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KR20090091259A - Welding equipment with rotate torch - Google Patents

Welding equipment with rotate torch Download PDF

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Publication number
KR20090091259A
KR20090091259A KR1020080016565A KR20080016565A KR20090091259A KR 20090091259 A KR20090091259 A KR 20090091259A KR 1020080016565 A KR1020080016565 A KR 1020080016565A KR 20080016565 A KR20080016565 A KR 20080016565A KR 20090091259 A KR20090091259 A KR 20090091259A
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KR
South Korea
Prior art keywords
welding
torch
rotary
shaft
rotating
Prior art date
Application number
KR1020080016565A
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Korean (ko)
Inventor
황용태
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황용태
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Publication date
Application filed by 황용태 filed Critical 황용태
Priority to KR1020080016565A priority Critical patent/KR20090091259A/en
Publication of KR20090091259A publication Critical patent/KR20090091259A/en

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    • 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 to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/027—Carriages for supporting the welding or cutting element for making circular cuts or welds
    • 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 to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0241—Attachments between the welding or cutting element and the carriage
    • 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 to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0247—Driving means
    • 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 to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0258—Electric supply or control circuits therefor
    • 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
    • B23K5/00—Gas flame welding
    • B23K5/22—Auxiliary equipment, e.g. backings, guides
    • B23K5/24—Arrangements for supporting torches
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

A welding device is provided to weld a material consecutively while holding the center of a hole of a product or a flange in a fixed state with a centering gripper, and to reduce manufacturing cost of the product. A welding device comprises a centering gripper(150), a welding unit(200), a carbon brush(301), a torch position adjusting unit(400), and a control unit. The centering gripper holds the center of a product or a hole or a flange or a boss. The welding unit rotates a welding torch(401) with torque of a rotating motor(220). The carbon brush delivers a welding current to a rotator(306). The torch position adjusting unit controls a location of the welding torch, a rotary joint(300,350), and a slip ring(250). The control unit is connected with main components on a circuit.

Description

토치회전형 용접장치{welding equipment with rotate torch}Welding equipment with rotate torch {welding equipment with rotate torch}

본 발명은 토치(TORCH)회전형 용접장치에 관한 것으로 상세하게는 플랜지나 보스의 외주 면을 따라 용접토치가 360도 연속 회전하면서 용접하는 것으로 고정된 상태의 비회전대칭 제품의 홀과 플랜지나 보스 홀간의 중심을 잡아주는 센터링그리퍼에 의해 제품의 중심을 확정하고 회전모터의 회전력을 전달받아 용접토치를 회전시켜 연속적으로 용접하는 용접장치에 관한 것이다. 용접에 필요한 용접전류를 회전하는 도전봉에 연결된 로테이터에 전달하는 카본브러시와 제어용 전기를 회전체에 전달하는 슬립링, 유압과 실드가스 및 용접봉, 용접전류를 전달하는 로타리조인트, 용접토치의 위치를 조절하는 토치위치조절장치 및 상기 주요 구성품과 회로 적으로 연결되면서 설정된 시퀀스에 따라 동작을 순차적으로 작동시키며 제어하는 제어부로 구성되어 있다.The present invention relates to a torch (TORCH) rotary welding device in detail the hole and flange or boss of the non-rotationally symmetrical product in a fixed state by welding while welding the torch continuously rotated 360 degrees along the outer peripheral surface of the flange or boss The present invention relates to a welding device for determining the center of a product by a center ring gripper that holds the center of a hole, and continuously welding by rotating a welding torch by receiving a rotational force of a rotating motor. The carbon brush that delivers the welding current required for welding to the rotator connected to the rotating conductive rod, the slip ring that transmits the control electricity to the rotating body, the hydraulic and shield gas and welding rod, the rotary joint that transmits the welding current, and the position of the welding torch It is composed of a torch position control device for adjusting and a control unit for sequentially operating and controlling the operation according to a set sequence while being connected to the main component and the circuit.

비회전대칭 제품을 고정하고 그 위에 플랜지나 보스 등의 외주 면을 용접할 경우, 센터링작업을 수동으로 맞춘 후 가접하고 로보트에 의해 토치를 회전시키면서 작업하는 것이 일반적이며, 제품이 회전대칭인 경우 토치는 고정하고 제품을 회전시키면서 용접하는 방법이 널리 사용되고 있다. 로보트를 이용하는 용접의 경우 연속회전용접이 어려우며 센터링장치를 부착하기에는 가반중량이 너무 무거워 로보트의 대형화가 요구되는 한편, 제품이 회전 비대칭인 경우 제품을 회전시키는데 많은 공간이 필요 하는 등 생산원가를 상승시키는 원인이 된다. When fixing non-rotationally symmetrical products and welding the outer circumferential surface of flanges or bosses on them, it is common to work after adjusting the centering work manually and welding them while rotating the torch by the robot. Fixing and welding while rotating the product is widely used. In case of welding using robot, continuous rotation welding is difficult and the carrying weight is too heavy for attaching the centering device. Therefore, the robot needs to be enlarged, while if the product is rotationally asymmetric, it requires much space for rotating the product. Cause.

본 발명은 상기의 문제점을 해결할 목적으로 용접에 필요한 전기. 가스. 용접봉 및 센터링장치에 필요한 유. 공압, 회전과 토치위치조절등 제어에 필요한 전기등을 회전장치를 사용하여 토치와 동시에 회전시킴으로써 토치가 각종 전선이나 배관의 방해 없이 연속적으로 회전하도록 하고 유·공압, 전기, 가스, 용접봉도 연속적으로 공급할 수 있도록 하여 360도 회전용접이 가능하고, 비드의 형성을 다층으로 형성하도록 해결하여 비대칭 제품의 부품용접에 소요되는 생산원가를 줄이고 작업이 단시간에 이루어지도록 하는 토치회전형 용접장치를 제공하는 데 있다.The present invention requires electricity for the purpose of solving the above problems. gas. Oil required for welding rods and centering equipment. By rotating the electric light necessary for the control such as pneumatic, rotation and torch position control at the same time with the torch, the torch rotates continuously without disturbing various wires or pipes, and oil, pneumatic, electric, gas and welding rods are continuously It is possible to provide 360-degree rotation welding by supplying, and to solve the formation of beads in multiple layers to reduce the production cost for welding parts of asymmetric products, and to provide a torch-rotating welding device that allows work to be performed in a short time. have.

상기 과제를 해결하고, 목적을 달성하기 위해, 토치(TORCH)회전형 용접장치는 플랜지나 보스의 외주 면을 따라 용접토치가 360도 연속 회전하면서 용접하는 것으로 고정된 상태의 비회전대칭 제품의 홀과 플랜지나 보스 홀간의 중심을 잡아주는 센터링그리퍼에 의해 제품의 중심을 확정하고 회전모터의 회전력을 전달받아 토치를 회전시켜 연속용적으로 용접하는 용접장치에 관한 것이다. 용접에 필요한 용접전류를 회전하는 도전봉과 연결된 로테이터에 전달하는 카본브러시와 제어용 전기를 회전체에 전달하는 슬립링, 유압과 실드가스 및 용접봉을 전달하는 로타리조인트, 용접 토치의 위치를 조절하는 토치위치조절장치 및 상기 주요 구성품과 회로 적으로 연결되면서 설정된 시퀀스에 따라 동작을 순차적으로 작동시키며 제어하는 제어부로 구성하여 해결하였다.In order to solve the above problems and achieve the object, the torch rotation welding apparatus is a hole of a non-rotationally symmetric product in which the welding torch is welded while continuously rotating 360 degrees along the outer peripheral surface of the flange or boss. The center of the product by the center ring gripper for holding the center between the flange and the boss hole, and the welding device for welding continuously by rotating the torch by receiving the rotational force of the rotating motor. Carbon brush which transmits welding current required for welding to rotator connected to rotating rod, slip ring which transmits control electricity to rotating body, rotary joint which delivers hydraulic and shield gas and welding rod, and torch position to adjust position of welding torch It was solved by constructing a control unit and a controller that is connected to the main components and controls the operation sequentially according to the set sequence.

본 발명에 의하면, 용접에 필요한 전기. 가스. 용접봉 및 센터링장치에 필요한 유·공압, 회전과 토치위치조절등 제어에 필요한 전기등을 회전장치를 사용하여 용접토치와 동시에 회전시킴으로써 용접토치가 각종 전선이나 배관의 방해 없이 연속적으로 회전하도록 하고 유·공압, 전기, 가스, 용접봉도 연속적으로 공급할 수 있도록 하여 360도 회전용접이 가능하고, 비드의 형성을 다층으로 형성하도록 해결하여 비대칭 제품의 부품용접의 자동화가 가능하고 작업이 단시간에 이루어지도록 하는 효과와 함께 다양한 제품을 용접할 수 있는 효과가 있다.According to the present invention, the electricity required for welding. gas. By rotating the electric light necessary for the control of the welding rod and the centering device such as the rotation and the position control of the torch by rotating the welding torch simultaneously with the welding torch, the welding torch can be continuously rotated without disturbing various wires or pipes. Possible to supply pneumatic, electricity, gas and welding rod continuously, 360 degree rotation welding is possible, and the formation of beads in multiple layers is solved to automate the welding of parts of asymmetric products, and the work can be done in a short time. With this, it is possible to weld various products.

본 발명의 실시 형태에 관해서 첨부도면을 참조하여 상세히 설명한다. 이하에 설명하는 실시형태는 본 발명의 실시 수단으로서의 일례이며, 본 발명은 그 취지를 벗어나지 않는 범위에서 하기 실시 형태를 수정 또는 변형한 것에 적용이 가능하다.Embodiments of the present invention will be described in detail with reference to the accompanying drawings. Embodiment described below is an example as an implementation means of this invention, and this invention is applicable to what modified or changed the following embodiment in the range which does not deviate from the meaning.

그림 1은 본 실시형태의 토치회전형 용접장치의 정면도이며, 그림 2는 본 실시형태에 적용되는 제품 및 플랜지 사시도이며, 그림 3은 본 발명의 로타리1조인트 단면도이고, 그림 4는 본 발명의 2개의 로타리조인트 배관연결도이고, 그림 5는 용접케이블의 단면도이고, 그림 6은 본 발명의 클램핑 장치 정면도이고, 그림 7은 제어부 블록도이다.Figure 1 is a front view of the torch rotary welding device of the present embodiment, Figure 2 is a perspective view of the product and flange applied to this embodiment, Figure 3 is a cross-sectional view of the rotary joint 1 of the present invention, Figure 4 is a Figure 4 is a cross-sectional view of the welding cable, Figure 6 is a front view of the clamping device of the present invention, Figure 7 is a control block diagram.

그림 1에 나타낸 바와 같이, 용접장치(200)의 회전은 회전모터(220)에 부착된 구동기어(201)와 용접장치(200)에 부착된 종동기어(202)의 연결에 의해 이루어 진다. 용접장치(200)는 용접토치(401)와 클램프 실린더(210), 용접토치(401)의 위치조절장치(400), 연속비드형성을 위한 토치위치변환장치(410) 및 센터링그리퍼 (150)로 구성되어 있다.As shown in Figure 1, the rotation of the welding device 200 is made by the connection of the drive gear 201 attached to the rotary motor 220 and the driven gear 202 attached to the welding device 200. The welding device 200 includes a welding torch 401 and a clamp cylinder 210, a position adjusting device 400 of the welding torch 401, a torch position converting device 410 and a center ring gripper 150 for continuous bead formation. Consists of.

용접 장치(200)가 회전함으로 인해 용접 토치(401), 클램프 실린더(210), 연속비드형성(411)가 회전하므로 인해 용접 전류 및 실드가스, 유압배관, 위치제어에 필요한 전원, 위치확인 센서(412)전원 등이 회전하면서 연결되어야 한다. 또한, 용접장치(200)의 회전을 위하여 회전축(230)을 구비하고 이 회전축(230)은 중공축으로 하여 유압배관 및 전선이 통과되도록 구성되어 있다. 그러나 센터링그리퍼(150)는 비대칭제품(112)과 플랜지나 보스(110)를 압착하면서 센터링해야 하므로 용접장치(200)와 같이 회전하지 않는다.As the welding device 200 rotates, the welding torch 401, the clamp cylinder 210, and the continuous bead formation 411 rotate so that the welding current and the shield gas, the hydraulic piping, the power required for position control, and the position sensor ( 412) The power source should be connected while rotating. In addition, the rotary shaft 230 is provided for the rotation of the welding device 200, the rotary shaft 230 is a hollow shaft is configured to pass through the hydraulic pipe and the wire. However, since the centering gripper 150 should be centered while compressing the asymmetric product 112 and the flange or boss 110, the centering gripper 150 does not rotate like the welding device 200.

그림 5에서 나타나듯이 용접케이블(101)은 용접에 필요한 전류 및 실드가스, 용접봉을 공급해 주는 것으로 회전하는 용접장치(200)에 이들을 연결하기 위해서는 용접케이블(101)을 절단한 후 전류를 공급하는 전선(102)을 분리하고 후술하는 카본 브러시(301)에 연결한다. As shown in Figure 5, the welding cable 101 supplies the current, shield gas, and welding rod required for welding. In order to connect them to the rotating welding apparatus 200, the welding cable 101 is cut and then an electric wire is supplied. The 102 is separated and connected to the carbon brush 301 described later.

그림 3에서 로타리1조인트(300)의 회전1축(302)의 중심을 중공축으로 하여 도전봉(303)을 절연체(305)로 피복하고 억지끼움하여 결합하고 이 도전봉(303)의 일 단에 카본브러시(301)에 연결되어 용접 전류가 도통하도록 원통형의 로테이터 (306)를 설치하여 용접 전류가 도전봉(303)으로 인입되도록 하였다. 또 실드가스는 도전봉(303)을 중공축으로 하여 용접케이블(101)과 연결되도록 구성하고 도전봉 (303)의 중공축을 통하여 흐르도록 설치하였고 용접봉은 도전봉(303)의 중공축 내 부로 용접봉 통로(104)가 삽입되도록 하여 용접봉이 공급되도록 설치하였다. 이때 로타리1조인트(303)의 회전1축(302)은 용접장치(200)와 같이 회전하므로 도전봉 (303)의 타 단에는 용접토치(401)가 부착된 용접케이블(101)을 연결하여 고정함으로써 용접에 필요한 전류, 실드가스, 용접봉을 연속적으로 공급할 수 있게 하였다.In Fig. 3, the conductive rod 303 is covered with an insulator 305 with the center of the rotational one axis 302 of the rotary one joint 300 as the hollow shaft, and is pressed together to be coupled to one end of the conductive rod 303. A cylindrical rotator 306 was installed to be connected to the carbon brush 301 so that the welding current was conducted so that the welding current was drawn into the conductive rod 303. In addition, the shield gas is configured to be connected to the welding cable 101 using the conductive rod 303 as the hollow shaft, and installed to flow through the hollow shaft of the conductive rod 303. The welding rod is inserted into the hollow shaft of the conductive rod 303. The passage 104 was inserted to install a welding rod. At this time, since the rotary one shaft 302 of the rotary one joint 303 rotates together with the welding device 200, the other end of the conductive rod 303 is connected and fixed by connecting a welding cable 101 with a welding torch 401. By doing so, it was possible to continuously supply current, shield gas, and welding rod required for welding.

그림 4에서 나타내듯이 유압배관의 경우 미표시의 유압유니트에서 로타리1조인트(300)의 고정1축(304)에 연결되어 회전1축(302)을 거치면서 용접장치(200)와 같이 회전하는데, 클램프 실린더(210)의 유압 배관은 로타리1조인트(300)의 회전1축(302)과 같이 회전하므로 서로 고정 연결이 가능 하지만, 센터링그리퍼(150)의 유압 배관은 로타리1조인트(300)의 회전1축(302)의 회전과 달리 고정되어야 하므로 직접 연결이 불가능하다. 따라서 로타리2조인트(350)의 회전2축(351)과 로타리1조인트(300)의 회전1축(302)이 연결되고 로타리2조인트(350)의 고정2축(353)은 슬라이딩 샤프트 (154)에 고정하고 유압배관은 슬라이딩 샤프트(154)의 중공을 따라 센터링 그리퍼의 유압실린더(151)에 연결된다.As shown in Figure 4, the hydraulic piping is connected to the fixed one shaft 304 of the rotary one joint 300 in the unmarked hydraulic unit and rotates together with the welding device 200 while passing through the rotating one shaft 302, the clamp Since the hydraulic pipe of the cylinder 210 rotates together with the rotary 1 shaft 302 of the rotary 1 joint 300, the hydraulic pipe of the center ring gripper 150 can be fixed to each other, but the hydraulic pipe 1 of the rotary 1 joint 300 rotates 1. Unlike the rotation of the shaft 302 it must be fixed so that a direct connection is not possible. Accordingly, the rotary two-axis 351 of the rotary two joint 350 and the rotary one-axis 302 of the rotary one joint 300 are connected, and the fixed two-axis 353 of the rotary two joint 350 is a sliding shaft 154. The hydraulic pipe is connected to the hydraulic cylinder 151 of the centering gripper along the hollow of the sliding shaft 154.

그림 1에서 제어용 전원이 필요한 연속비드형성모타(411), 위치확인용 센서 (412)의 전원도 용접장치(200)와 동시에 회전해야 하므로 로타리1조인트(300)하부와 회전축(230) 사이 공간에 슬립링(250)을 설치하여 회전할 수 있도록 하였다. 또, 용접토치(401)의 위치조절장치(400)는 회전축의 중심을 기준으로 플랜지나 보스 (110)의 외경의 크기에 따라 위치를 조절할 수 있는 좌우 조절장치(413)와 두께방향으로 조절가능한 상하 조절장치(414)를 부착하여 변화할 수 있게 하였고, 연속다층비드를 생성하기 위하여 용접토치(401)의 위치를 연속비드생성 모터(411)로 회 전시키고 이 회전력을 기어와 링크 구조를 추가하여 용접토치(401)가 360도 회전한 후 용접토치(401)의 위치를 소정의 거리로 옮길 수 있도록 제어하여 용접토치(401)의 회전이 멈추지않고 연속적으로 작업할 수 있도록 하였다.In Figure 1, the power supply of the continuous bead forming motor 411, the positioning sensor 412, which requires a control power supply must also rotate simultaneously with the welding apparatus 200, so that the space between the lower part of the rotary joint 1 and the rotary shaft 230 is The slip ring 250 was installed to rotate. In addition, the position adjusting device 400 of the welding torch 401 is adjustable in the thickness direction and the left and right adjusting device 413 that can adjust the position according to the size of the outer diameter of the flange or boss 110 relative to the center of the rotation axis. The upper and lower control unit 414 is attached to allow the change, and the position of the welding torch 401 is rotated by the continuous bead generating motor 411 to generate the continuous multilayer bead, and the rotational force is added to the gear and link structure. After the welding torch 401 is rotated 360 degrees to control the position of the welding torch 401 to move a predetermined distance so that the rotation of the welding torch 401 can work continuously without stopping.

그림 6에서 나타내듯이 용접장치(200)와 같이 회전하면서 플랜지나 보스 (110)를 압착하는 클램프 실린더(210)의 선단에는 비대칭제품(112)의 홀(113)과 플랜지나 보스(110)의 홀(113)을 센터링시키는 센터링그리퍼(150)가 필요량만큼 상하로 움직일 수 있도록 한 슬라이딩 장치(153)에 부착되는데, 이 센터링그리퍼 (150)는 특허출원 제0122585호에 나타낸 바와 같이 다방향그리퍼 죠(152)가 동시에 움직이도록 배치하고 작동원으로 유압 실린더(151)를 적용하여 중량물의 플랜지나 보스(110)의 센터링이 되도록 하였다. As shown in FIG. 6, the hole 113 of the asymmetric product 112 and the hole of the flange or boss 110 are formed at the distal end of the clamp cylinder 210 that compresses the flange or the boss 110 while rotating together with the welding device 200. A centering gripper 150 for centering the 113 is attached to a sliding device 153, which allows the centering gripper 150 to move up and down by a required amount. The centering gripper 150 is a multidirectional gripper jaw (as shown in Patent Application No. 0122585). 152 is arranged to move at the same time and the hydraulic cylinder 151 is applied to the operating source to be the center of the flange or boss 110 of the heavy.

한 편, 이 센터링그리퍼(150)는 용접장치(200)에 부착된 용접토치(401)와 같이 회전하지 않도록 클램프 실린더(210)에 의해 눌러지며, 이 누름 압력은 용접시 플랜지나 보스(110)의 열변형에 대해 저항을 발생시켜 변형을 방지하는 역할을 하여 통상의 용접시 실시되는 가접공정을 생략하고 연속용접이 가능하도록 하였다. 또, 슬라이딩장치(153)는 클램프실린더(210)의 직선운동과 용접장치(200)가 회전하는 회전운동을 수용하도록 슬라이드 샤프트(154)를 부착하였다. 이 슬라이드 샤프트 (154)는 중공축으로 구성하여 센터링그리퍼(150)의 작동원인 유압배관이 통과되도록 하였다. On the other hand, the center ring gripper 150 is pressed by the clamp cylinder 210 so as not to rotate like the welding torch 401 attached to the welding device 200, the pressing pressure is the flange or boss 110 during welding It prevents deformation by generating resistance to thermal deformation of, thus eliminating the welding process performed during normal welding to enable continuous welding. In addition, the sliding device 153 is attached to the slide shaft 154 to accommodate the linear movement of the clamp cylinder 210 and the rotational movement of the welding device 200 rotates. The slide shaft 154 is composed of a hollow shaft so that the hydraulic pipe that is the operating source of the centering gripper 150 passes.

그림 8에서 나타나듯이 각 모터(508-1~508-n)들은 용접장치(200)를 회전시키는 회전모터(220), 용접토치(401)의 위치를 조절하는 연속비드생성 모터(411)를 나 타내고, 각 모터 (508-1~508-n) 들은 각각에 대응하는 모터 제어기(590-1509-n)에 의해 구동된다. 이 제어블록에서 CPU(501)은 표시부(504)의 입력에 따라 각종 모터 (508-1~508-n)를 각각 제어하거나, 외부 기억장치(505), 표시부(504)를 제어하게 된다.As shown in FIG. 8, each of the motors 508-1 to 508-n represents a rotary motor 220 for rotating the welding device 200 and a continuous bead generating motor 411 for adjusting the position of the welding torch 401. Each motor 508-1 to 508-n is driven by a corresponding motor controller 590-1509-n. In this control block, the CPU 501 controls the various motors 508-1 to 508-n, respectively, or controls the external storage device 505 and the display unit 504 according to the input of the display unit 504.

본 발명에 의하면, 비회전대칭형 제품의 플랜지나 보스 용접에 있어, 수동작업에 의한 센터링, 가접, 용접 작업공정으로 인한 인원, 시간 등의 낭비를 제거하고 단시간 내 작업이 이루어지도록 발명되어 생산성 향상의 효과를 가져다줄 것으로 예측가능하다.According to the present invention, in flange or boss welding of a non-rotationally symmetric type product, it is invented to remove the waste of personnel, time, etc. due to the manual centering, welding, and welding work processes and to perform work in a short time, thereby improving productivity. It is predictable to bring effect.

비대칭회전 제품의 다층용접을 연속적으로 가능하게 하는 제어 기술은 향후 설비의 제작에 활용됨으로써 설비구조를 단순화하고, 설비제작금액을 줄이는데 활용이 가능하다.The control technology that enables multi-layer welding of asymmetric rotating products can be used to simplify the structure of the facility and reduce the amount of facility production by being used in the future production of the facility.

제 1도 본 발명의 실시형태에 따른 토치회전형 용접장치 정면도1 is a front view of a torch rotary welding device according to an embodiment of the present invention

제 2도 본 발명의 실시형태에 적용되는 제품 및 플랜지 사시도2 is a perspective view of the product and the flange applied to the embodiment of the present invention

제 3도 본 발명의 로타리1조인트 단면도3 is a cross-sectional view of the rotary joint 1 of the present invention

제 4도 본 발명의 2개의 로타리조인트 배관연결도4 is a connection diagram of two rotary joints of the present invention

제 5도 용접케이블 단면도5th welding cable profile

제 6도 본 발명의 클램핑 장치 정면도6 is a front view of the clamping device of the present invention

제 7도 본 발명의 제어부 블록도7 is a control block diagram of the present invention

100; 관절부착 프레임 101; 용접케이블100; Articulation frame 101; Welding cable

102; 전선 103; 실드가스 통로102; Wire 103; Shield Gas Pathway

104; 용접봉 통로 105; 용접봉104; Electrode passage 105; Welding

110; 보스/플랜지 111; 외주면110; Boss / flange 111; Outer circumference

112; 비대칭 제품 113; 홀(hole)112; Asymmetric product 113; Hole

150; 센터링그리퍼 151; 유압실린더 150; Center ring gripper 151; Hydraulic cylinder

152; 다방향그리퍼 죠 153; 슬라이딩장치152; Multi-directional gripper jaw 153; Sliding device

154; 슬라이딩 샤프트 200; 용접장치154; Sliding shaft 200; Welding equipment

201; 구동기어 202; 종동기어201; Drive gear 202; Driven gear

210; 클램프실린더 220; 회전 모터210; Clamp cylinder 220; Rotary motor

230; 회전축 250; 슬립 링230; Axis of rotation 250; Slip ring

300; 로타리1조인트 301; 카본브러시300; Rotary Joint 1 301; Carbon brush

302; 회전1축 303; 도전봉 302; 1 axis of rotation 303; Challenge

304; 고정1축 305; 절연체 304; Fixed single axis 305; Insulator

306; 로테이터 350; 로타리2조인트306; Rotator 350; Rotary Joint

351; 회전2축 352; 고정2축351; 2 axis of rotation 352; Fixed 2-axis

400; 토치위치조절장치 401; 용접토치400; Torch positioning device 401; Welding torch

410; 토치위치변환장치 411; 연속비드형성모터410; Torch position changing device 411; Continuous Bead Forming Motor

412; 위치확인용 센서 413; 좌우 조절장치412; Positioning sensor 413; Left and right adjuster

414; 상하 조절장치 500; 제어부 블록도414; Up and down adjustment device 500; Control block diagram

Claims (6)

플랜지나 보스(110)의 외주 면(111)을 따라 용접토치(401)가 360도 연속 회전하면서 용접하는 것으로 고정된 상태의 비회전대칭 제품(112)의 홀(113)과 플랜지나 보스 (110)의 홀(113)간의 중심을 잡아주는 센터링그리퍼(150); 회전모터(220)의 회전력을 전달받아 용접토치(401)를 회전시키는 용접장치(200); 용접전류를 회전하는 도전봉(303)과 연결된 로테이터(306)에 전달하는 카본브러시(301); 제어용 전기를 회전체에 전달하는 슬립링(250), 유압과 실드가스 및 용접봉, 용접전류를 용접토치 (401)에 전달하는 로타리조인트(300,350), 용접 토치(401)의 위치를 조절하는 토치위치조절장치(400); 및 상기 주요 구성품과 회로 적으로 연결되면서 설정된 시퀀스에 따라 동작을 순차적으로 작동시키며 제어하는 제어부(500) 포함하여 이루어지는 것을 특징으로 하는 토치회전형 용접장치The hole 113 and the flange or boss 110 of the non-rotationally symmetric product 112 in a state where the welding torch 401 is welded while continuously rotating 360 degrees along the outer circumferential surface 111 of the flange or boss 110. Centering gripper 150 to hold the center between the holes 113; Welding device 200 for rotating the welding torch 401 by receiving the rotational force of the rotary motor 220; A carbon brush 301 which transmits a welding current to the rotator 306 connected to the conductive rod 303 that rotates the welding current; Slip ring 250 for transmitting the control electricity to the rotating body, hydraulic and shield gas and welding rod, torch position for adjusting the position of the rotary joint (300, 350), the welding torch 401 to transmit the welding current to the welding torch (401) Regulator 400; And a control unit 500 for controlling and sequentially operating and controlling the operation according to the set sequence while being connected to the main components in a circuit. 제 1항에 있어서, 고정1축(304)에 유압 배관을 연결하고 회전1축(302)으로 작동원의 배관을 연결하여 작동기기를 회전시키면서, 회전1축(302)은 중공축으로 하여 용접전류를 전달하는 도전봉(303), 회전1축(302)과 도전봉(303) 사이에 절연체(305)를 구비하고, 도전봉(303)의 일단에 용접전류를 전달하는 로터이트(306)를 장착하고 도전봉(303)을 중공축으로 하여 내부로 실드가스와 용접봉통로(104)가 통과 되도록 하여 타 단에 용접토치(401)가 부착된 용접케이블(101)을 부착하므로 전류.실드가스. 용접봉이 회전하면서 연속적으로 공급 되도록 한 것을 특징으로 하는 로타 리1조인트(300)According to claim 1, while connecting the hydraulic pipe to the fixed one shaft 304 and connecting the pipe of the operating source to the rotating one shaft 302 to rotate the operating device, the rotating one shaft 302 is a hollow shaft welding An insulator 305 is provided between the conductive rod 303 for transmitting current and the rotating shaft 302 and the conductive rod 303, and the rotor 306 for transmitting a welding current to one end of the conductive rod 303. And a conductive cable 303 as a hollow shaft to allow the shield gas and the welding rod passage 104 to pass therein so that the welding cable 101 with the welding torch 401 is attached to the other end thereof. . Rotary 1 joint (300), characterized in that the welding rod is continuously supplied while rotating 제 1항에 있어서, 로타리1조인트(300)의 회전1축(302)에 복수의 배관을 설치하여 일련의 배관은 용접장치(200)에 부착되어 회전하는 클램프실린더(210)에 연결되고 일련의 배관은 로타리2조인트(350)의 회전2축(351)과 연결한 후 로타리2조인트 (350)의 고정2축(353)은 슬라이딩샤프트(154)에 고정하고 유압배관은 슬라이딩샤프트(154)의 중공을 따라 고정상태의 센터링 그리퍼(150)의 유압실린더 (151)에 연결함으로써 회전작동기기와 고정작동기기에 동시에 유압이 공급되도록 한 것을 특징으로 하는 토치회전형 용접장치.According to claim 1, a plurality of pipes are installed on the rotary shaft 1 (302) of the rotary joint 1 (300) is a series of pipes are attached to the welding device 200 is connected to the rotating clamp cylinder 210 and a series of After the pipe is connected with the rotary two shaft 351 of the rotary two joint 350, the fixed two shaft 353 of the rotary two joint 350 is fixed to the sliding shaft 154, and the hydraulic pipe of the sliding shaft 154 Torch rotary welding device, characterized in that the hydraulic pressure is supplied to the rotary actuator and the fixed actuator at the same time by connecting to the hydraulic cylinder 151 of the centering gripper 150 in a fixed state along the hollow. 제 1항에 있어서, 제어용 전원이 필요한 연속비드형성모타(411), 위치확인용 센서 (412)의 전원을 로타리1조인트(300)하부와 회전축(230) 사이 공간에 슬립링(250)을 설치하여 용접장치(200)와 같이 회전할 수 있도록 한 것을 특징으로 하는 토치회전형 용접장치.The slip ring 250 is installed in the space between the rotary joint 1 and the lower part of the rotary joint 230 to supply the power of the continuous bead-forming motor 411 and the positioning sensor 412 that require the control power. Torch rotary welding device, characterized in that to rotate as the welding device (200). 제 1항에 있어서, 용접토치(401)의 위치조절장치(400)는 회전축의 중심을 기준으로 플랜지나 보스(110)의 외경의 크기에 따라 위치를 조절할 수 있는 좌우 조절장치 (413)와 두께방향으로 조절가능한 상하 조절장치(414)를 부착하여 변화할 수 있게 하였고, 연속다층비드를 생성하기 위하여 용접토치(401)의 위치를 연속비드생성 모터(411)로 회전시키고 이 회전력을 기어와 링크 구조를 추가하여 용접토치(401)가 360도 회전한 후 용접토치(401)의 위치를 소정의 거리로 옮길 수 있도록 제어하여 용접토치(401)의 회전이 멈추지 않고 연속적으로 작업할 수 있도록 한 것을 특징으로 하는 토치회전형 용접장치.According to claim 1, the position adjusting device 400 of the welding torch 401 and the left and right adjusting device 413 and the thickness that can adjust the position according to the size of the outer diameter of the flange or boss 110 relative to the center of the rotation axis The up and down adjustment device 414, which is adjustable in the direction, can be attached and changed, and the position of the welding torch 401 is rotated by the continuous bead generating motor 411 to generate a continuous multilayer bead, and the rotational force is transmitted to the gear and the link. By adding a structure, the welding torch 401 rotates 360 degrees, and then the position of the welding torch 401 can be moved to a predetermined distance so that the rotation of the welding torch 401 can be continuously performed. Torch rotary welding device characterized in that. 제 1항에 있어서, 센터링그리퍼(150)는 용접장치(200)에 부착된 용접토치(401)와 같이 회전하지 않도록 클램프실린더(210)에 의해 눌러 용접시 플랜지나 보스(110)의 열변형에 대해 변형을 방지하는 것을 특징으로 하는 토치회전형 용접장치.According to claim 1, the center ring gripper 150 is pressed by the clamp cylinder 210 so as not to rotate, such as the welding torch 401 attached to the welding device 200 to the heat deformation of the flange or boss 110 during welding. Torch rotary welding device, characterized in that to prevent deformation.
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Cited By (14)

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KR101066264B1 (en) * 2011-05-26 2011-09-21 (주)피엠에스 Device cutting type curve for steel body blast furnace
CN102240874A (en) * 2011-06-17 2011-11-16 无锡华联科技集团有限公司 Automatic welding gun rotating device
KR20130138453A (en) * 2012-06-11 2013-12-19 현대중공업 주식회사 Circumference welding apparatus using clutch for adjusting height of welding torch
KR101418933B1 (en) * 2012-09-25 2014-07-15 전명숙 Automatic Welding Apparatus
CN103978329A (en) * 2014-05-22 2014-08-13 无锡华联科技集团有限公司 Rod piece welding machine
CN104476036A (en) * 2014-12-04 2015-04-01 大连东拓工程机械制造有限公司 Automatic circumference welding machine for movable arms of excavators and swing arms of loaders
EP2881209A1 (en) * 2013-09-13 2015-06-10 Carl Cloos Schweisstechnik GmbH System and method for the automated replacement of a wearing burner component of a welding robot
KR101540317B1 (en) * 2013-07-19 2015-07-30 삼성중공업 주식회사 A jig for welding
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CN106903462A (en) * 2017-03-17 2017-06-30 广西博腾恒泰智能科技有限公司 A kind of carbon brush configuration in bonding machine
KR20180063654A (en) * 2016-12-02 2018-06-12 비에이치아이 주식회사 Partition plate welding device for header
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KR101066264B1 (en) * 2011-05-26 2011-09-21 (주)피엠에스 Device cutting type curve for steel body blast furnace
CN102240874A (en) * 2011-06-17 2011-11-16 无锡华联科技集团有限公司 Automatic welding gun rotating device
KR20130138453A (en) * 2012-06-11 2013-12-19 현대중공업 주식회사 Circumference welding apparatus using clutch for adjusting height of welding torch
KR101418933B1 (en) * 2012-09-25 2014-07-15 전명숙 Automatic Welding Apparatus
KR101540317B1 (en) * 2013-07-19 2015-07-30 삼성중공업 주식회사 A jig for welding
EP2881209A1 (en) * 2013-09-13 2015-06-10 Carl Cloos Schweisstechnik GmbH System and method for the automated replacement of a wearing burner component of a welding robot
CN103978329A (en) * 2014-05-22 2014-08-13 无锡华联科技集团有限公司 Rod piece welding machine
CN104476036A (en) * 2014-12-04 2015-04-01 大连东拓工程机械制造有限公司 Automatic circumference welding machine for movable arms of excavators and swing arms of loaders
CN104476036B (en) * 2014-12-04 2018-06-22 大连东拓工程机械制造有限公司 Excavator swing arm and loading machine rocking arm circumference automatic welding machine
KR101716330B1 (en) * 2015-11-09 2017-03-14 대우조선해양 주식회사 Welding device of coupler base socket
KR20180063654A (en) * 2016-12-02 2018-06-12 비에이치아이 주식회사 Partition plate welding device for header
CN106903462A (en) * 2017-03-17 2017-06-30 广西博腾恒泰智能科技有限公司 A kind of carbon brush configuration in bonding machine
CZ309580B6 (en) * 2019-03-01 2023-04-26 Mitsubishi Electric Corporation Welding equipment
KR102161649B1 (en) * 2019-05-21 2020-10-05 두산중공업 주식회사 3D elliptical curved surface automatic welding device
KR102485124B1 (en) 2022-10-26 2023-01-09 주식회사 태건특장 Welding carrier for torch rotation type arc welder

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