KR101287252B1 - Automatic welding device for corrugated type angle piece - Google Patents

Abstract

The angle piece automatic welding device of the corrugation type of the present invention moves along the rail, but the longitudinal direction of the rail is operated in the X direction, the Y direction perpendicular to the X direction, the X direction and the Z direction perpendicular to the Y direction. An automatic angle piece welding device comprising: a carriage body coupled to a rail installed at a portion of a cargo warehouse in a membrane type LNG carrier to which a corrugated angle piece is attached, and moving in the X direction along the rail; And a first transfer part installed in one portion of the carriage main body and moving in a direction parallel to the X direction; and a second transfer part installed in one portion of the first transfer part and moving in the Z direction; and the second transfer part A third conveying part installed at one portion of the third conveying part and moving in the Y direction; A welding head which is capable of welding; and a rotating part installed at one part of the welding head and rotatable about a centerline parallel to the Y direction; and a fourth conveying part installed at one part of the rotating part and moving in a direction parallel to the Z direction. ; And a welding part installed at one portion of the fourth transfer part to weld the angle piece. As a result, the straight line, the slope and the curved portion are automatically welded, and the carriage posture can be corrected to greatly improve the welding speed, welding quality and productivity.

 Angle piece welding device, angle piece of corrugated type, warehouse corner welding device

Description

Automatic welding device for corrugated type angle piece}

The present invention relates to a corrugated angle piece automatic welding device for welding corners of a membrane-type LNG carrier cargo warehouse, and more particularly to a corrugated angle piece formed at various sizes and various angles. The welding speed, welding quality and productivity can be greatly improved, and welding is easily performed by overcoming the error of fine alignment caused by the installation error of the rail on which the carriage runs or the mounting error of the angle piece. It is related with the angle piece automatic welding apparatus which can be done.

Corrugated angle pieces are usually attached to the corners of the cargo hold. Here, the operator should perform a welding operation in front of the angle piece, the angle piece is attached to the corner of the very narrow cargo warehouse is limited by the welding posture. In addition, since the angle pieces vary in size and shape, most of them rely on manual welding, thereby reducing work speed and deteriorating welding quality. Accordingly, there is a problem that not only the productivity is greatly reduced but also the welding quality is uneven and the welding defect rate is increased, thereby greatly reducing the welding reliability.

In order to solve this problem, at present, a separate angle piece welding device is developed and used, but a problem in that the welding speed decreases due to various sizes of the angle piece occurs.

In addition, the corner of the cargo warehouse may be formed at an angle of 135 degrees, the wall surface of the cargo warehouse is inclined so that it may be difficult to install a welding device there.

In addition, the rail must be installed on the wall of the cargo warehouse in order to operate the welding device. The rail is minutely twisted because the wall of the cargo warehouse is uneven, and the angle pieces, which are the working members, may be uneven. . As a result, the running direction of the welding apparatus is twisted finely, so that the welding quality is deteriorated, and the welding failure may occur.

The present invention has been made in order to solve the above problems, by welding the angle piece attached to the corner of the membrane-type LNG carrier cargo warehouse by using a single equipment to continuously weld the straight, inclined and curved parts , Welding speed, welding quality and productivity can be greatly improved, and the corrugated angle piece automatic welding device can further improve the welding quality by correcting the misalignment of the carriage in which the carriage does not finely match the driving direction. Its purpose is to.

An object of the present invention is to move along the rail, the longitudinal direction of the rail in the corrugated-type angle welding automatic welding device operating in the Y direction, perpendicular to the X direction, X direction and Z direction perpendicular to the Y direction In the LNG carrier of the membrane type to which the angle piece of the corrugation type is attached, the carriage body coupled to the rail installed in a portion of the cargo warehouse and moving along the rail in the X direction; and a portion of the carriage body A first transfer part installed and moving in a direction parallel to the X direction; and a second transfer part installed in one portion of the first transfer part and moving in the Z direction; and installed in one part of the second transfer part; A third transfer part moving in a direction; and a welding head installed at a portion of the third transfer part and rotatable about a center line parallel to the Z direction; and one of the welding heads. Is installed on the rotating portion minutes rotatable relative to the center line parallel with the Y direction; is installed on a part of the rotation unit and the fourth transport unit moving in a direction parallel to the Z direction; And a welding part installed at one portion of the fourth conveying part to weld the angle piece, wherein the angle piece automatic welding device comprises a corrugation type.

The posture correcting mechanism is rotatably installed at both ends of the carriage body to correct the alignment state of the carriage body and the angle piece serving as a work member, and is fixed to the angle piece installed in the cargo warehouse. can do.

The apparatus may further include a laser pointer using a cross laser installed at a portion of the third transfer unit to stop the carriage main body by checking a working state of the posture correcting mechanism and the welding unit.

In addition, the carriage body,

A trolley coupled to the rail; a traveling motor unit installed at a portion of the trolley to move the trolley; and a first block fixed to a portion of the trolley; and in the traveling direction of the carriage body. A first ball screw installed in the first block; And a first driving part installed at one portion of the first block to rotate the first ball screw.

In addition, the first transfer unit,

A second bearing; and a first bearing fixed to a portion of the second block to be coupled to the first ball screw and moved by rotation of the first ball screw; and installed in the vertical direction in the second block. A second ball screw; And a second driving part installed at one portion of the second block to rotate the second ball screw.

In addition, the second transfer unit,

A third bearing; and a second bearing fixed to a portion of the third block to be coupled to the second ball screw and moved by rotation of the second ball screw; and installed in the front and rear directions to the third block. A third ball screw; And a third driving part installed at a portion of the third block to rotate the third ball screw.

In addition, the third transfer unit,

A third bearing coupled to the third ball screw and fixed to a portion of the fourth block to move by rotation of the third ball screw; And a fixed shaft fixed to any part of the fourth block such that the welding head is rotatable.

In addition, the rotating unit,

A rotating motor unit installed at one portion of the welding head and including a rotating shaft; a fifth block rotatably connected to the rotating shaft; and a fourth ball screw installed in the vertical direction in the fifth block; And a fourth driving unit installed at one portion of the fifth block to rotate the fourth ball screw.

In addition, the fourth transfer unit,

Sixth block; And a fourth bearing coupled to the fourth ball screw and fixed to a portion of the sixth block to move by rotation of the fourth ball screw.

In addition, the welding portion,

A displacement sensor installed at one portion of the sixth block to measure a welding surface of the angle piece of the corrugation type; And a welding torch installed at any one portion of the sixth block to weld the angle piece of the corrugation type.

In addition, the posture correction mechanism,

An extension part including a hinge part rotatable at both ends of the carriage body, a support pipe connected to the hinge part, and an extension pole inserted into the support pipe and extended to the support pipe; and an extension of the extension pole installed at an end of the support pipe. A length adjusting unit for adjusting the length; And a forceps installed at the end of the extension pole and fixed to the angle piece.

Also, rails; And a fixing bracket installed on a portion of the rail so that the rail is fixed to a portion of the cargo hold.

The rail may further include an inclined piece formed by bending the rail at a 45 ° angle between the rail and the fixing bracket so that the rail may be installed at a 45 ° angle of the cargo warehouse.

As described above, the angle piece automatic welding device of the corrugation type according to the embodiment of the present invention has an effect of increasing the welding speed by automating the welding work of the angle piece overlapping joint, which was dependent on manual work.

In addition, by reducing welding defects in the welding operation, it is possible to maintain a uniform and excellent welding quality, thereby significantly improving the productivity.

In addition, one device can automatically weld angle pieces of various types and various attachment types.

In addition, by using the posture correcting mechanism, the carriage is finely twisted to directly align the misalignment with the traveling direction, thereby improving the welding quality.

An object of the present invention is to move along the rail 110, the longitudinal direction of the rail 110 in the Y direction, perpendicular to the X direction, X direction and the X direction and the Z direction perpendicular to the Y direction In the automatic angle piece welding device, in the membrane type LNG carrier to which the angle piece (P) of the corrugation type is attached, it is coupled to the rail (110) installed at one portion of the cargo warehouse and is connected to the X along the rail (110). A carriage main body 10 moving in a direction; and a first conveying part 20 installed in one portion of the carriage main body 10 and moving in a direction parallel to the X direction; and one of the first conveying parts 20. A second transfer part 30 installed at a portion and moving in the Z direction; and a third transfer part 40 installed at one portion of the second transfer part 30 and moving in the Y direction; and the third transfer part ( 40) is installed on one part and rotates about a center line parallel to the Z direction Possible welding head 50; and a rotating portion 60 is installed on one portion of the welding head 50 and rotatable about a centerline parallel to the Y direction; and is installed on one portion of the rotating portion 60 A fourth transfer part 70 moving in a direction parallel to the Z direction; And a welding part 80 installed at one portion of the fourth conveying part 70 to weld the angle piece P. The angle piece automatic welding device of the corrugation type is provided.

In addition, the angle piece (P) installed in the cargo warehouse is rotatably installed at both ends of the carriage main body (10) to correct the posture of the carriage body (10) and the alignment state of the angle piece (P) which is a working member. It may further include; posture correction mechanism 90 is fixed to the bite.

In addition, the laser pointer using a cross-shaped laser is installed on a portion of the third transfer portion 40 to confirm the next welding position; may further include.

In addition, the carriage body 10,

A trolley 101 coupled to the rail 110; and a traveling motor unit 102 installed at a portion of the trolley 101 to move the trolley 101; and one of the trolley 101. A first block 103 fixed to the portion; and a first ball screw 105 installed in the first block 103 in a driving direction of the carriage body 10; And a first driver 104 installed at one portion of the first block 103 to rotate the first ball screw 105.

In addition, the first transfer unit 20,

A first bearing fixed to a portion of the second block 201 to be coupled to the first ball screw 105 and moved by rotation of the first ball screw 105; 204; and a second ball screw 203 installed in the vertical direction in the second block 201; And a second driving unit 202 installed at one portion of the second block 201 to rotate the second ball screw 203.

In addition, the second transfer unit 30,

A second bearing fixed to a portion of the third block 301 so as to be coupled to the second ball screw 203 and moved by rotation of the second ball screw 203. (304); and a third ball screw (303) installed in the front-back direction in the third block (301); And a third driving unit 302 installed at one portion of the third block 301 to rotate the third ball screw 303.

In addition, the third transfer unit 40,

A fourth bearing 401 coupled to the third ball screw 303 and fixed to a portion of the fourth block 401 to move by rotation of the third ball screw 303. 402; And a fixed shaft 403 fixed to any part of the fourth block 401 such that the welding head 50 is rotatable.

In addition, the rotating unit 60,

A rotation motor unit 601 installed on one portion of the welding head 50 and including a rotation shaft 605; and a fifth block 602 rotatably connected to the rotation shaft 605; and the fifth A fourth ball screw installed in the block 602 in the vertical direction; And a fourth driver 603 installed at one portion of the fifth block 602 to rotate the fourth ball screw.

In addition, the fourth transfer unit 70,

Sixth block 701; And a fourth bearer 702 fixed to a portion of the sixth block 701 to be coupled to the fourth ball screw and moved by the rotation of the fourth ball screw.

In addition, the welding portion 80,

A displacement sensor (802) installed at one portion of the sixth block (701) to measure a welding surface of the angle piece (P) of the corrugation type; And a welding torch 801 installed at any part of the sixth block 701 to weld the angle piece P of the corrugation type.

In addition, the posture correction mechanism 90,

Hinge parts 924 rotatable at both ends of the carriage body 10, a support pipe 921 connected to the hinge part 924, and an extension pole 922 inserted into the support pipe 921 and extending; An extension portion 92; and a length adjustment portion 93 installed at an end of the support pipe 921 to adjust an extension length of the extension pole 922; And a forceps 91 installed at an end of the extension pole 922 and fixed to the angle piece P.

In addition, the rail 110; And a fixing bracket 111 installed on a portion of the rail 110 so that the rail 110 is fixed to a portion of the cargo warehouse.

In addition, the inclined piece 112 formed to be bent at a 45 ° angle between the rail 110 and the fixing bracket 111 so that the rail 110 can be installed on the surface inclined at a 45 ° angle of the cargo warehouse; It may further include.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

As shown in Figures 1 to 9, the angle piece automatic welding device of the corrugated type according to an embodiment of the present invention is the longitudinal direction of the rail in the X direction, the Y direction, X direction and Y direction perpendicular to the X direction and It operates in the vertical Z direction, but the carriage body 10, the first conveying part 20, the second conveying part 30, the third conveying part 40, the welding head 50, the rotating part 60, the fourth conveying part ( 70) and a weld 80.

Prior to entering, the X direction is again divided into the X-0 direction and the X-1 direction parallel to the X-0 direction, the Z direction is divided into the Z-1 direction and the Z-2 direction parallel to the Z-1 direction, and welded. The direction in which the head rotates is defined as A-0, the direction in which the rotating unit rotates is defined as A-1, and the Y direction as the Y-1 direction.

The carriage body 10 moves left and right along the pre-installed rail 110 in the X-0 direction, and the bogie 101, the driving motor unit 102, the first block 103, and the first driving unit 104. And a first ball screw 105.

The bogie 101 is fitted so as not to deviate from the pre-installed rail 110 and moves to the left and right.

The traveling motor unit 102 has a pinion gear (not shown) is installed at the end of the motor (M) portion, and moves in the X-0 direction by driving with a rack gear (not shown) installed in parallel along the rail (110). do.

The first block 103 has a box shape that is substantially horizontally open with a front opening, and a correcting mechanism detachment part 103b for detaching a posture correcting mechanism 90 is provided at both upper ends, and a posture correcting mechanism 90 is provided at both lower ends. Correction mechanism coupling groove (103a) is formed so that is installed and rotates, is coupled to the front of the cart (101). Accordingly, the first block 103 moves with the bogie 101.

Here, a ball plunger or the like that is commercially used such that the correction mechanism detachment unit 103b is easily detachable is used. In addition, the LM guide LM is installed on the front surfaces of the upper and lower ends of the first block 103 to reduce the transfer error of the first transfer unit 20.

The first driver 104 is installed inside the left side of the first block 103 to rotate the first ball screw 105.

The first ball screw 105 is horizontally installed inside the first block 103 and connected to the first driving unit 104. Thereby, the 1st ball screw 105 rotates by the rotation of the 1st drive part 104. FIG.

Meanwhile, referring to FIGS. 6 to 9, the angle piece automatic welding device of the corrugation type according to the embodiment of the present invention may further include a posture correcting mechanism 90 for correcting a posture of the welding device in which the welding device is misaligned or misaligned. Can be.

The posture correction mechanism 90 includes an extension 92, a length adjusting part 93, and a forceps 91.

The extension 92 includes a hinge 924, a joint 925, a support pipe 921, and an extension pole 922.

The hinge portion 924 is inserted into the correction mechanism coupling groove in a substantially "a" shape and rotates. Here, the hinge portion 924 is a ball joint, such as a free rotation angle is used so that the posture correction mechanism 90 can easily maintain the angle.

The joint 925 is screwed to the end of the hinge portion 924 in a substantially stepped cylindrical shape.

The support pipe 921 is substantially cylindrical and screwed to the end of the joint 925.

The extension pole 922 is inserted into or pulled out of the support pipe 921 in a substantially bar shape, and a stopper 923 is installed at one end thereof so as not to be separated from the support pipe 921.

The length adjuster 93 includes a cap 931, a fastener 932, and a lever 923.

The cap 931 is substantially cylindrically installed at the end of the support pipe 921 to prevent the extension pole 922 from being separated from the support pipe 921. That is, the stopper 923 provided on the extension pole 922 is caught by the cap 931 to prevent the extension pole 922 from being separated from the support pipe 921.

The fastener 932 is formed with a screw into which the lever 923 is inserted at one end thereof and is fitted to the cap 931.

The lever 923 is approximately " a " shaped so that a screw is formed at one end and fitted to a screw formed in the fastener 932. As shown in FIG. Here, when the lever 923 is rotated, the tightening hole 932 is tightened and the tightening hole 932 is tightened, so that the cap 931 is tightened and the extension pole 922 which is drawn out to the cap 931 is cap 931. Is fixed to. Accordingly, the length adjusting unit 93 may be fixed by adjusting the length of the extension pole 922.

The tongs 91 are provided with the housing 911, the tongs 912, the hinge shaft 913, the release preventing bolts 914, the washers 915, the springs 916, the tongs adjusting bolts 917, and the head 918. Include.

The housing 911 is protruded in one side in a substantially "c" shape and is screwed to the other end of the extension pole 922.

The claw 912 has a locking jaw 912a formed at an upper end in an approximately "c" shape, and is inserted in such a manner as to face a pair inside the housing 911.

The hinge shaft 913 is fitted to one side of the housing 911 and coupled through the tongs 912. Accordingly, the claw 912 rotates about the hinge axis 913.

The release preventing bolt 914 is sandwiched between the nippers 912 and screwed to the nippers adjustment bolt 917.

Washers 915 are provided in pairs, one of which is disposed at the lower end of the locking jaw 912a, that is, inside of the locking jaw 912a, is fitted to the release preventing bolt 914, and the other is the locking jaw ( It is disposed at the lower end of the 912a, that is, the outer side of the locking step 912a, and fitted to the release preventing bolt 914. That is, the locking jaw 912a of the claw 912 is disposed between the washers 915.

The spring 916 is disposed between the washer 915 disposed on the upper end of the locking jaw 912a of the tongs 912 and the housing 911 so as to be fitted to the release preventing bolt 914.

Forefinger adjustment bolt 917 is screwed so as to pass through the upper end of the housing 911, the lower end is screwed into the departure prevention bolt 914.

The head 918 is coupled to the top of the claw adjustment bolt 917 to facilitate rotation of the claw adjustment bolt 917 in a substantially disk shape.

On the other hand, when the head 918 is rotated to the right, the claw adjustment bolt 917 is moved to the lower end to push the spring 916 to compress. Further, the spring 916 pushes the washer 915 disposed on the upper end of the locking jaw 912a, and the locking jaw 912a abuts against the washer 915 is pushed down. That is, as the claw adjustment bolt 917 moves to the bottom, the departure prevention bolt 914 also moves to the bottom. As the locking jaw 912a moves to the bottom, the washer 915 disposed at the bottom of the locking jaw 912a is also included. Move to the bottom. Accordingly, the claws 912 open about the hinge axis 913. If there is no spring 916, the center of gravity of the claw 912 will sag to the bottom by gravity and the claw 912 will not open. Therefore, it is preferable to install the spring 916 between the washer 915 disposed on the upper end of the locking step 912a and the housing 911.

Again, when the head 918 is rotated to the left side, the departure preventing bolt 914 moves to the top while pulling up the departure preventing bolt 914 to the top. That is, the washer 915 disposed at the lower end of the locking step 912a moves to the upper side together with the release preventing bolt 914 to move the locking step 912a to the upper end. Accordingly, as the locking jaw 912a moves to the upper end, the forefinger 912 is retracted, and the forefinger 912 is fixed to the angle piece.

As an example of the use of the posture correction mechanism 90, as shown in Figs. 19 to 22, the angle piece automatic welding device of the corrugated type of the present invention is angled by θ due to the lifting of the angle piece P. When inclined, the posture correction mechanism 90 is rotated and fixed to the angle piece P using the forceps 91. More specifically, the extension pole 922 is inserted to shorten the overall length of the posture correction mechanism 90. That is, the angle piece automatic welding device of the corrugation type of the present invention is pulled by the posture correction mechanism 90 based on the angle piece P, thereby correcting the posture inclined by the angle θ perpendicularly to the angle piece P. do. Accordingly, the welding failure rate of the angle piece can be lowered and the welding quality can be improved.

The first transfer unit 20 includes a second block 201, a second drive unit 202, a second ball screw 203, and a first bearing 204.

The second block 201 is fitted to the LM guide LM provided in the first block 103 in a vertically long box shape with an approximately forward opening. Here, the LM guide LM to which the second transfer unit 30 is coupled is vertically installed in the second block 201.

The second driver 202 is installed on the upper end of the second block 201 to rotate the second ball screw 203.

The second ball screw 203 is connected to the second driving unit 202 and is installed vertically inside the second block 201. Accordingly, the second ball screw 203 is rotated by the operation of the second drive unit 202.

The first bearing 204 is fixed to the bottom rear surface of the second block 201 and fitted to the first ball screw 105 to move left and right according to the rotation of the first ball screw 105. Accordingly, the first transfer unit 20 moves left and right, that is, in the X-1 direction according to the rotation of the first ball screw 105.

The second conveyance 30 includes a third block 301, a third drive 302, a third ball screw 303 and a second bearing 304.

The third block 301 is formed of a frame having an approximately "b" shape, and has an LM guide LM installed in the front and rear direction at the lower end thereof, and is fitted to the LM guide LM installed in the second block 201. Lose.

The third driver 302 is installed on the lower front surface of the third block 301 to rotate the third ball screw 303.

The third ball screw 303 is connected to the third driving unit 302 and is installed in the front-rear direction at the lower end of the third block 301. Accordingly, the third ball screw 303 rotates by the operation of the third drive unit 302.

The second bearing 304 is installed on the upper rear surface of the third block 301 and is fitted to the second ball screw 203 to move up and down in accordance with the rotation of the second ball screw 203. Accordingly, the second transfer part 30 moves up and down, that is, in the Z-1 direction according to the rotation of the second ball screw 203.

The third transfer part 40 includes a fourth block 401, a third bearing 402 and a fixture 404.

The fourth block 401 is a plate having an uneven groove formed at the center thereof. The fourth block 401 protrudes so that a laser pointer is installed at one side thereof, and a fixed shaft 403 at which the welding head 50 is installed at the lower end thereof is installed vertically. It fits in the LM guide LM provided in 301.

The third bearing 402 is fixed to the upper surface of the fourth block 401 and fitted to the fourth ball screw to move back and forth, that is, in the Y-1 direction, in accordance with the rotation of the fourth ball screw. As a result, the third transfer part 40 moves back and forth along the third ball screw 303.

The fixture 404 is fitted in the lower end of the fixed shaft 403 to prevent the welding head 50 from being separated from the fixed shaft 403 in a substantially ring shape.

Here, the welding unit 80 may further include a laser pointer for measuring the position to confirm the welding position to be worked next.

The laser pointer uses a cross laser having a low error to accurately measure the position of the surface. The laser pointer is installed perpendicularly to the protruding portion of the fourth block 401 to measure the position of the surface. Accordingly, the welding part 80 may measure the welding position to be worked on in advance, thereby enabling more precise welding.

The welding head 50 has an approximately “a” shape, and a shaft hole 501 is formed to be rotatable by inserting a fixed shaft 403 at an upper end thereof. Accordingly, the welding head 50 rotates to the left and right, that is, the A-0 direction about the fixed shaft 403.

Here, a fixing piece (not shown) may be used to fix the rotation angle of the welding head 50. Thereby, welding of a predetermined pattern is possible by fixing the rotation angle of the welding head 50. FIG. Of course, a motor (not shown) for rotating the welding head 50 may be installed, but it is preferable to fix the rotation angle of the welding head 50 manually to improve the quality of the welding to work repeatedly.

The rotating unit 60 includes a rotating motor unit 601, a fifth block 602, a guide 606, a fourth driving unit 603, and a fourth screw 604.

The rotary motor unit 601 includes a worm W, a worm gear W.G, and a motor M for rotating the worm, and is provided at the lower end of the welding head 50 with a rotating shaft 605 forward.

The fifth block 602 is inserted into the rotation shaft 605 in a "c" shape on the substantially side and rotates.

The guide 606 is installed in both sides of the fifth block 602 in the longitudinal direction.

The fourth driver 603 is installed on the upper end of the fifth block 602 to rotate the fourth screw 604.

The fourth screw 604 is connected to the fourth driver 603 and is installed in the up and down direction inside the fifth block 602. Accordingly, the fourth screw 604 is rotated by the fourth drive unit 603, and the rotary shaft 605 rotates, so that the rotary unit 60 rotates up and down, that is, in the A-1 direction about the rotary shaft 605. do.

The fourth conveying part 70 includes a sixth block 701, a guide piece 703 and a fourth bearing 702.

The sixth block 701 has a lower end protruding so that the lower end of the sixth block 701 is fixed in a substantially “π” shape on the plane.

Guide pieces 703 are installed on both sides of the guide 606, the rear end is fitted to the guide 606 and the front end is fixed to the sixth block 701, and moves up and down along the guide 606.

The fourth bearing 702 is fitted to the fourth ball screw and positioned between the guide pieces 703 and fixed to the guide pieces 703. As a result, the fourth ball screw rotates so that the fourth conveying portion 70 moves up and down, that is, in the Z-2 direction.

The welding part 80 includes a welding torch 801 and a displacement sensor 802.

The welding torch 801 is installed at the tip of the sixth block 701 to weld the angle piece P. FIG. In addition, the displacement sensor 802 is installed on the protruding rear surface of the sixth block 701 to measure a distance from the welding surface to maintain a constant separation distance in the state in which the welding device welds along the welding surface. Accordingly, the weld portion 80 moves together along the fourth transfer portion 70.

The above-described ball screw, bearing, and LM guide are well known and commercially used, and thus will not be described in detail.

In addition, the motor and the belt used in each of the above-described driving unit is also known and commercialized, detailed description thereof will be omitted.

Hereinafter, an operating state of the angle piece automatic welding device of the corrugation type according to the embodiment of the present invention will be described with reference to FIGS. 10 to 18.

As shown in FIG. 10, when the carriage body 10 moves and the laser pointer measures the position, the carriage body 10 stops moving.

In order to weld the plane of the angle piece P, the 3rd conveyance part 40 moves back and the welding part 80 also moves back.

When the welding part 80 moves backward and reaches the corner of the angle piece P, the rotating shaft 605 rotates, and at the same time, the second conveying part 30 moves downward while the third conveying part 40 moves forward. (See Figure 11)

Subsequently, in order to weld the vertical surface of the angle piece P, the rotating shaft 605 is rotated so that the welding portion 80 rotates, and at the same time, the second conveying portion 30 moves while the third conveying portion 40 moves forward. Move up.

In this case, when welding the small angle piece P, the above-described fourth transfer unit 70 may be moved and welded without moving the second transfer unit 30.

Meanwhile, referring to FIGS. 14 to 18, the welding head 50 rotates forward 90 degrees so that the welded part 80 may rotate the angle piece P along the curved surface. (See FIG. 14).

In order to weld the curved surface of the angle piece P, the rotating shaft 605 of the rotating unit 60 rotates to the left side and the second transfer unit 30 simultaneously moves downward while the first transfer unit 20 moves to the right side.

In order for the welding torch 801 of the welding unit 80 to weld the upper end surface of the angle piece P, the rotating shaft 605 rotates to the right side and the first transfer unit 10 moves to the left side. Move up simultaneously. Furthermore, in order to weld the curved surface of the angle piece P, the rotating shaft 605 of the rotation part 60 continues to rotate to the right side, and the 2nd conveyance part 30 simultaneously simultaneously moves down the 1st conveyance part 20 to the left. Move. Accordingly, the welding torch 801 welds along the curved surface of the angle piece P while the welding unit 80 rotates.

In order to weld the plane of the angle piece P again, the rotating shaft 605 is rotated so that the welded part 80 rotates vertically to the left. At the same time, the third transfer unit 40 moves upward while the first transfer unit 20 moves to the right. Accordingly, the welding torch 801 is rotated vertically to continuously weld the plane of the angle piece (P).

Therefore, according to the operation of the first transfer unit 20, the second transfer unit 30, the third transfer unit 40, the welding head 50, the rotating unit 60 and the fourth transfer unit 70, the size and shape are different The welding angle piece P can be welded, and a straight line and a curve can be welded continuously.

Here, as shown in Figure 23, the angle piece automatic welding device of the corrugation type of the present invention may further include a rail 110, the fixing bracket 111 and the inclined piece (112).

Rail 110 is installed on a portion of the cargo warehouse in the LNG carrier so that the carriage body 10 can be coupled to the truck 101. Accordingly, the carriage body 10 may move along the rail 110.

The fixing bracket 111 has a shape substantially corresponding to the angle piece P. The fixing bracket 111 is installed on the back of the rail 110 so that the rail 110 can be fixed to a portion of the cargo warehouse. . Accordingly, the rail 110 can be attached and detached to a portion of the cargo hold.

The inclined piece 112 is formed at an inclination angle of approximately 135 degrees and is installed between the rail 110 and the fixing bracket 111. That is, as shown in Figure 13, it is used to install on the inclined surface of the 135 degree angle in the cargo warehouse for welding the angle piece (P) formed at an inclined angle of 135 degrees. Then, the forceps 91 of the posture correction mechanism 90 are fixed to one portion of the angle piece P. Accordingly, the angle piece automatic welding device of the corrugation type of the present invention is prevented from sagging or tilted to reduce the feed error to improve the welding quality.

Here, the angle piece automatic welding device of the corrugation type according to the embodiment of the present invention may further include a controller (not shown).

The control unit controls the rotational speed and rotational speed of each motor, and based on the input values read by the sensors, the moving speed, the moving distance, and the rotation angle of the angle piece automatic welding device according to the embodiment of the present invention. To control. Herein, the control unit uses already known control methods and devices, and detailed description thereof will be omitted.

25 to 31 shows a state in which the angle piece automatic welding device of the corrugation type of the present invention is installed to weld the angle pieces to each corner of the cargo warehouse shown in FIG.

That is, Figure 25 shows a state in which the device of the present invention is installed to weld the angle piece to the edge E-1 or E-8 of the cargo warehouse, Figure 26 is a corner E-2 or E-7 of the cargo warehouse, Figure 27 shows the installation of the device of the present invention for welding the edge E-3 or E-6 of the cargo hold.

28 shows a state in which the apparatus of the present invention is installed to weld the angle piece to the edge E-4 or E-5 of the cargo warehouse, FIG. 29 shows the corner E-12 of the cargo warehouse, and FIG. 30 shows the cargo. It shows a state where the apparatus of the present invention is installed to weld the corner E-10 or E-11 of the warehouse.

31 shows a state in which the apparatus of the present invention is installed to weld the angle piece to the edge E-9 of the cargo hold.

The angle piece automatic welding device of the corrugation type according to the embodiment of the present invention described above has been described as an example in the front, rear, up, down, left, and right directions, but as shown in FIGS. have. However, for convenience of explanation, it is described in the front, rear, up, down, left and right directions and should not be understood to be limited only to the above embodiments.

The same number used for the angle piece automatic welding device of the corrugation type according to the embodiment of the present invention described above may be omitted if necessary.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. Shall not be construed as being understood. Therefore, a person having ordinary knowledge in the technical field to which the present invention pertains may easily implement other forms of the present invention within the same scope as the above-described embodiments, or the present invention only by the description of the embodiments of the present invention. It will be possible to practice the invention in the same and equal range.

1 is a front view of an automatic angle piece welding device of the corrugation type according to an embodiment of the present invention.

2 is a left side view of FIG. 1.

3 is a plan view of Fig.

Figure 4 is an exploded perspective view of the angle piece automatic welding device of the corrugation type according to an embodiment of the present invention.

5 is an enlarged perspective view of the welding head, the rotating part, the fourth conveying part, and the welding part of the present invention.

Figure 6 is an exploded perspective view showing a posture correction mechanism in the present invention.

7 and 8 are views showing a left side view and a front view of FIG. 6.

9 is an enlarged cross-sectional view illustrating a cross section taken along a line A-A of FIG. 8.

10 to 18 is a schematic diagram showing an operating state of the present invention.

19 to 22 is a schematic view showing an operating state of the posture correction mechanism in the present invention.

FIG. 23 is a schematic view illustrating an apparatus for automatically welding angle pieces according to another embodiment of the present invention.

24 is a view schematically showing the interior of the cargo hold.

25 to 31 is a view schematically showing a state in which a corrugated-type angle piece automatic welding device according to an embodiment of the present invention is installed to weld the angle piece to each corner portion of the cargo warehouse.

Explanation of symbols on the main parts of the drawings

10; Carriage body 101; Balance

102; A traveling motor unit 103; First block

103a; Correction mechanism coupling groove 103b; Correction mechanism detachable part

104; A first driver 105; 1st ball screw

20; First transfer section 201; Second block

202; Second driving unit 203; 2nd ball screw

204; First bearing 30; 2nd transfer part

301; Third block 302; Third drive part

303; Third ball screw 304; Second bearing

40; Third transfer part 401; 4th block

402; Third bearing 403; Fixed shaft

404; Fixture 50; Welding head

501; Axle 60; reel

601; Rotary motor unit 602; Fifth block

603; Fourth driver 604; 4th screw

605; Axis of rotation 606; guide

70; Fourth conveying unit 701; 6th block

702; Fourth bearing 703; Guide

80; Weld 801; Welding torch

802; Displacement sensor 90; Posture Corrector

91; Tongs 911; housing

912; Claw 912a; Jaw

913; Hinge axis 914; Breakaway Bolt

915; Washer 916; spring

917; Claw adjustment bolt 918; head

92; Extension 921; Support pipe

922; Extension pole 923; stopper

924; Hinge portion 925; Joint

93; Length adjuster 931; cap

932; Diaphragm 933; lever

110; Rail 111; Fixed Bracket

112; Inclined piece LM; LM Guide

M; Motor B.T; belt

W; Worm W.G; Worm gear

Claims (13)

A corrugated angle piece automatic welding device which moves along a rail and operates in the longitudinal direction of the rail in the X direction, the Y direction perpendicular to the X direction, and the X direction and the Z direction perpendicular to the Y direction, A carriage body coupled to a rail installed at a portion of a cargo warehouse in a membrane type LNG carrier to which an angle piece of a corrugation type is attached, and moving in the X direction along the rail; A first transfer part installed in one portion of the carriage body and moving in a direction parallel to the X direction; A second transfer part installed in one portion of the first transfer part and moving in the Z direction; A third transfer part installed in one portion of the second transfer part and moving in the Y direction; A welding head installed at one portion of the third transfer part and rotatable based on a center line parallel to the Z direction; A rotating part installed at a portion of the welding head and rotatable about a center line parallel to the Y direction; A fourth conveying part installed at one portion of the rotating part and moving in a direction parallel to the Z direction; And And a welding part installed at a portion of the fourth transfer part to weld the angle piece. The method of claim 1, And a posture correcting mechanism that is rotatably installed at both ends of the carriage body in order to correct the alignment state of the carriage body and the angle piece which is a working member, and is fixed to the angle piece installed in the cargo warehouse. A corrugated angle piece automatic welding device. The method of claim 2, And a laser pointer using a cross laser installed at one portion of the third transfer part to stop the carriage main body by checking the working state of the posture correcting mechanism and the working state of the welding part. Angle piece automatic welding device. The method of claim 1, The carriage body, A bogie coupled to the rail; A driving motor unit installed at one portion of the trolley to move the trolley; A first block fixed to a portion of the bogie; A first ball screw installed in the first block in a running direction of the carriage body; And And a first drive unit installed in one portion of the first block to rotate the first ball screw. The method of claim 1, The first transfer unit, Second block; A first bearing coupled to the first ball screw and fixed to a portion of the second block to move by rotation of the first ball screw; A second ball screw installed in the vertical direction in the second block; And And a second drive unit installed in one portion of the second block to rotate the second ball screw. The method of claim 1, The second transfer unit, Third block; A second bearing coupled to the second ball screw and fixed to a portion of the third block to move by rotation of the second ball screw; A third ball screw installed in the front and rear directions in the third block; And And a third drive unit installed in one portion of the third block to rotate the third ball screw. The method of claim 1, The third transfer unit, A fourth block; A third bearing coupled to the third ball screw and fixed to a portion of the fourth block to move by rotation of the third ball screw; And And a fixed shaft fixed to any part of the fourth block so that the welding head is rotatably coupled to the welding head. The method of claim 1, The rotating part, A rotating motor unit installed at one portion of the welding head and including a rotating shaft; A fifth block rotatable in connection with the rotation shaft; A fourth ball screw installed in the fifth block in a vertical direction; And And a fourth drive unit installed in one portion of the fifth block to rotate the fourth ball screw. The method of claim 1, The fourth transfer unit, Sixth block; And And a fourth bearing fixed to a portion of the sixth block to be coupled to the fourth ball screw and moved by the rotation of the fourth ball screw. The method of claim 1, The welding portion, A displacement sensor installed at one portion of the sixth block to measure a welding surface of the angle piece of the corrugation type; And And a welding torch installed at any one portion of the sixth block to weld the angle piece of the corrugation type. The method of claim 2, The posture correction mechanism, An extension part including hinge parts rotatable at both ends of the carriage body, a support pipe connected to the hinge part, and an extension pole inserted into the support pipe and extending; A length adjusting part installed at an end of the support pipe to adjust an extension length of the extension pole; And And a forceps installed at an end of the extension pole and fixed to the angle piece. The method of claim 1, rail; And And a fixing bracket installed on a portion of the rail such that the rail is fixed to a portion of the cargo warehouse. 13. The method of claim 12, An inclination piece formed further by bending the rail at a 45 ° angle between the rail and the fixing bracket so that the rail can be installed on a surface inclined at a 45 ° angle of the cargo hold. Automatic welding device.

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