KR20160088160A - three-dimensional welding apparatus and welding method - Google Patents

Abstract

According to an embodiment of the present invention, disclosed is a three-dimensional welding apparatus which comprises: a base frame; a first guide rail coupled to the base frame, and formed extend along a first direction; a welding unit formed to be moved along the first guide rail, wherein a welding torch is formed to be moved in a first direction, a second direction different from the first direction, and a third direction; and a control unit controlling the welding unit to divide a position of a welding portion to be welded into a plurality of points to store the position with the point, and then, collecting each point with a straight line to control automatic welding to be performed.

Description

[0001] The present invention relates to a three-dimensional welding apparatus and a welding method,

More particularly, the present invention relates to a three-dimensional welding apparatus and a welding method, and more particularly, to a method of welding a three-dimensional curved surface by setting a plurality of welding points along a welding portion, And more particularly, to a three-dimensional welding apparatus and a welding method capable of performing more precise and rapid three-dimensional welding.

In general, the welding industry is an indispensable industry for manufacturing. However, most of this is done manually by the person and depends on the skill of the welder, so the intensity of the work is very high but the productivity is very low.

In other words, unskilled welders are not only difficult to work with but also inconvenient welding postures and high number of welds, resulting in low productivity of welding products and low welding speeds. In addition, welding heat is generated in the welding operation. Problems such as health problems of the workers exposed to such environments, avoidance of advancement in the welding field, and the like arise.

Accordingly, an automatic welding machine is used in the field, but such an automatic welding machine is a welding machine capable of only one axis direction, and there is a problem that automatic welding of various structures is impossible.

The above-described background technology is technical information that the inventor holds for the derivation of the present invention or acquired in the process of deriving the present invention, and can not necessarily be a known technology disclosed to the general public prior to the filing of the present invention.

Embodiments of the present invention provide a three-dimensional welding apparatus and a welding method.

One embodiment of the present invention provides a base frame comprising: a base frame; A first guide rail coupled to the base frame and extending along a first direction; A welding portion formed to be movable along the first guide rail and configured to be movable in a second direction and a third direction different from the first direction and the first direction; And a control unit controlling the welding unit to divide the position of the welding part to be welded into a plurality of parts and storing the position in a point and then performing automatic welding by connecting each point with a straight line. Device.

The welding portion may include a first moving portion coupled to the first guide rail and configured to be movable in the first direction along the first guide rail; A welding feeder portion formed at one end of the first moving portion for supplying a welding material to the welding torch; A second guide rail coupled to the welding feeder portion and extending along the second direction; And a second moving part coupled to the second guide rail and configured to be movable along the second guide rail in the second direction or the third direction and having the welding torch formed at one end thereof .

In this embodiment, the welding portion may further include at least one servo motor for providing a power to move the first moving portion or the second moving portion, and the control portion may control the rotating direction or the rotating speed of the servomotor And a motor control unit for controlling the motor.

In the present embodiment, the welding portion may further include a limit sensor that limits a moving range of the first moving unit or the second moving unit.

According to another embodiment of the present invention, there is provided a welding method comprising: dividing a welding part position into a plurality of parts by a control part; Setting, by the control unit, a plurality of welding points along the divided welding part; Connecting each of the neighboring points by a straight line by the control unit; And performing a three-dimensional welding along each of the straight lines while the welding portion moves in a first direction, a second direction, or a third direction under the control of the control portion.

The welding portion may include a first moving portion coupled to the first guide rail and configured to be movable in the first direction along the first guide rail; A welding feeder portion formed at one end of the first moving portion for supplying a welding material to the welding torch; A second guide rail coupled to the welding feeder portion and extending along the second direction; And a second moving part coupled to the second guide rail and configured to be movable along the second guide rail in the second direction or the third direction and having the welding torch formed at one end thereof .

In the present embodiment, the welding portion may further include at least one servo motor for providing power to move the first moving portion or the second moving portion,

The step of performing the three-dimensional welding along each of the straight lines may control the rotation direction or rotation speed of the servo motor.

In the present embodiment, the welding portion may further include a limit sensor that limits a moving range of the first moving unit or the second moving unit.

Other aspects, features, and advantages will become apparent from the following drawings, claims, and detailed description of the invention.

In the embodiments of the present invention, when welding a three-dimensional curved surface, a plurality of welding points are set along a welding portion, and then welding is performed while moving in three dimensions to thereby perform more precise and rapid three-dimensional welding Effect can be obtained.

1 is a front view showing a three-dimensional welding apparatus according to an embodiment of the present invention.
2 is a plan view showing a three-dimensional welding apparatus according to an embodiment of the present invention.
3 is a block diagram showing a control unit of the three-dimensional welding apparatus of FIG.
FIG. 4 is a flowchart illustrating a three-dimensional welding method according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods of achieving them will be apparent with reference to the embodiments described in detail below with reference to the drawings. However, the present invention is not limited to the embodiments described below, but may be implemented in various forms. In the following embodiments, the terms first, second, and the like are used for the purpose of distinguishing one element from another element, not the limitative meaning. Also, the singular expressions include plural expressions unless the context clearly dictates otherwise. Also, the terms include, including, etc. mean that there is a feature, or element, recited in the specification and does not preclude the possibility that one or more other features or components may be added. Also, in the drawings, for convenience of explanation, the components may be exaggerated or reduced in size. For example, the size and thickness of each component shown in the drawings are arbitrarily shown for convenience of explanation, and thus the present invention is not necessarily limited to those shown in the drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to like or corresponding components throughout the drawings, and a duplicate description thereof will be omitted .

FIG. 1 is a front view showing a three-dimensional welding apparatus according to an embodiment of the present invention, FIG. 2 is a plan view showing a three-dimensional welding apparatus according to an embodiment of the present invention, Fig.

3, a three-dimensional welding apparatus according to an embodiment of the present invention includes a base frame 111, a first guide rail 121, a weld 130, and a controller 140 can do. The welding portion 130 includes a first moving portion 131, a second moving portion 132, a second guide rail 133, a welding torch 134, and a welding feeder portion 135. The control unit 140 may include an output unit 141, an input unit 142, a power supply unit 143, a filter unit 144, a motor control unit 145, and a speed reducer 146.

This will be described in more detail as follows.

Circumferential welding is one of the key technologies in process automation, accounting for more than 50% of the entire process. One of the most difficult areas of welding is the low automation ratio and the technical difficulty. The application value of Wonju Welding Automation Technology appears as ripple effect of various industrial fields (power generation, shipbuilding, marine, petrochemical, construction, etc.) based on welding automation technology, and it can secure national competitiveness.

In particular, welding automation systems used in offshore structures and shipbuilding industries require different conditions for each process. Therefore, general-purpose robots can not be used, and conventional welding automation systems have to be modified or newly developed. It was also required to modify the welding automation system or develop a new welding automation system to meet the requirements whenever the work was changed.

On the other hand, in the case of welding a three-dimensional curved surface, existing prior art is a method of detecting edges by using a laser vision system, which is expensive equipment, and a vision system is mounted on the front end of the welding torch. However, in the sensing of the V-shaped edge, there arises a problem that the recognition error of the sensor is caused by the light interference due to the arc and the heat. In addition, artificially man-made V-shaped edges do not form a certain vertical, and there is a problem in that a wrong portion must be corrected through an available fold which is performed first in order to attach two base materials.

It is an object of the present invention to solve the above problems and to develop a system capable of welding a three-dimensional curved surface without introducing expensive equipment. To this end, the three-dimensional welding apparatus according to an embodiment of the present invention divides the position of a welding part to be welded into a plurality of parts, stores the position in a point, . In addition, it can be welded in all directions in X, Y, Z axis, so it is possible to weld not only a straight line but also various kinds of welding parts such as curved and elliptical parts. In particular, Thereby providing a welding apparatus. Hereinafter, this will be described in more detail.

The base frame 111 constitutes the base of the three-dimensional welding apparatus 100 and serves as a reference for movement of the welded portion. The upper plate 112 is a component that enables the object to be welded to be seated in the welding operation, and is located on the base frame 111.

The first guide rail 121 is engaged with the base frame 111. The first guide rail 121 provides a path through which the weld 130 moves in the first direction (i.e., the X-axis direction). That is, the welded portion 130 moves along the first guide rail 121 in the direction of arrow A in Fig.

The welding portion 130 includes a first moving portion 131, a second moving portion 132, a second guide rail 133, a welding torch 134, and a welding feeder portion 135.

The first moving part 131 is formed to be movable along the first guide rail 121 by being engaged with the first guide rail 121.

A welding feeder 135 for supplying a welding material to the welding torch 134 is formed at one end of the first moving part 131 and a second guide rail 133 is coupled to the welding feeder 135 . The second guide rail 133 provides a path through which the second moving part 132 of the weld 130 moves in the second direction (i.e., the Y axis direction). That is, the second moving part 132 moves along the second guide rail 133 in the direction of arrow B in Fig.

Meanwhile, the second moving part 132 is formed to be movable along the third direction (i.e., the Z-axis direction) in a state of being coupled to the second guide rail 133. [ That is, the second moving part 132 can move in the direction of the arrow C in FIG. 3 in a state of being coupled to the second guide rail 133.

On the other hand, a welding torch 134 is detachably mounted on the lower end of the second moving part 132. That is, the welding torch 134 is provided so as to be able to directly weld the object to be welded. Here, the welding torch 134 can be provided by a welding torch such as gas welding, TIG welding, CO2 welding, submerged welding, plasma arc welding, laser welding, etc., and the welding method can be easily changed. The welded portion 130 may be formed of a ceramic material so as not to dissolve at a high temperature generated during the heat treatment, thereby ensuring excellent heat resistance against high temperature. Meanwhile, although the figure shows one welding torch 134, the idea of the present invention is not limited thereto, and two or more welding torches may be provided.

As a result, the welding torch 134 is formed so as to be freely movable in the three axial directions of the X axis, Y axis, and Z axis by the plurality of guide rails and the moving parts, so that three dimensional welding can be performed.

Although not shown in the drawing, the welding portion 130 may be provided with a plurality of servo motors (not shown) for driving the moving portions 131 and 132. The servomotor (not shown) may provide a power for moving the moving parts 131 and 132 along the guide rails. In this case, the servomotor (not shown) 132 can be controlled. Furthermore, the servomotor (not shown) can be electronically controlled such that the width of the weaving, the center of gravity of the center of gravity, and the center of gravity of the weaving can be controlled electronically. Furthermore, a limit sensor (not shown) can be mounted on the Y-axis servo motor. By limiting the movement distance of the Y-axis, such a limit sensor can perform a function of preventing a program error.

The control unit 140 controls the welding unit 130 to control the position of the welding part to be welded by dividing the position of the welding part into a plurality of points and store the position in a point, . The control unit 140 may include an output unit 141, an input unit 142, a power source unit 143, a filter unit 144, a motor control unit 145, and a speed reducer 146.

The output unit 141 may include a display unit capable of monitoring the three-dimensional welding apparatus 100. The output unit 141 may be a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, A display (3D display), and an electrophoretic display (electrophoretic display), but the scope of the present invention is not limited thereto.

The input unit 142 may include a keyboard capable of inputting a code of the CAM program so that weaving is possible. That is, the input unit 142 may mean a means for the user to input data for controlling the three-dimensional welding apparatus 100. [ For example, the input unit 142 may include a keyboard, a key pad, a dome switch, a touch pad (a contact type capacitance type, a pressure resistive type, an infrared detection type, a surface ultrasonic wave type, A fatigue strength measuring method, a piezo effect method, etc.), a jog wheel, a jog switch, a mouse, and the like, but is not limited thereto.

Further, the input unit 142 may further include a system control key for powering the system and an emergency stop, and a direction control key for controlling the direction of the welded portion. The welding direction and the height of the torch can be controlled by the direction control key, and the welding speed control can be performed without being influenced by the change of the welding voltage through the program input through the input unit 142 It is possible.

The power supply unit 143 may supply power necessary for driving the three-dimensional welding apparatus 100. The filter unit 144 may perform a function of attenuating or blocking the noise that may occur during welding and passing the other effective signals without loss so as to prevent the failure of the equipment. The motor control unit 145 and the speed reducer 146 may perform the function of controlling one or more servo motors so that the time and distance are changed from time to time.

According to the three-dimensional welding apparatus 100 according to the embodiment of the present invention, a plurality of welding points are set along a welding portion in welding a three-dimensional curved surface, So that the effect of performing more precise and rapid three-dimensional welding can be obtained.

In addition, this technology can be applied to welding work, which is the core technology of industrial field, and it is applied to a welding work environment where harmful work environment and harmful and physical burden are great. Recently, welding automation has become a major issue of national competitiveness because of the decrease of skilled welding manpower, aging of welder and increase of labor cost. Therefore, it can be applied to increase efficiency of process by using welding system with high efficiency.

Further, by the three-dimensional welding apparatus 100 according to the embodiment of the present invention, precise welding in the circumferential direction is possible, and the reliability of the structure can be ensured. In addition, in welding the steel pipe, the welding line is precisely followed, thereby ensuring the precision of welding and improving the productivity, and it is possible to weld the pipe flange portion in a narrow area.

Hereinafter, a three-dimensional welding method according to an embodiment of the present invention will be described. FIG. 4 is a flowchart illustrating a three-dimensional welding method according to an embodiment of the present invention.

Referring to FIG. 4, a three-dimensional welding method according to an embodiment of the present invention includes a step of dividing a welding part position (step S110), a step of setting a plurality of welding points (step S120) (Step S130), and performing three-dimensional welding along each straight line (step S140). This will be described in more detail as follows.

First, the control unit 140 divides the welding site position (S110), sets a plurality of welding points along the divided welding positions (S120), connects the neighboring points with a straight line (S130) do.

In detail, in the welding of a three-dimensional curved surface, existing prior art is a method of detecting edges using a laser vision system, which is expensive equipment, and a vision system is mounted on the front end of the welding torch. However, in the sensing of the V-shaped edge, there arises a problem that the recognition error of the sensor is caused by the light interference due to the arc and the heat. In addition, artificially man-made V-shaped edges do not form a certain vertical, and there is a problem in that a wrong portion must be corrected through an available fold which is performed first in order to attach two base materials.

In order to solve such a problem, a three-dimensional welding apparatus according to an embodiment of the present invention divides a position of a welding part to be welded into a plurality of parts, stores the position in a point, And carries out automatic welding.

Next, the control unit 140 controls the servomotor (not shown) to perform three-dimensional welding while linearly moving the welding torch 134 along each straight line (step S140). In detail, the welding torch 134 is formed so as to be freely movable in three axial directions of X-axis, Y-axis and Z-axis by a plurality of guide rails and moving parts, so that three-dimensional welding can be performed. The welding portion 130 is provided with a plurality of servo motors (not shown) for driving the moving portions 131 and 132. Accordingly, the motor control unit 145 of the control unit 140 controls the servo motor (not shown) to perform three-dimensional welding while linearly moving the welding torch 134 along the three axial directions of the X axis, Y axis, and Z axis .

In the three-dimensional welding apparatus 100 according to the embodiment of the present invention, a plurality of welding points are set along a welding portion in welding a three-dimensional curved surface, So that the effect of performing more precise and rapid three-dimensional welding can be obtained.

The embodiments of the present invention described above can be embodied in the form of a computer program that can be executed on various components on a computer, and the computer program can be recorded on a computer-readable medium. At this time, the medium may be a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floptical disk, , A RAM, a flash memory, and the like, which are specifically configured to store and execute program instructions. Further, the medium may include an intangible medium that is implemented in a form that can be transmitted over a network, and may be, for example, a medium in the form of software or an application that can be transmitted and distributed through a network.

Meanwhile, the computer program may be designed and configured specifically for the present invention or may be known and used by those skilled in the computer software field. Examples of computer programs may include machine language code such as those produced by a compiler, as well as high-level language code that may be executed by a computer using an interpreter or the like.

The specific acts described in the present invention are, by way of example, not intended to limit the scope of the invention in any way. For brevity of description, descriptions of conventional electronic configurations, control systems, software, and other functional aspects of such systems may be omitted. Also, the connections or connecting members of the lines between the components shown in the figures are illustrative of functional connections and / or physical or circuit connections, which may be replaced or additionally provided by a variety of functional connections, physical Connection, or circuit connections. Also, unless explicitly mentioned, such as " essential ", " importantly ", etc., it may not be a necessary component for application of the present invention.

Accordingly, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all ranges that are equivalent to or equivalent to the claims of the present invention as well as the claims .

100: 3D welding device
111: base frame
121: first guide rail
130:
131: first moving part
132: second moving part
133: second guide rail
134: welding torch
135: welding feeder section
140:
141: Output section
142:
143:
144:
145:
146: Reducer

Claims (9)

A base frame;
A first guide rail coupled to the base frame and extending along a first direction;
A welding portion formed to be movable along the first guide rail and configured to be movable in a second direction and a third direction different from the first direction and the first direction;
And a control unit controlling the welding unit to divide the position of the welding part to be welded into a plurality of parts and storing the position in a point and then performing automatic welding by connecting each point with a straight line. Device. The method according to claim 1,
The welding portion
A first moving unit coupled to the first guide rail and configured to be movable in the first direction along the first guide rail;
A welding feeder portion formed at one end of the first moving portion for supplying a welding material to the welding torch;
A second guide rail coupled to the welding feeder portion and extending along the second direction;
And a second moving part coupled to the second guide rail and formed to be movable in the second direction or the third direction along the second guide rail and having the welding torch formed at one end thereof, Welding apparatus. 3. The method of claim 2,
Wherein the welding portion further includes at least one servo motor for providing power for moving the first moving portion or the second moving portion,
Wherein the control unit further includes a motor control unit for controlling a rotation direction or a rotation speed of the servo motor. The method according to claim 1,
Wherein the welding portion further comprises a limit sensor for limiting a moving range of the first moving portion or the second moving portion. Dividing the welding site position into a plurality of parts by the control unit;
Setting, by the control unit, a plurality of welding points along the divided welding part;
Connecting each of the neighboring points by a straight line by the control unit; And
And performing three-dimensional welding along each of the straight lines while the welds move in a first direction, a second direction, or a third direction under the control of the control unit. 6. The method of claim 5,
The welding portion
A first moving unit coupled to the first guide rail and configured to be movable in the first direction along the first guide rail;
A welding feeder portion formed at one end of the first moving portion for supplying a welding material to the welding torch;
A second guide rail coupled to the welding feeder portion and extending along the second direction;
And a second moving part coupled to the second guide rail and formed to be movable in the second direction or the third direction along the second guide rail and having the welding torch formed at one end thereof, welding method. The method according to claim 6,
Wherein the welding portion further includes at least one servo motor for providing power for moving the first moving portion or the second moving portion,
Wherein the step of performing three-dimensional welding along each of the straight lines controls a rotating direction or a rotating speed of the servo motor. 6. The method of claim 5,
Wherein the welding portion further comprises a limit sensor for limiting a moving range of the first moving portion or the second moving portion. A computer program stored on a medium for executing a method according to any one of claims 5 to 8 using a computer.

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