KR100329371B1 - Chucking means of large structure welding device - Google Patents
Chucking means of large structure welding device Download PDFInfo
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- KR100329371B1 KR100329371B1 KR1019980062116A KR19980062116A KR100329371B1 KR 100329371 B1 KR100329371 B1 KR 100329371B1 KR 1019980062116 A KR1019980062116 A KR 1019980062116A KR 19980062116 A KR19980062116 A KR 19980062116A KR 100329371 B1 KR100329371 B1 KR 100329371B1
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- welding
- chucking
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- 238000003466 welding Methods 0.000 title claims abstract description 67
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
개시된 내용은 선박용엔진블럭과 같은 대형 구조물의 용접위치를 자유롭게 설정해주기 위한 위치설정수단을 구비한 용접장치로서,Disclosed is a welding apparatus having a positioning means for freely setting a welding position of a large structure such as a marine engine block.
주행레일(140)상에서 소정의 방향으로 이동가능하도록 토치를 구비한 용접부(100)와, 용접물을 여러방향으로 위치를 잡아주기 위한 고정포지셔너(220)와,이동포지셔너(210)를 구비한 용접위치설정부를 갖는 용접장치의 척킹수단에 있어서, 이동포지셔너(220)와 고정포지셔너(210)각각의 척킹수단이, 후단은 각 포지셔너(210)(220)의 회전축(212)(222)에 지지되고, 선단은 소정의 연결공(244)을 구비한 척킹패널(242)과, 용접물의 소정위치에 대응한 상태에서 상기 척킹패널(242)을 고정하기 위한 고정구(243)를 포함하여서 되는 용접장치의 척킹수단을 제공한다.Welding position provided with a welding part 100 having a torch to be movable on a running rail 140 in a predetermined direction, a fixed positioner 220 for positioning the weldment in various directions, and a movable positioner 210. In the chucking means of the welding device having a setting portion, the chucking means of each of the movable positioner 220 and the fixed positioner 210, the rear end is supported by the rotary shafts 212, 222 of each positioner 210, 220, The tip is a chucking panel of the welding apparatus including a chucking panel 242 having a predetermined connection hole 244, and a fixture 243 for fixing the chucking panel 242 in a state corresponding to a predetermined position of the weldment. Provide means.
이 용접장치는 선박용 엔진블럭과 같이 대형 중량물의 구조물인 경우에 자유롭게 그 용접위치를 제공한다.This welding device provides the welding position freely in the case of a large heavy structure such as a marine engine block.
Description
본 발명은 대형구조물 용접장치의 척킹수단에 관한 것이다.The present invention relates to a chucking means of a large structure welding apparatus.
상세하게는 대형구조물 용접장치의 회전가능한 용접물을 지지하기 위한 척킹수단에 있어 고정 및 이동포지셔너 각각의 회전축에 일체로 척킹패널을 설치하여 소정의 용접물의 양측을 상기 척킹패널상에서 조립가능하게 한 대형구조물 용접장치의 척킹수단에 관한 것이다.In detail, in the chucking means for supporting the rotatable weldment of the large structure welding apparatus, the large structure in which the chucking panel is integrally installed on each of the rotating shafts of the fixed and movable positioners to be able to assemble both sides of the predetermined weld on the chucking panel. It relates to a chucking means of the welding device.
종래의 선박엔진블럭과 같은 대형 구조물의 용접방법은 바닥이나 정반에 고정용 틀을 놓고 천정크레인을 이용하여 지정된 위치로 이동한 뒤 용접을 하게 되므로 1차 용접이 끝나면 다시 크레인을 이용하여 뒤집어놓고 다시 용접해야 하는 과정이 반복된다.In the conventional welding method of large structures such as ship engine blocks, the fixed frame is placed on the floor or surface plate, and then moved to the designated position using the ceiling crane, and then welded. The process to be welded is repeated.
이와같은 용접과정에서 천정크레인을 이용하여 구조물을 뒤집기 때문에 작업시간이 과다함은 물론 안전사고의 위험성이 상존하였으며, 용접하기 위한 구조물의 종류가 바뀔 때 마다 바닥의 고정툴을 일일이 바꾸어주어야 하는 문제점이 있었다.In this welding process, the ceiling crane is used to invert the structure, resulting in excessive work time and the risk of safety accidents, and there is a problem in that the fixing tool of the floor must be changed every time the type of the structure to be welded is changed. .
따라서 천정크레인과 같은 고가장비로 용접위치를 설정한 상태에서 작업자가 일일이 용접위치를 찾아 용접함에 따르는 여러가지 문제점을 개선함이 필요하다.Therefore, it is necessary to improve various problems caused by the worker finding and welding the welding position by setting the welding position with expensive equipment such as the ceiling crane.
본 발명은 알려진 3자유도갠트리이동수단과 6축다관절로봇을 이용하여 용접위치설정이 어려운 대형 용접구조물을 자유롭게 용접할 수 있는 대형 구조물의 용접장치를 제공함에 그 목적이 있다.It is an object of the present invention to provide a welding apparatus for a large structure that can freely weld a large welding structure having a difficult welding position by using a known three degree of freedom gantry moving means and a six-axis multi-joint robot.
도 1은 본 발명 선박엔진블럭등 대형구조물의 용접장치의 측면개략도1 is a side schematic view of a welding apparatus of a large structure such as the present invention marine engine block
도 2는 본 발명 대형구조물의 용접장치에 사용된 척킹수단의 평면도Figure 2 is a plan view of the chucking means used in the welding apparatus of the present invention large structure
도 3은 본 발명 대형구조물 용접장치의 척킹수단의 다른 실시예의 측단면도Figure 3 is a side cross-sectional view of another embodiment of the chucking means of the present invention large structure welding apparatus
※도면의 주요부분에 대한 부호의 설명※ Explanation of symbols for main parts of drawing
100:용접부.....................................110:3자유도겐트리100: Welded ..................... 110: 3 Freedom Gentry
120:6축수직다관절로봇..........................140:주행레일120: 6-axis vertical articulated robot ...... 140: Driving rail
200:용접위치설정부.............................210:고정포지셔너200: Welding position setting part ..... 210: Fixed positioner
212:회전축.....................................214:서보모터212: Rotating shaft ............... 214: Servo motor
220:이동포지셔너...............................221:가이드레일220: Moving positioner ............... 221: Guide rail
222:회전축.....................................223:슬라이딩부재222: Rotating shaft ... 223 Sliding member
224:서보모터...................................225:이동틀체224: Servomotor ............... 225: Moving frame
226:볼스크류바.................................227:구동모터226: Ball screw bar ... 227: Drive motor
230:용접챔버...................................240:척킹수단230: Welding chamber ... 240
242:척킹패널...................................243:고정구242: Chucking Panel ...
244:연결공244: connector
이와같은 목적을 달성하기 위한 본 발명은 대형구조물 용접장치에 있어서, 주행레일상에서 제 1방향이동가능하며, 동시에 수직방향 및 좌우방향의 이동가능한 3자유도겐츄리를 구비하고, 이 겐츄리의 단말부에는 토치를 구비한 6축수직다관절로봇을 구비한 용접부, 상기 주행레일의 소정의 위치에 지면하방으로 소정의 용접챔버를 형성하고, 이 용접챔버에는 상기 용접부 토치가 소정의 용접작동이 가능하도록 용접부재를 다방향으로 위치를 잡아주기 위하여 선단부에 척킹수단을 구비한 고정 포지셔너 및 이동포지셔너를 구비한 용접장치로서 달성된다.In order to achieve the above object, the present invention provides a welding apparatus for a large structure, comprising a three degree of freedom gantry which is movable in a first direction on a running rail and which is movable in a vertical direction and a left and right direction at the same time. In the welding section having a six-axis vertical articulated robot having a torch, a predetermined welding chamber is formed below the ground at a predetermined position of the traveling rail, and the welding chamber torch has a predetermined welding operation so as to enable a predetermined welding operation. It is achieved as a welding apparatus having a fixed positioner and a moving positioner having chucking means at the tip end for positioning the welding member in multiple directions.
상기한 고정 및 이동포지셔너의 척킹수단은 후단은 포지셔너의 회전축에 지지되고, 선단은 소정의 연결공을 구비한 척킹패널과, 용접물의 소정위치에 대응한 상태에서 상기 척킹패널을 고정하기 위한 고정구를 포함하여서 됨이 바람직하다.The chucking means of the fixed and movable positioner has a rear end supported by a rotating shaft of the positioner, and a front end thereof includes a chucking panel having a predetermined connection hole, and a fixture for fixing the chucking panel in a state corresponding to a predetermined position of a weldment. It is preferable to include.
이하 본 발명의 바람직한 실시예를 첨부 도면에 따라 구체적으로 설명한다.Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
첨부 도면중 도 1은 본 발명 선박엔진블럭등 대형구조물의 용접장치의 평면개략도이고, 도 2는 본 발명 대형구조물의 용접장치에 사용된 척킹수단의 평면도이며, 도 3은 본 발명 대형구조물 용접장치의 척킹수단의 다른 실시예의 측단면도이다.1 is a plan view schematically showing a welding apparatus of a large structure such as a ship engine block of the present invention, Figure 2 is a plan view of the chucking means used in the welding apparatus of the large structure of the present invention, Figure 3 is a large structure welding apparatus of the present invention Side cross-sectional view of another embodiment of a chucking means.
본 발명은 크게 용접부(100)와, 용접위치설정부(200)로 구분된다.The present invention is largely divided into a welding part 100 and a welding position setting part 200.
먼저 용접부(100)는 이미 알려진대로 주행레일(140)상에서 제 1방향이동가능하며, 동시에 수직방향 및 좌우방향 이동가능한 3자유도겐츄리(110)를 구비하고, 이 겐츄리(110)의 단말부에는 토치를 구비한 6축수직다관절로봇(120)을 구비하여서된다.First, the welding part 100 is provided with a three degree of freedom gantry 110 capable of moving in the first direction on the traveling rail 140 and simultaneously moving in the vertical direction and the left and right direction as already known, and the terminal part of the gantry 110. It is provided with a six-axis vertical articulated robot 120 with a torch.
용접위치설정부(200)는 상기 주행레일(140)의 소정의 위치에 지면하방으로 소정의 용접챔버(230)를 형성하고, 이 용접챔버(230)에는 상기 용접토치가 소정의 용접작동이 가능하도록 용접부재를 다방향으로 위치를 잡아주기 위한 이동포지셔너(220)를 구비한다. 이 이동포지셔너(220)에 대응하는 고정포지셔너(210)는 지면상에 설치된다. 이 포지셔너(210)(220)들은 각각 척킹수단(240)을 구비한 상태에서 마주보게 설치된다. 각각의 포지셔너(210)(220)는 소정의 서보모터(214)(224)를 갖추어 독립적으로 회동가능한 구조를 이룬다. 이동포지셔너(220)는 상기한 용접공간(230)의 바닥측으로 가이드레일(221)을 형성하고 이 레일상에 슬라이딩부재(223)로서 미끄럼 이동가능한 이동틀체(225)를 위치시킨다. 이동틀체(225)는 다시 정역회전하는 구동모터(227)의 축과 연결되어 전후진 되는 볼스크류바(ball screw bar)(226)를 구비하므로서 구동모터(227)의 당기거나 미는 작동으로 상기 이동틀체(225)를 상기 용접물에 접근시켜 지지하게 된다.The welding position setting unit 200 forms a predetermined welding chamber 230 below the ground at a predetermined position of the traveling rail 140, and the welding torch can perform a predetermined welding operation. And a movement positioner 220 for positioning the welding member in multiple directions. The fixed positioner 210 corresponding to the movable positioner 220 is installed on the ground. The positioners 210 and 220 are installed to face each other with the chucking means 240. Each positioner 210, 220 is equipped with a predetermined servo motor 214, 224 to form an independently rotatable structure. The movement positioner 220 forms a guide rail 221 on the bottom side of the welding space 230 and positions the movable frame 225 that is slidable as the sliding member 223 on the rail. The moving frame 225 is provided with a ball screw bar 226 which is connected with the shaft of the driving motor 227 which is forward and reverse again to move forward and backward, so that the movement of the driving motor 227 is performed by pulling or pushing the driving motor 227. The frame 225 is supported by approaching the weldment.
즉, 고정포지셔너의 척킹수단(240)측의 패널(242)에 형성된 연결공(244)에 고정구(243)로서 용접물의 일측을 위치시킨 상태에서 이동포지셔너(220)의 척킹수단(240)을 이동시켜 용접물에 대응시킨 상태에서 1차 용접물과 고정구(243)을 이용하여 패널(242)에 형성된 연결공(244)에 용접물을 고정한 뒤 용접을 진행시킨다. 이후 용접이 완료되면 2차 용접을 위하여 용접물을 회전시켜 2차 용접위치를 설정하게 된다. 용접위치가 설정되면 2차 용접이 진행된다. 이와같은 반복된 위치설정 및 용접과정을 통하여 용접물의 용접이 완료되며, 용접이 끝난 용접부재의 분리는용접물의 양측을 연결하는 연결공(244)의 고정구(243)을 해제시킨 뒤 별도의 이동 크레인으로 이동하면 완성된다.That is, the chucking means 240 of the movable positioner 220 is moved in a state in which one side of the weldment is positioned as the fastener 243 in the connection hole 244 formed in the panel 242 on the chucking means 240 side of the fixed positioner. In this state, the welding material is fixed to the connection hole 244 formed in the panel 242 using the primary welding material and the fixture 243 in the state corresponding to the welding material, and then welding is performed. After welding is completed, the secondary welding position is set by rotating the weldment for the secondary welding. When the welding position is set, the secondary welding proceeds. Through the repeated positioning and welding process as described above, the welding of the weld is completed, and the separation of the welded welding member releases the fixture 243 of the connection hole 244 connecting both sides of the weld, and then a separate mobile crane. Go to and you're done.
본 발명은 상기한 용접장치와 용접위치설정구조로 인해 천정크레인과 같은 고가장비로 용접위치를 설정한 상태에서 작업자가 일일이 용접위치를 찾아 용접함에 따르는 여러가지 문제점을 개선하여 대형 용접구조물을 자유롭게 위치를 조절해가면서 로봇용접할 수 있는 대형 구조물 용접장치 척킹구조를 새롭게 한 효과가 있다.The present invention improves the various problems caused by the operator to find the welding position by welding in the state of setting the welding position with the expensive equipment such as the ceiling crane due to the welding device and the welding positioning structure described above to freely position the large weld structure. It has the effect of renewing the chucking structure of a large structure welding apparatus that can be controlled while welding the robot.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019980062116A KR100329371B1 (en) | 1998-12-30 | 1998-12-30 | Chucking means of large structure welding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019980062116A KR100329371B1 (en) | 1998-12-30 | 1998-12-30 | Chucking means of large structure welding device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR20000045556A KR20000045556A (en) | 2000-07-25 |
| KR100329371B1 true KR100329371B1 (en) | 2002-08-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1019980062116A Expired - Fee Related KR100329371B1 (en) | 1998-12-30 | 1998-12-30 | Chucking means of large structure welding device |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR100329371B1 (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5617183A (en) * | 1979-07-20 | 1981-02-18 | Shin Meiwa Ind Co Ltd | Welding equipment |
| JPH07157074A (en) * | 1993-12-01 | 1995-06-20 | Hosono Tekkosho:Kk | Shape steel manufacturing facility |
-
1998
- 1998-12-30 KR KR1019980062116A patent/KR100329371B1/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5617183A (en) * | 1979-07-20 | 1981-02-18 | Shin Meiwa Ind Co Ltd | Welding equipment |
| JPH07157074A (en) * | 1993-12-01 | 1995-06-20 | Hosono Tekkosho:Kk | Shape steel manufacturing facility |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20000045556A (en) | 2000-07-25 |
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