

1 and 2, the support 21 and the rotator 25 constituting the rotator 20 are shown. The support 21 is firmly fixed enough to support the load of the head plate while having a cantilever structure. The rotating machine 25 changes the posture of the head plate so as to follow the welding lines 11a and 12a of the curved knuckle 11 and the crown 12 . Rotator 25 is preferably to implement at least two-axis motion to change the posture of the head plate.

According to the detailed configuration of the present invention, the rotator 20 is provided with a gripper 23 on the support 21 , and a first rotation part 26 and a second rotation part 27 on the rotation machine 25 . characterized.

1 and 2 , a gripper 23 , a first rotating part 26 , a second rotating part 27 , and the like of the rotator 20 are shown. The gripper 23 is formed to be able to engage closely with the lug 13 of the fastened end plate. The gripper 23 is installed in a portion protruding like a cantilever from the support 21 via a rotating machine 25 . The first rotation unit 26 induces an inclined motion of the head plate about the horizontal axis. The inclination motion of the first rotating part 26 is set in a range of approximately 90°. The second rotating part 27 is mounted on the first rotating part 26 and rotates the head plate in a 360° range about an axis passing through the center of the head plate.

In addition, according to the present invention, the manipulator 30 for mounting the torch of the welding machine 15 on the support 31 has a structure including the transporter 35 for changing the attitude of the torch.

1 and 2 , a support 31 and a transporter 35 constituting the manipulator 30 are shown. The support 31 is firmly fixed enough to support the load of the torch of the welding machine 15 mounted on one end. The transporter 35 induces a change in posture including the position of the torch as a movement implemented in the welding robot. It is preferable that the transfer device 35 implements at least two-axis motion to change the attitude of the torch.

According to the detailed configuration of the present invention, the manipulator 30 includes a gripper 33 on a support 31 , and a horizontal transfer unit 36 , a vertical transfer unit 37 , and rotation of the transfer unit 35 are provided. It is characterized in that it is provided with a sending unit (38).

1 and 2 , a gripper 33 , a horizontal transfer unit 36 , a vertical transfer unit 37 , and a rotation transfer unit 38 of the manipulator 30 are shown. The gripper 33 is a part for mounting the torch and is connected with the horizontal transfer unit 36 , the vertical transfer unit 37 , and the rotary transfer unit 38 . It can be configured by mounting the horizontal transfer unit 36 on the fixed vertical transfer unit (37). The horizontal transfer unit 36 is configured to horizontally move the gripper 33 . The vertical transfer unit 37 is configured to vertically move the gripper 33 . The rotary transfer unit 38 is configured to induce 90° rotation of the torch about the vertical axis of the gripper 33 .

According to the detailed configuration of the present invention, the gripper 33 further supports the FCAW feeder together with the FCAW torch 16 and further supports the SAW wire together with the SAW torch 17 .

In FIG. 1 , an FCAW feeder of reference numeral 16a is shown together with an FCAW torch 16 , and a SAW wire of reference numeral 17a is shown together with a SAW torch 17 . Such a configuration is advantageous in preventing interference in the welding process while minimizing the mounting portion of the welding machine 15 . In flux-scored arc welding (FCAW), a ceramic backing material is attached to the back side of the weld to prevent melting by applying it to super-layer welding, and then welding is completed using flux-cored arc welding or submerged arc welding (SAW). When the gap of the V line of the weld line in the end plate welding is 3 to 10 mm, the first layer 2 pass operates the FCAW torch 16 and then the SAW torch 17 is operated. When the gap between the Y line or the V line is 1 mm or less, the FCAW torch 16 is not used and only the SAW torch 17 is operated.

In addition, according to the present invention, the control means 40 has a structure that controls the rotator 20 and the manipulator 30 .

In Figure 1, the control means 40 is a microcomputer circuit controller 41 as the main body. The rotator 25 of the rotator 20 and the transfer machine 35 of the manipulator 30 are connected to the output interface of the controller 41 . An algorithm for welding the knuckle 11 and the crown 12 is stored in the memory of the controller 41 in the form of programs and data.

The control means 40 inputs the signals of the posture detection unit 43 for detecting the posture change of the head plate and the torch and the seam tracking unit 45 for tracking the welding line of the head plate to the controller 41, and the controller 41 is It is characterized in that the welding of the knuckle 11 and the crown 12 is controlled in a set order.

In FIG. 1 , a posture detecting unit 43 and a sim tracking unit 45 connected to the input interface of the controller 41 are shown. The posture detection unit 43 detects the posture (position) of the head plate by the first rotating unit 26 and the second rotating unit 27 and the torch posture by the horizontal transfer unit 36 and the vertical transfer unit 37 . The seam tracking unit 45 is configured by using a laser vision sensor as a main body. The shim tracking unit 45 precedes the FCAW torch 16 and the SAW torch 17, but transmits the position value of each torch during welding, so that the shim tracking by the controller 41 is possible.

Referring to Fig. 3 (a), the controller 41 welds the welding line 11a adjacent to the six knuckles 11 in a set order. Thereafter, as shown in FIG. 3( b ), the welding line 12a adjacent to six knuckles 11 and one crown 12 is welded.

3(a) and 4, the two torches 16 and 17 are arranged to coincide with the welding line, and the first rotating part 26 is operated at 90˚ while the second rotating part 27 is rotated by 360˚ step by step while operating with Fig. 4 (a) is a state in which the bottom view of the torch is maintained during knuckle welding, and Fig. 4 (b) is a state in which welding is completed while the rotating machine 25 and the transfer machine 35 are operated. 3(b) and 5, while continuously operating the second rotating part 27 at 360 Proceed to complete the end plate (10). 5 (a) is a state in which the torch is rotated 90° with the rotation transfer unit 38 during crown welding and the head plate is maintained at 45° with the first rotation unit 26, and FIG. 5(b) is a second rotation unit 27 ), while rotating the head plate 360˚, welding is completed in a downward view.

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: end plate 11: knuckle
12: Crown 13: Lug
15: welding machine 16: FCAW torch
17: SAW torch 20: Rotator
21: support 23: gripper
25: rotating machine 26: first rotating part
27: second rotation unit 30: manipulator
31: support 33: gripper
35: feeder 36: horizontal transfer unit
37: vertical transfer unit 38: rotary transfer unit
40: control means 41: controller
43: posture detection unit 45: heart tracking unit

Claims (5)

An apparatus for automatically welding the head plate of a Type C tank, comprising:
a rotator 20 mounted on the support 21 and provided with a rotator 25 for changing the posture of the head plate;
a manipulator 30 mounted with a torch of the welding machine 15 on the support 31 and provided with a conveyer 35 for varying the attitude of the torch; and
and a control means (40) for controlling the rotator (20) and the manipulator (30). The method according to claim 1,
The rotator 20 is provided with a gripper 23 on the support 21, and a first rotation part 26 and a second rotation part 27 on the rotator 25. The head plate of the Type C tank, characterized in that automatic welding equipment. The method according to claim 1,
The manipulator 30 is provided with a gripper 33 on the support 31 , and a horizontal transfer unit 36 , a vertical transfer unit 37 , and a rotation transfer unit 38 on the transfer machine 35 . Automatic end plate welding device for Type C tanks. 4. The method according to claim 3,
The gripper (33) further supports the FCAW feeder together with the FCAW torch (16), and further supports the SAW wire together with the SAW torch (17). The method according to claim 1,
The control means 40 inputs the signals of the posture detection unit 43 for detecting the posture change of the head plate and the torch and the seam tracking unit 45 for tracking the welding line of the head plate to the controller 41, and the controller 41 is Automatic end plate welding device for Type C tank, characterized in that it controls the welding of the knuckles (11) and the crown (12) in a set order.

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