KR20240030790A - Steel structure bead processing robot comprising machining tool module - Google Patents

Abstract

A steel structure bead processing robot equipped with a processing tool module of the present invention includes a robot base frame; a plurality of driving wheels steerable and rotatable mounted on the robot base frame and traveling on the wall of the steel structure; A plurality of magnet modules mounted on the robot base frame to be liftable; A bead processing tool module is movable and rotatably mounted in the X-axis direction on a processing tool base frame movably coupled to the robot base frame in the Y-axis direction, and the bead processing tool module has a first spindle on one side. It may include a cutting blade rotated by a motor, and a grinding blade rotated by a second spindle motor on the other side.

Description

Steel structure bead processing robot comprising machining tool module}

The present invention relates to a processing tool for a steel structure bead processing robot.

Steel welded structures are made through processes such as cutting, processing, assembling, painting, and mounting of steel plates. Taking the ship process as an example, building a designed ship quickly and with high quality at a low cost is the core of ship building technology. In particular, welding accounts for more than 30% of the work for hull manufacturing, accounting for a high proportion of the overall ship process, and as the number of high value-added ships expands, welding processes are increasing.

This welding process reduces worker efficiency and causes safety accidents due to poor working environments, such as working at heights, as the size of the object to be manufactured is large.

There is a need to protect workers from harmful substances generated during the manufacturing process of various steel welded structures. In particular, steel chips and noise generated during weld bead grinding physically affect workers' health and are directly related to injuries, so they must be improved first. do.

Registration Patent No. 10-0892032 discloses a weld bead and similar protrusions and a curved surface processing device according to the prior art. In the case of the disclosed prior art, a plurality of rollers in contact with the surface of the product are provided with support parts on both sides mounted at the bottom, a body for fixing the support parts on both sides, and a processing machine combination connected to the inside of the body and coupled through a buffer member. It is provided with a grinder that is positioned and rotated between two support parts and is composed of a grinder that processes the surface of the product and a drive device that rotates the grinder.

However, the processing equipment of the prior art is capable of processing at a uniform height by maintaining a certain distance from the processing surface by the lower support, but has the disadvantage of not being able to process the corners of the processed bead and lowering work efficiency on concave curved surfaces. There is a risk of damage to the base material on curved surfaces.

Registered Patent No. 10-0892032

The present invention relates to a bead cutting tool and a grinding tool applicable to a welding bead processing robot for steel structures. The cutting tool and the grinding tool can be flipped up and down, the height of the cutting tool and the grinding tool can be adjusted, and the height of the bead can be adjusted. The purpose is to provide a steel structure bead processing robot equipped with an integrated processing tool module that can perform bead processing work precisely by measuring.

A steel structure bead processing robot equipped with a processing tool module of the present invention for achieving the above object includes: a robot base frame; a plurality of driving wheels steerable and rotatable mounted on the robot base frame and traveling on the wall of the steel structure; A plurality of magnet modules mounted on the robot base frame to be liftable; A bead processing tool module is movable and rotatably mounted in the X-axis direction on a processing tool base frame movably coupled to the robot base frame in the Y-axis direction, and the bead processing tool module has a first spindle on one side. It may include a cutting blade rotated by a motor, and a grinding blade rotated by a second spindle motor on the other side.

The bead processing tool module may further include a Z-axis motor that rotates the processing tool and a rotary encoder that measures the rotation angle of the processing tool.

The bead processing tool module further includes a ball screw nut that is rotated by the Z-axis motor to move the processing tool in the vertical direction, and an LM guide and a block that guide the vertical movement of the processing tool. can be provided.

The bead processing tool module may further include a bead height measuring device consisting of a ball plunger, a pneumatic cylinder, and a linear encoder.

The bead processing tool module may further include a photo sensor that measures the vertical movement distance of the processing tool and a stopper that limits the vertical movement range of the processing tool.

The machining tool module may further include a pair of cutting chip sweepers installed before and after the cutting edge to prevent chips from scattering.

The bead processing tool module is formed to surround the grinding blade and further includes a grinding dust hopper for sucking grinding dust, and the second spindle motor and the grinding dust hopper are operated by a compression spring whose both ends are coupled to spherical bearings. can be connected

A machining tool module may be provided next to the second spindle motor and further includes a pressure sensor for controlling the force of the grinding blade.

According to the steel structure bead processing robot provided with the processing tool module of the present invention described above, it is a bead cutting tool and a grinding tool applicable to a welding bead processing robot for steel structures, and the cutting tool and grinding tool can be flipped up and down, and the cutting tool can be flipped up and down. The height of the tool and grinding tool can be adjusted, and bead processing can be performed precisely by measuring the height of the bead.

Figure 1 is a perspective view showing a steel structure bead processing robot according to an embodiment of the present invention.
FIG. 2 is a perspective view of FIG. 1 excluding the top cover.
Figure 3 is a perspective view showing the robot base frame.
Figure 4 is a perspective view showing a machining tool base frame.
Figure 5 is an assembly diagram showing a machining tool base frame and an integrated machining tool module.
Figure 6 is a perspective view showing an integrated machining tool module.
Figure 7 is a cross-sectional view showing an integrated machining tool module.
Figure 8 is a perspective view showing a bead cutting tool.
Figure 9 is a perspective view showing a bead grinding tool.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be exemplified and explained in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as 'include' or 'have' are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. At this time, note that in the attached drawings, like components are indicated by the same symbols whenever possible. Additionally, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some components are exaggerated, omitted, or schematically shown in the accompanying drawings.

Figure 1 is a perspective view showing a steel structure bead processing robot according to an embodiment of the present invention, Figure 2 is a perspective view shown excluding the upper cover in Figure 1, Figure 3 is a perspective view showing the robot base frame, and Figure 4 is a perspective view showing the machining tool base frame, and Figure 5 is an assembly diagram showing the machining tool base frame and the integrated machining tool module.

The steel structure bead processing robot 100 equipped with a processing tool module according to an embodiment of the present invention includes a robot base frame 110, a plurality of robot base frames 110 that are steerable and rotatable and travel on the wall of the steel structure. A driving wheel 120, a plurality of magnet modules 130 mounted on the robot base frame to be able to move up and down, and a processing tool base frame 200 movably coupled to the robot base frame in the Y-axis direction, movable in the and includes a bead processing tool module 300 that is rotatably mounted.

As shown in FIG. 3, the robot base frame 110 may be formed by welding metal pipe members of square cross-section to each other. The robot base frame 110 may include a pillar portion 115 in which pipe members are vertically welded to four rectangular side members and each vertex of the rectangle.

A plurality of driving wheels 120 may be mounted on four driving wheel bases 111 coupled to the robot base frame 110. Each driving wheel 120 may be mounted to be steerable and rotatable by a motor. So, the robot is capable of not only straight-line driving, but also diagonal, curvature, and circumferential driving.

A plurality of magnet modules 130 may be mounted on eight magnet module bases 112 coupled to the robot base frame 110. Each magnet module 130 is equipped with a permanent magnet that can rotate and move up and down, allowing the robot to travel while attached to the wall of a steel structure.

A laser scanner module may be mounted on the laser scanner base 113 coupled to the front and rear of the robot base frame 110. The laser scanner module scans the weld bead, recognizes the bead, and then allows bead processing to be performed at the exact location.

A pair of control boxes 180 may be mounted on the control box combination base 114 coupled to the front and rear of the robot base frame 110. The control box 180 can control the operation of robot parts.

A camera 160 is mounted on the upper surface of the front and rear control box 180 to capture the front and rear of the robot. Additionally, a plurality of LEDs 170 are provided on the front and back of the robot to illuminate the area around the robot. The front and rear cameras 160 and LEDs 170 allow real-time monitoring of the surrounding environment while the robot is running.

The bead processing tool module 300 may be movably mounted on the robot base frame 110 in the Y-axis and X-axis directions. The bead processing tool module 300 is equipped with a cutting blade and a grinding blade and can cut or grind a weld bead. Therefore, the bead processing tool module 300 can be referred to as an integrated processing tool module 300.

The steel structure bead processing robot 100 may further include a cable tray 140 mounted on the upper part of the robot base frame 110 and a hose cable rotary joint 144 provided in the center of the cable tray.

As shown in FIG. 2, the cable trays 140 may be mounted on the upper part of the robot base frame 110 to cross each other, and a through hole may be formed in the center of the intersection. Power and communication cables, dust collection hoses, etc. can be organized and placed on the cable tray 140.

As shown in FIG. 1, a cable cover 142 may be mounted on the cable tray 140. The hose cable rotary joint 144 is provided to pass through the center of the cable cover 142 and may be rotatably mounted. Power and communication cables, dust collection hoses, etc. can be connected to each connector through the hose cable rotary joint 144.

A pneumatic valve and regulator 150 are installed on one side of the cable tray 140 to control the operation of the pneumatic cylinders.

The steel structure bead processing robot 100 further includes a processing tool base frame 200 movably coupled to the robot base frame 110 in the Y-axis direction, and the bead processing tool module 300 is attached to the processing tool base frame. It can be mounted movably in the X-axis direction. Therefore, the bead processing tool module 300 can be moved in the X- and Y-axis directions with respect to the robot base frame 110 and moved to an arbitrary point on the XY plane. Additionally, as will be described later, the bead processing tool module 300 may be rotatably mounted on the processing tool base frame 200. So, the cutting edge or grinding edge can be arranged to be directed towards the surface of the steel structure.

The robot base frame 110 includes a ball screw and nut 191 that rotate and move by the Y-axis drive motor 195, and an LM guide and block 202 that guide the movement of the processing tool base frame 200 in the Y-axis direction. ) can be installed.

A ball screw 191 is rotatably mounted on one side of the robot base frame 110 by a bearing, and as the Y-axis drive motor 195 rotates the ball screw 191, the nut 191 coupled thereto It can be moved in the Y-axis direction. In addition, a polishing rod 193 is provided on one side of the robot base frame 110 to guide movement and reduce vibration. Additionally, a pair of Y-axis stoppers 196 are provided to limit the range of movement in the Y-axis direction.

An LM guide and a block 202 are mounted on the other side of the robot base frame 110 to guide the movement of the machining tool base frame 200 in the Y-axis direction. A cable bear 207 is provided on the outside of the robot base frame 110, so that the power supply and communication cable of the machining tool base frame 200 can be connected after passing through the cable bear 207. A pair of Y-axis stoppers 196 are also provided on the other side of the robot base frame 110 to limit the movement range of the processing tool base frame 200 in the Y-axis direction.

As shown in FIG. 4, the steel structure bead processing robot 100 of the present invention includes a trapezoidal screw and nut mounted on the processing tool base frame 200 and rotated and moved by the X-axis drive motor 205, and processing It may further include an LM guide and a block 202 that are mounted on the tool base frame 200 and guide the movement of the bead processing tool module 300 in the X-axis direction.

The processing tool base frame 200 is formed in a rectangular shape and may be mounted across the upper part of the robot base frame 110 in the X-axis direction. For this purpose, a frame coupling base 201 is provided below each vertex of the processing tool base frame 200 and can be movably mounted on the robot base frame 110.

Trapezoidal screws and nuts (not shown) may be mounted on one side of the processing tool base frame 200 to rotate and move by the X-axis drive motor 205. That is, when the lead screw with a trapezoidal screw formed on the outer peripheral surface is rotated by the X-axis drive motor 205, the nut coupled thereto can be moved in the X-axis direction.

The LM guide and block 202 may be mounted on the upper and lower surfaces of the other side of the machining tool base frame 200. A machining tool coupling base 209 is mounted on the LM guide and block 202 and the trapezoidal screw and nut to be movable in the X-axis direction, and a bead machining tool module 300 is mounted on the pair of machining tool coupling bases 209. This can be installed.

A pair of cable bears 207 are provided on both upper sides of the machining tool base frame 200, so that communication and power cables of the machining tool can be connected by passing through the cable bears 207.

In addition, the processing tool base frame 200 is provided with an X-axis stopper 206 and a photosensor 208, so that the operating distance can be limited.

As shown in FIGS. 4 and 5, the bead processing tool module 300 may be rotatably mounted on a pair of processing tool coupling bases 209.

FIG. 6 is a perspective view showing an integrated processing tool module, FIG. 7 is a cross-sectional view showing an integrated processing tool module, FIG. 8 is a perspective view showing a bead cutting tool, and FIG. 9 is a perspective view showing a bead grinding tool.

As shown in FIG. 6, the bead processing tool module 300 has a cutting edge 380 rotated by the first spindle motor 370 on one side and a grinding blade 380 rotated by the second spindle motor 400 on the other side. May include day 410.

In the integrated machining tool module 300, the integrated tool supporter 310 may be rotatably mounted on the machining tool base frame 200.

As shown in Figure 7, the integrated tool supporter 310 can be rotatably mounted on the frame assembly base 311 by a radial ball bearing 312.

The bead processing tool module 300 may further include a Z-axis motor 340 that rotates the processing tool and a rotary encoder 314 that measures the rotation angle of the processing tool.

In addition, the bead processing tool module 300 includes a ball screw nut 3451 that is rotated by the Z-axis motor 340 to move the processing tool in the vertical direction, an LM guide and a block 350 that guide the vertical movement of the processing tool. ) may further be included.

The Z-axis motor 340 may be mounted on a tool assembly base 341 that is vertically mounted on the integrated tool supporter 310. A ball screw 345 rotated by a Z-axis timing pulley 342 and a timing pulley cover 343 covering it is mounted on one side of the Z-axis motor 340. When the ball screw 345 is rotated by the Z-axis motor 340, the ball screw nut 3451 coupled to the ball screw 345 moves in the axial direction to connect the first spindle motor 370 and the cutting blade 380. The cutting tool included may be moved in the Z-axis direction. The ball screw 345 may be rotatably mounted on the tool assembly base 341 by a thrust bearing 3452 and a radial bearing 3453. As shown in FIG. 6, the LM guide and block 350 can be provided to guide the vertical movement of the machining tool.

Additionally, the integrated tool can be rotated with a large rotational force generated by the Z-axis motor 340, the Z-axis timing pulley 342, and the reducer 316. The rotary encoder shaft 315 passes through the hollow reducer 316 and is assembled on the tool assembly base 341, so that the rotary encoder 314 can measure the rotation angle of the processing tool.

Meanwhile, as shown in FIG. 7, a machining tool control PCB 313 that controls the operation of the machining tool may be provided outside the rotary encoder 314 below the frame assembly base 311. Additionally, a timing pulley 317 is provided around the rotary encoder shaft 315 to transmit rotational force.

As shown in FIGS. 6 to 8, the bead processing tool module 300 may further include a bead height measuring device 360 consisting of a ball plunger 366, a pneumatic cylinder 362, and a linear encoder 364. there is.

A plurality of ball plungers 366 are provided and can be lifted and lowered to contact the bead by a pneumatic cylinder 362. The linear encoder 364 can measure the height of the weld bead by measuring the stroke of the pneumatic cylinder 362.

As shown in FIG. 6, a pneumatic regulator 320 and a pneumatic solenoid valve 325 may be installed on one side and the other side of the integrated tool supporter 310. Pneumatic pressure through the pneumatic regulator 320 may be input to the expansion port of the pneumatic cylinder 362, and pneumatic pressure through the pneumatic solenoid valve 325 may be input into the contraction port of the pneumatic cylinder 362.

As shown in FIG. 7, the bead processing tool module 300 may further include a photosensor 346 that measures the vertical movement distance of the processing tool and a stopper 348 that limits the vertical movement range of the processing tool. there is.

The photo sensor 346 measures the vertical movement position of the entire processing tool, and the stopper 348 physically limits the vertical movement range of the processing tool, thereby preventing damage to parts due to sensor malfunction.

The bead processing tool module 300 may further include a pair of cutting chip sweepers 382 that are installed before and after the cutting blade 380 to prevent chips from scattering. The cutting chip sweeper 382 may be formed of a brush made of elastic material.

Meanwhile, as shown in FIG. 7, the first spindle motor 370 and the second spindle motor 400 are mounted on the cross roller table 349, thereby reducing twisting due to resistance generated during bead processing. The first spindle motor 370 and the second spindle motor 400 are each raised and lowered by the table-type pneumatic cylinder 347, so that the positions of the cutting blade 380 and the grinding blade 410 can be precisely adjusted during processing. . The cutting edge 380 is set to a tool entry angle of about 5 degrees with respect to the Z-axis, and the grinding blade 410 is set to a tool entry angle of about 10 degrees to the Z-axis, thereby reducing the load of bead machining. The rotation axis of the second spindle motor 400 may be supported on a radial ball bearing 402 and coupled to the grinding blade 410. The rotation axis of the first spindle motor 370 may also be supported on a radial ball bearing and coupled to the cutting edge 380.

As shown in Figure 9, the bead processing tool module 300 is formed to surround the grinding blade 410 and further includes a grinding dust hopper 420 for sucking grinding dust, and a second spindle motor 400 The grinding dust hopper 420 may be connected by a compression spring 440 whose both ends are coupled to a spherical bearing 450.

The grinding dust hopper 420 may have a flange portion formed so as to be in close contact with the surface of the steel structure while surrounding the grinding blade 410. A plurality of ball plungers 430 may be provided on the flange portion of the grinding dust hopper 420. A dust collector hose connector 460 is provided on one upper side of the grinding dust hopper 420, so that a hose of a dust collector that collects dust generated inside the grinding dust hopper 420 can be connected.

The grinding dust hopper 420 may have a pair of compression springs 440 on both sides connected to the grinding blade 410 mounting portion. Both ends of each compression spring 440 are coupled to spherical spherical bearings 450, thereby providing a degree of freedom to be deformed in various directions. Therefore, even if the grinding posture is changed, the plurality of ball plungers 430 mounted on the lower surface of the grinding dust hopper 420 can be in close contact with the steel structure.

As shown in FIG. 6, it may further include a pressure sensor 327 provided next to the second spindle motor 400 to control the force of the grinding blade 410.

The pressure sensor 327 measures the force with which the grinding blade 410 presses the weld bead, and precisely controls the thrust of the grinding blade 410 through the table-type pneumatic cylinder 347 to perform a more precise bead grinding process. You can.

Above, an embodiment of the present invention has been described, but those skilled in the art will be able to understand the addition, change, deletion or addition of components without departing from the spirit of the present invention as set forth in the claims. The present invention may be modified and changed in various ways, and this will also be included within the scope of the rights of the present invention.

100: Steel structure bead processing robot
110: Robot base frame 111: Driving wheel base
112: Magnet module base 113: Laser scanner base
114: control box combination base 115: pillar part
120: driving wheel
130: Magnet module
140: cable tray 142: cable cover
144: Hose cable rotary joint
150: Pneumatic valves and regulators
160: camera
170: LED
180: control box
190: LM guide and block 191: Ball screw and nut
193: Polishing rod 195: Y-axis drive motor
196: Y-axis stopper 197: Cable bear
198: Photo sensor
200: Machining tool base frame 201: Frame combination base
202: LM guide and block 205: X-axis drive motor
206: X-axis stopper 207: Cable bear
208: Photo sensor 209: Processing tool combination base
300: Integrated machining tool module
310: Integrated tool supporter 311: Frame assembly base
312: Radial ball bearing 313: Machining tool control PCB
314: rotary encoder 315: rotary encoder shaft
316: reducer 317: timing pulley
320: Pneumatic regulator 325: Pneumatic solenoid valve
327: Pressure sensor
330: Bead processing tool control box
340: Machining tool Z-axis motor 341: Tool assembly base
342: Z-axis timing pulley 343: Timing pulley cover
345: ball screw 3451: ball screw nut
3452: Thrust bearing 3453: Radial bearing
346: Photo sensor 347: Table type pneumatic cylinder
348: Stopper 349: Cross roller table
350: LM guide and block
360: Bead height measuring device 362: Pneumatic cylinder
364: Linear encoder 366: Ball plunger
370: first spindle motor
380: cutting edge 382: cutting chip sweeper
400: Second spindle motor 402: Radial ball bearing
410: Grinding blade 420: Grinding dust hopper
430: Ball plunger 440: Compression spring
450: Spherical bearing 460: Dust collector hose connector

Claims (8)

robot base frame;
a plurality of driving wheels steerable and rotatable mounted on the robot base frame and traveling on the wall of the steel structure;
A plurality of magnet modules mounted on the robot base frame to be liftable;
A bead processing tool module is movable in the X-axis direction and rotatably mounted on a processing tool base frame that is movably coupled to the robot base frame in the Y-axis direction,
The bead processing tool module is
A cutting edge rotated by a first spindle motor on one side,
A steel structure bead processing robot having a processing tool module including a grinding blade rotated by a second spindle motor on the other side. According to paragraph 1,
The bead processing tool module is
A Z-axis motor that rotates the processing tool,
A steel structure bead processing robot having a processing tool module, further comprising a rotary encoder for measuring the rotation angle of the processing tool. According to paragraph 2,
The bead processing tool module is
A ball screw nut that is rotated by the Z-axis motor to move the processing tool up and down,
A steel structure bead processing robot equipped with a processing tool module, further comprising an LM guide and a block that guides the vertical movement of the processing tool. According to paragraph 3,
The bead processing tool module is
A steel structure bead processing robot equipped with a processing tool module, further comprising a bead height measuring device consisting of a ball plunger, a pneumatic cylinder, and a linear encoder. According to paragraph 4,
The bead processing tool module is
A photo sensor that measures the vertical movement distance of the processing tool,
A steel structure bead processing robot having a processing tool module, further comprising a stopper that limits the vertical movement range of the processing tool. According to paragraph 1,
A steel structure bead processing robot having a processing tool module, further comprising a pair of cutting chip sweepers installed before and after the cutting edge to prevent chips from scattering. According to paragraph 1,
The bead processing tool module is formed to surround the grinding blade and further includes a grinding dust hopper for sucking grinding dust,
A steel structure bead processing robot having a processing tool module, wherein the second spindle motor and the grinding dust hopper are connected by a compression spring whose both ends are coupled to spherical bearings. In clause 7,
A steel structure bead processing robot equipped with a processing tool module, characterized in that it is provided next to the second spindle motor and further includes a pressure sensor for controlling the force of the grinding blade.

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