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KR20120132889A - Submerged arc welding machine capable of weld-line trace - Google Patents

Submerged arc welding machine capable of weld-line trace Download PDF

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Publication number
KR20120132889A
KR20120132889A KR1020110051282A KR20110051282A KR20120132889A KR 20120132889 A KR20120132889 A KR 20120132889A KR 1020110051282 A KR1020110051282 A KR 1020110051282A KR 20110051282 A KR20110051282 A KR 20110051282A KR 20120132889 A KR20120132889 A KR 20120132889A
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KR
South Korea
Prior art keywords
welding
weld
carriage
torch
line
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Application number
KR1020110051282A
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Korean (ko)
Inventor
김병만
김재형
이아람
Original Assignee
대우조선해양 주식회사
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Priority to KR1020110051282A priority Critical patent/KR20120132889A/en
Publication of KR20120132889A publication Critical patent/KR20120132889A/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
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • 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
    • B23K37/0282—Carriages forming part of a welding unit
    • 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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
    • 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
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126—Controlling the spatial relationship between the work and the gas torch
    • 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
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127—Means for tracking lines during arc welding or cutting
    • B23K9/1272—Geometry oriented, e.g. beam optical trading
    • B23K9/1274—Using non-contact, optical means, e.g. laser means

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  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Arc Welding In General (AREA)
  • Laser Beam Processing (AREA)

Abstract

PURPOSE: A submerged arc welding system capable of weld-line tracking is provided to improve welding quality by accurately locating a welding torch in the center of a weld line on a welding target material even if the target material is deviated or inclined. CONSTITUTION: A submerged arc welding system capable of weld-line tracking comprises a carriage(11) moving along a rail(2), a welding robot(10) which is installed in the carriage and comprises a welding torch(13) for welding a target material, a laser vision sensor(20) which is installed on one side of the welding robot and measures the geometry of the target material by processing images obtained by projecting laser beams to the target material, and a slide member(100) which is installed to horizontally move the welding torch transversely to the moving direction of the carriage in order to trace a weld line.

Description

용접선 추적이 가능한 잠호 용접 시스템{Submerged arc welding machine capable of weld-line trace}Submerged arc welding machine capable of weld-line trace

본 발명은 용접선 추적이 가능한 잠호 용접 시스템에 관한 것으로서, 특히 레일을 따라 이동하는 잠호 용접 시스템에서 레이저 영상 센서를 통해 취득한 영상으로부터 영상처리를 통해 용접선을 추적할 수 있는 잠호 용접 시스템에 관한 것이다. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lock welding system capable of tracing a weld line, and more particularly, to a lock welding system capable of tracking a weld line through image processing from an image acquired through a laser image sensor in a lock welding system moving along a rail.

잠호 용접(SAW:Submerged Arc Welding)은 용접 대상이 되는 용접 부재와 용가재 사이에서 발생된 아크가 용접 부위에 살포된 플럭스 내부에서 일어나기 때문에 아크가 외부로 노출되는 것이 거의 없다는 특성이 있으며, 사용되는 와이어 경에 따라 적용되는 용접전류의 영역범위가 다르다. 중공업 분야에서는 고전류를 사용하여 주판의 판계 맞대기 용접에 주로 적용하고 있으며, 용접은 두께가 약 20mm 이하인 경우에는 I개선, 그 이상인 경우에는 Y개선이나 X개선으로 가공하여 그 용접부위를 잠호 용접으로 용접을 실시하고 있다. 용접 순서는 2전극(DC+AC) 또는 3전극(DC+AC+AC)으로 전면을 용접하고, 부재를 뒤집어 이면을 같은 방식으로 용접하고 있다. Submerged Arc Welding (SAW) has the characteristic that the arc is rarely exposed to the outside because the arc generated between the welding member to be welded and the filler metal is generated inside the flux sprayed on the welding site. The range of welding current applied varies depending on the diameter. In heavy industry, high current is used for butt welding of abacus plate. Welding is processed with I improvement if thickness is less than about 20mm and Y improvement or X improvement for more than that, and the welding part is welded by submerged welding. Is carried out. In the welding sequence, the front surface is welded with two electrodes (DC + AC) or three electrodes (DC + AC + AC), the members are turned over, and the back surface is welded in the same manner.

도 1은 종래 잠호 용접 시스템의 구성도로서, 크게 용접 대상이 되는 용접 부재(1)를 용접하기 위하여 소정의 레일(2)을 따라 이동하기 위한 캐리지(11), 와이어(12), 용접 토치(13) 및 용접 토치(13)로 용접을 수행할 때 용융지를 보호하기 위한 살포되는 플럭스를 저장하는 호퍼 탱크(14) 등을 구비하여 용접 작업을 수행하는 용접 로봇(10) 및 용접 로봇(10)의 일측에 설치되어 용접 부재(1)에 레이저를 조사하여 얻어진 영상을 처리함으로써 용접 부재(1)의 기하학적인 형상을 측정하는 레이저 비전 시스템(20)을 포함하여 이루어진다. 1 is a configuration diagram of a conventional submerged welding system, which includes a carriage 11, a wire 12, and a welding torch for moving along a predetermined rail 2 to weld a welding member 1 to be largely welded. 13) and a welding robot (10) and a welding robot (10) for carrying out a welding operation, including a hopper tank (14) for storing the sprayed flux for protecting the molten material when performing welding with the welding torch (13). The laser vision system 20 is installed on one side of the laser beam to measure the geometric shape of the welding member 1 by processing an image obtained by irradiating the laser to the welding member 1.

일반적인 잠호 용접의 경우, 용접 부재(1)의 개선면에 플럭스가 살포된 상태에서, 도 2에 도시한 바와 같이 레이저 비전 센서(20)로 용접 부재(1)를 측정하게 되고, 도 3에 도시한 바와 같이 측정된 레이저 영상에서 선이 꺾여있는 모서리 부분을 용접선 추적에 사용하게 된다. In the case of general latent welding, the welding member 1 is measured by the laser vision sensor 20 as shown in FIG. 2 in a state in which flux is spread on the improved surface of the welding member 1, and shown in FIG. 3. As described above, the edge where the line is bent in the measured laser image is used to trace the weld line.

그런데, 종래 잠호 용접 시스템의 경우, 도 4에 도시한 바와 같이, 용접 부재(1)가 용접 토치(13)를 기준으로 θ만큼 기울어 있는 경우에는 각도를 조정하는 별다른 부가 장치가 없으므로, 도 5에 도시한 바와 같이, 용접 토치(13)가 용접 부재(1)의 용접선 중심 위치로부터 어긋난 상태가 된다. 따라서, 용접 토치(13)가 용접 부재(1) 상단부의 중심에 위치하고 있어도 백비드가 형성되는 이면갭의 위치와 용접봉의 위치가 일치하지 않아서 백비드의 형성이 제대로 이루어지지 않는 등의 용접 불량이 발생할 가능성이 있다. However, in the case of the conventional submerged welding system, as shown in FIG. 4, when the welding member 1 is inclined by θ with respect to the welding torch 13, there is no additional device for adjusting the angle. As shown, the welding torch 13 is in a state shifted from the welding line center position of the welding member 1. Therefore, even if the welding torch 13 is located at the center of the upper end of the welding member 1, the welding defect such as the position of the back gap where the back bead is formed does not coincide with the position of the welding rod and the back bead is not properly formed. There is a possibility.

이에 본 발명은 상기와 같은 문제점을 해결하기 위한 것으로서, 용접부재가 좌우로 치우쳐 있거나 기울어져 있는 경우에도 용접 토치가 용접 부재의 용접선 중심에 위치할 수 있도록 하여 용접 품질을 향상시킬 수 있도록 된 용접선 추적이 가능한 잠호 용접 시스템을 제공하는데 그 목적이 있다. Accordingly, the present invention is to solve the above problems, even if the welding member is biased or tilted to the left or right to weld welding torch to be located in the center of the welding line of the welding member to improve the welding quality tracking The purpose is to provide this possible submerged welding system.

상기와 같은 목적을 달성하기 위하여 용접선 추적이 가능한 잠호 용접 시스템은, 레일을 따라 이동하기 위한 캐리지와 상기 캐리지에 설치되며 용접 부재에 대해 용접을 수행하는 용접 토치를 구비한 용접 로봇 및 용접 로봇의 일측에 설치되어 용접 부재에 레이저를 조사하여 얻어진 영상을 처리함으로써 용접 부재의 기하학적인 형상을 측정하는 레이저 비전 센서를 포함하여 이루어진 잠호 용접 시스템에 있어서, 용접선을 추적하기 위해 상기 용접 토치를 캐리지의 진행방향 좌우로 수평 이동시킬 수 있도록 설치되는 슬라이드 부재를 구비한 것을 특징으로 한다. In order to achieve the above object, a welding welding system capable of tracing a welding line, a welding robot having a carriage for moving along a rail and a welding torch installed in the carriage and welding a welding member, and one side of the welding robot A submerged welding system comprising a laser vision sensor installed in a laser beam and measuring a geometric shape of the welding member by processing an image obtained by irradiating a laser beam on the welding member, wherein the welding torch moves in the direction of the carriage to track the welding line. Characterized in that it comprises a slide member which is installed to be able to move horizontally from side to side.

여기에서, 상기 용접선 추적이 가능한 잠호 용접 시스템은, 상기 용접 토치를 캐리지의 진행방향 좌우로 회전 운동시켜서 용접 부재의 용접면과의 각도 조정이 가능하도록 설치되는 회전축을 더 구비할 수 있다. The lock welding system capable of tracking the weld line may further include a rotation shaft installed to allow the welding torch to rotate in the traveling direction from side to side in the carriage direction so as to adjust an angle with the welding surface of the welding member.

본 발명에 따르면, 용접부재가 좌우로 치우져 있거나 기울어진 경우에도 용접 토치가 용접 부재의 용접선 중심에 정확히 위치할 수 있도록 함으로써 용접 품질을 향상시킬 수 있는 이점이 있다.According to the present invention, the welding torch can be accurately positioned at the center of the weld line of the welding member even when the welding member is left to right or inclined, thereby improving the welding quality.

도 1은 종래 잠호 용접 시스템의 구성도.
도 2는 레이저 비전 센서의 측정 개념도.
도 3은 도 2의 경우에서의 종래 잠호 용접 시스템 레이저 비전 센서의 측정 영상.
도 4는 용접 부재가 기울어진 상태를 보여주는 개념도.
도 5는 도 4의 경우에서의 종래 잠호 용접 시스템의 용접 토치와 용접 부재의 관계를 보여주는 개념도.
도 6은 도 4의 경우에서의 종래 잠호 용접 시스템의 레이저 비전 센서의 측정 영상.
도 7은 본 발명에 따른 용접선 추적이 가능한 잠호 용접 시스템의 구성도.
도 8은 도 4의 경우에서의 본 발명에 따른 용접선 추적이 가능한 잠호 용접 시스템의 용접 토치와 용접 부재의 관계를 보여주는 개념도.
도 9는 도 4의 경우에서의 본 발명에 따른 용접선 추적이 가능한 잠호 용접 시스템의 레이저 비전 센서의 측정 영상. 1 is a block diagram of a conventional submerged welding system.
2 is a conceptual diagram of measurement of a laser vision sensor.
3 is a measurement image of a conventional latent welding system laser vision sensor in the case of FIG.
4 is a conceptual view showing a state in which the welding member is inclined.
FIG. 5 is a conceptual view showing a relationship between a welding torch and a welding member of the conventional submerged welding system in the case of FIG. 4. FIG.
6 is a measurement image of a laser vision sensor of the conventional latent welding system in the case of FIG.
Figure 7 is a block diagram of a latent welding system capable of tracing weld lines in accordance with the present invention.
FIG. 8 is a conceptual view illustrating a relationship between a welding torch and a welding member of a latent welding system capable of tracing weld lines in the case of FIG. 4.
9 is a measurement image of a laser vision sensor of a latent welding system capable of tracing weld lines according to the present invention in the case of FIG. 4.

이하, 본 발명의 바람직한 실시예를 첨부된 도면들을 참조하여 상세히 설명한다. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 7은 본 발명에 따른 잠호 용접 시스템의 구성도, 도 8은 도 4의 경우에서의 본 발명에 따른 용접선 추적이 가능한 잠호 용접 시스템의 용접 토치와 용접 부재의 관계를 보여주는 개념도, 도 9는 도 4의 경우에서의 본 발명에 따른 용접선 추적이 가능한 잠호 용접 시스템의 레이저 비전 센서의 측정 영상이다. 7 is a configuration diagram of a latent welding system according to the present invention, FIG. 8 is a conceptual view showing a relationship between a welding torch and a welding member of a latent welding system capable of tracing weld lines in the case of FIG. 4. 4 is a measurement image of a laser vision sensor of a latent welding system capable of tracing weld lines according to the present invention.

본 발명에 따른 용접선 추적이 가능한 잠호 용접 시스템은, 용접 부재가 좌우로 기울어진 경우에도 용접 토치가 용접 부재의 용접선 중심에 정확히 위치 가능하게 하는 잠호 용접 시스템을 제안한다. The lock welding system capable of tracing the weld line according to the present invention proposes a lock welding system that enables the welding torch to be accurately positioned at the center of the weld line of the welding member even when the welding member is inclined from side to side.

도면에 도시한 바와 같이, 본 발명에 따른 용접선 추적이 가능한 잠호 용접 시스템은, 레일(2)을 따라 이동하기 위한 캐리지(11)와 상기 캐리지(11)에 설치되며 용접 부재(1)에 대해 용접을 수행하도록 와이어(12), 용접 토치(13), 호퍼 탱크(14)를 구비한 용접 로봇(10) 및 용접 로봇(10)의 일측에 설치되어 용접 부재(1)에 레이저를 조사하여 얻어진 영상을 처리함으로써 용접 부재(1)의 기하학적인 형상을 측정하는 레이저 비전 시스템(20)를 포함하여 이루어진 잠호 용접 시스템에 있어서, 용접선을 추적하기 위해 상기 용접 토치(13)를 캐리지(11)의 진행방향 좌우로 수평 이동시킬 수 있도록 설치되는 슬라이드 부재(100)와, 상기 용접 토치(13)를 캐리지(11)의 진행방향 좌우로 회전 운동시켜서 용접 부재(1)의 용접면과의 각도 조정이 가능하도록 설치되는 회전축(110)을 구비한다. As shown in the drawings, the weld line tracking locking system according to the present invention is installed on the carriage 11 and the carriage 11 for moving along the rail 2 and welded to the welding member 1. To obtain a wire 12, a welding torch 13, a welding robot 10 having a hopper tank 14, and one side of the welding robot 10 to irradiate a welding member 1 with a laser. In the submerged welding system comprising a laser vision system 20 for measuring the geometric shape of the welding member 1 by processing the welding torch 13, the welding torch 13 moves the carriage 11 in order to track the welding line. The slide member 100 is installed to be horizontally moved from side to side, and the welding torch 13 is rotated to the left and right in the traveling direction of the carriage 11 so that the angle of the welding surface of the welding member 1 can be adjusted. Rotating shaft 110 is installed And a.

즉, 잠호 용접 시스템이 용접선을 정확하게 추적할 수 있도록, 용접 토치(13)를 캐리지(11)의 진행방향 좌우로 수평 이동시킬 수 있도록 설치되는 슬라이드 부재(100)와, 용접 부재(1)가 좌우로 기울어진 것을 보상하여 용접 토치(13)가 항상 용접 부재(1)면에 대해서 진행방향의 직각 방향으로 수직을 이루도록 설치되는 회전축(110)을 구비하고 있는 것이다. That is, the slide member 100 and the welding member 1 which are installed to move the welding torch 13 horizontally to the left and right in the traveling direction of the carriage 11 so that the submerged welding system can accurately track the welding line, the welding member 1 is left and right. Compensating the inclination with the welding torch 13 is provided with a rotating shaft 110 is always installed to be perpendicular to the direction perpendicular to the welding member 1 surface direction.

이를 통해, 설령 용접 부재(1)가 용접 토치(13)를 기준으로 좌우로 치우진 경우에도 슬라이드 부재(100)에 의한 수평 이동으로 용접 토치(13)가 용접 부재(1)의 용접선 중심에 위치할 수 있도록 함으로써 용접 품질을 향상시킬 수가 있다. Thus, even when the welding member 1 is shifted from side to side based on the welding torch 13, the welding torch 13 is positioned at the center of the welding line of the welding member 1 by horizontal movement by the slide member 100. The welding quality can be improved by making it possible.

또한, 설령 용접 부재(1)가 용접 토치(13)를 기준으로 좌우로 기울어진 경우에도 회전축(110)에 의한 각도 조정으로 용접 토치(13)가 용접 부재(1)의 용접선 중심에 위치할 수 있도록 함으로써 용접 품질을 향상시킬 수가 있다. 이때, 용접 부재(1)의 용접면과 용접 토치(13) 사이의 각도는 레이저 영상 센서(20)를 통해 측정할 수 있다. In addition, even when the welding member 1 is inclined left and right with respect to the welding torch 13, the welding torch 13 may be positioned at the center of the welding line of the welding member 1 by adjusting the angle by the rotation shaft 110. By doing so, the welding quality can be improved. In this case, the angle between the welding surface of the welding member 1 and the welding torch 13 may be measured by the laser image sensor 20.

본 발명에 따른 잠호 용접 시스템의 경우, 도 4에 도시한 바와 같이, 용접 부재(1)가 용접 토치(13)를 기준으로 θ만큼 기울어 있는 경우에는 회전축(110)을 이용하여 용접 토치(13)를 적절히 회전 운동시켜서 각도를 조정할 수가 있다. In the case of the submerged welding system according to the present invention, as shown in FIG. 4, when the welding member 1 is inclined by θ with respect to the welding torch 13, the welding torch 13 is formed using the rotation shaft 110. The angle can be adjusted by appropriately rotating.

이에 따라, 도 8에 도시한 바와 같이, 용접 토치(13)가 용접 부재(1)의 용접선 중심에 정확히 위치할 수가 있다. 결과적으로, 용접 부재(1)와 용접 토치(13)가 수직이 되므로 용접 부재(1)의 이면의 백비드가 발생할 위치와 용접 토치(13)의 각도가 정확히 일치함으로 백비드의 형성에 불량이 발생할 가능성이 줄어들게 되어 용접 품질을 향상시킬 수가 있다. As a result, as shown in FIG. 8, the welding torch 13 can be accurately positioned at the center of the welding line of the welding member 1. As a result, since the welding member 1 and the welding torch 13 are perpendicular to each other, the position of the back bead on the rear surface of the welding member 1 and the angle of the welding torch 13 are exactly the same, so that a defect in the formation of the back bead is caused. It is possible to reduce the likelihood of occurrence and improve the welding quality.

한편, 본 발명에 따른 용접선 추적이 가능한 잠호 용접 시스템을 한정된 실시예에 따라 설명하였지만, 본 발명의 범위는 특정 실시예에 한정되는 것은 아니며, 본 발명과 관련하여 통상의 지식을 가진자에게 자명한 범위내에서 여러 가지의 대안, 수정 및 변경하여 실시할 수 있다. On the other hand, although the description of the lock welding system capable of tracing the weld line according to the present invention has been described according to a limited embodiment, the scope of the present invention is not limited to a specific embodiment, it will be apparent to those skilled in the art in connection with the present invention. Various alternatives, modifications, and changes can be made within the scope.

따라서, 본 발명에 개시된 실시예 및 첨부된 도면들은 본 발명의 기술 사상을 한정하기 위한 것이 아니라 설명하기 위한 것이고, 이러한 실시예 및 첨부된 도면에 의하여 본 발명의 기술 사상의 범위가 한정되는 것은 아니다. 본 발명의 보호 범위는 아래의 청구범위에 의하여 해석되어야 하며, 그와 동등한 범위 내에 있는 모든 기술 사상은 본 발명의 권리범위에 포함되는 것으로 해석되어야 할 것이다.Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical spirit of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by the embodiments and the accompanying drawings. . The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the present invention.

100 : 슬라이드 부재 110 : 회전축100: slide member 110: rotation axis

Claims (2)

레일(2)을 따라 이동하기 위한 캐리지(11)와 상기 캐리지(11)에 설치되며 용접 부재(1)에 대해 용접을 수행하는 용접 토치(13)를 구비한 용접 로봇(10) 및 용접 로봇(10)의 일측에 설치되어 용접 부재(1)에 레이저를 조사하여 얻어진 영상을 처리함으로써 용접 부재(1)의 기하학적인 형상을 측정하는 레이저 비전 센서(20)를 포함하여 이루어진 잠호 용접 시스템에 있어서,
용접선을 추적하기 위해 상기 용접 토치(13)를 캐리지(11)의 진행방향 좌우로 수평 이동시킬 수 있도록 설치되는 슬라이드 부재(100)를 구비한 것을 특징으로 하는 용접선 추적이 가능한 잠호 용접 시스템. A welding robot 10 and a welding robot having a carriage 11 for moving along the rail 2 and a welding torch 13 mounted on the carriage 11 and performing welding on the welding member 1. 10. A latent welding system comprising a laser vision sensor 20 provided on one side of a laser beam and measuring a geometrical shape of the welding member 1 by processing an image obtained by irradiating a laser on the welding member 1,
And a slide member (100) installed to move the welding torch (13) horizontally to the left and right in the traveling direction of the carriage (11) to track the welding line. 청구항 1에 있어서,
상기 용접 토치(13)를 캐리지(11)의 진행방향 좌우로 회전 운동시켜서 용접 부재(1)의 용접면과의 각도 조정이 가능하도록 설치되는 회전축(110)을 더 구비한 것을 특징으로 하는 용접선 추적이 가능한 잠호 용접 시스템. The method according to claim 1,
Weld line tracking, characterized in that the welding torch 13 is further provided with a rotating shaft 110 which is installed to allow the angle of the welding surface of the welding member 1 to be rotated by moving left and right in the traveling direction of the carriage 11. 2 possible submerged welding systems.
KR1020110051282A 2011-05-30 2011-05-30 Submerged arc welding machine capable of weld-line trace KR20120132889A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104668738A (en) * 2015-02-02 2015-06-03 南昌大学 Cross type double-line laser vision sensing welding gun height real-time identification system and method
KR101649497B1 (en) 2015-05-19 2016-08-22 대우조선해양 주식회사 The welding machine for cross structure
CN106077900A (en) * 2016-06-14 2016-11-09 苏汉明 A kind of movable-type intelligent welding robot
KR20180001702U (en) 2016-11-30 2018-06-08 삼성중공업 주식회사 Flux collector for submerged arc welding by using multiple welding torches
CN109834373A (en) * 2017-11-28 2019-06-04 史和生 A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking
KR102202888B1 (en) 2020-09-02 2021-01-15 주식회사 태강기업 Submerged welder

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104668738A (en) * 2015-02-02 2015-06-03 南昌大学 Cross type double-line laser vision sensing welding gun height real-time identification system and method
KR101649497B1 (en) 2015-05-19 2016-08-22 대우조선해양 주식회사 The welding machine for cross structure
CN106077900A (en) * 2016-06-14 2016-11-09 苏汉明 A kind of movable-type intelligent welding robot
CN106077900B (en) * 2016-06-14 2018-10-16 苏汉明 A kind of movable-type intelligent welding robot
KR20180001702U (en) 2016-11-30 2018-06-08 삼성중공업 주식회사 Flux collector for submerged arc welding by using multiple welding torches
CN109834373A (en) * 2017-11-28 2019-06-04 史和生 A kind of view-based access control model and the automation submerged arc soldering equipment of laser tracking
KR102202888B1 (en) 2020-09-02 2021-01-15 주식회사 태강기업 Submerged welder

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