KR20240047509A - Automatic device for bending and welding of ship coaming structures - Google Patents

Abstract

The present invention is to provide an automation device for bending and welding a ship coaming structure, which comprises: a material supply device for aligning a metal plate for manufacturing a ship coaming structure according to preset coordinates; a bending device for bending a metal plate transferred from the material supply device by a robot into a coaming structure of a desired shape; a correction device for correcting a portion to be joined of the coaming structure transferred from the bending device by the robot; and a robot for gripping the metal plate aligned by the material supply device to transport the same to the bending device, and welding the portion to be joined of the coaming structure corrected by the correction device while gripping the coaming structure bent by the bending device and transferring the same to the correction device. Accordingly, the bending and welding for the ship coaming structure can be easily performed by an automation process.

Description

Automatic device for bending and welding of ship coaming structures}

The present invention relates to an automated device for bending and welding a coaming structure for a ship. More specifically, the bending and welding process of a metal plate for manufacturing a coaming structure for a ship can be performed through an automated process using a robot. It relates to welding automation devices.

The shipbuilding industry is a knowledge-based complex engineering industry for the construction of various ships and the research, development, design, and production of related equipment. It not only has a significant technological ripple effect, but also creates employment that requires specialized manpower in various fields such as technical manpower and technical manpower. It is one of the older industries.

Recently, the increase in maritime cargo volume due to economic recovery and the trend of large-capacity ships for shipping companies to pursue economies of scale have led to an expansion in the size of national fleets, leading to demand for new ships, and in line with the movement to pursue economies of scale in cargo transportation. The emergence of large-capacity ships, especially container ships and LNG carriers, is accelerating.

Many shipbuilding materials are used in the manufacture of ships as described above, and in particular, various coaming structures are used as the interior and exterior structures of ships.

The coaming structure is a type of duct structure with the upper and lower sides open for the purpose of routing and preventing damage to wiring cables within the ship, reinforcing the strength of the ship's internal walls and structure, preventing oil and water from entering the hull, and providing movement passages for each layer of the hull. It is manufactured in a hollow structure that allows penetration of each layer.

For this purpose, the coaming structure is manufactured by bending both sides of a metal plate into a U-shape and welding it, or by bending each corner of the metal plate to a predetermined radius of curvature and welding it.

For example, the coaming structure 10 is manufactured as a cable coaming structure (see (a) in FIG. 7) that allows the cable to pass through the space of each layer of the hull, or a hose structure that allows the hose to pass through the space of each layer of the hull. A hatch made of a coaming structure (see (b) in Figure 7), a coaming structure (see (c) in Figure 7) for valve installation mounted on the wall of the hull, etc., or mounted to allow access to the space of each floor of the hull. It can be manufactured as a coaming structure for (hatch) (see (d) in FIG. 7).

These coaming structures are manufactured by professional technicians directly performing bending and welding operations on heavy metal plates (e.g., steel plates, etc.).

Accordingly, during the process of manual processing of bending and welding work on metal plates by workers, there are problems such as muscle damage, finger pinching, and muscle fracture accidents due to processing heavy materials, resulting in productivity and workability. There is a problem with this being greatly reduced.

In addition, when workers directly perform bending and welding work on the metal plate for manufacturing the coaming structure, errors in the welding position may occur because the metal plate cannot be accurately bent into a U-shape or a predetermined radius of curvature. There is a problem with poor manufacturing quality, such as the coaming structure not being manufactured as designed.

Public Patent Publication No. 10-2018-0011039 (2018.01.31.)

The present invention was devised to solve the above-described conventional problems, and includes a material feeder for aligning metal plates for manufacturing ship coaming structures according to preset coordinates, and a metal plate transferred from the material feeder by a robot to a desired device. A bending machine for bending the coaming structure into a shaped shape, a straightener for correcting the part to be joined of the coaming structure transferred from the bender by a robot, picking up the metal plate aligned in the material feeder and transferring it to the bender, and bending it in the bender. By using a robot that picks up the coaming structure and transfers it to the straightener and performs welding on the part to be joined to the coaming structure that has been straightened in the straightener, bending and welding of the ship coaming structure can be easily accomplished through an automated process. The purpose is to provide an automated device for bending and welding coaming structures for ships.

In order to achieve the above object, the present invention includes: a material feeder for aligning the metal plate for manufacturing the coaming structure according to the preset coordinates desired by the robot; A bending machine for bending a metal plate transferred from a material supplier by a robot into a coaming structure of a desired shape; A corrector for correcting the position and line to be joined of the coaming structure transferred from the bender by the robot; Picking up the metal plate aligned in the material feeder and transferring it to the bending machine, picking up the coaming structure bent in the bender and transferring it to the straightener, and performing welding on the position and line to be joined of the coaming structure calibrated in the straightener. robot; and a conveyor for discharging the coaming structure welded by a robot to the next process. It provides an automated device for bending and welding a coaming structure for a ship, which is configured to include, and wherein the material feeder, bender, straightener, and conveyor are sequentially arranged around the robot and within a movement radius of the robot.

The material supplier includes: a stacking table on which a plurality of metal plates are stacked; a sliding rail unit that transfers a sheet of metal plate falling from the stacking table to the measurement table; a measuring table disposed below the sliding rail unit and on which a sheet of metal plate transferred from the sliding rail unit is seated; LM guide mounted on the lower structure of the measurement table; A servo motor mounted on the lower structure of the measurement table; A pusher into which the screw-type output shaft of the servomotor can rotate in place and fastened to the LM guide to allow left and right movement; and a zero point alignment block located on the opposite side of the pusher and fixedly mounted on the lower structure. It is configured to include, and when the metal plate is seated on the alignment plate of the measurement table, the pusher moves along the LM guide and pushes the metal plate by driving the thermomotor, and when it is in close contact with the zero point alignment block It is characterized by being pushed up to.

The robot is capable of circular movement sequentially along the material feeder, bender, straightener, and conveyor, picks up and moves a metal plate from the material feeder to the bender, and picks up and moves the coaming structure bent from the bender to the straightener. , a robot arm that performs welding on the position and line to be joined of the coaming structure calibrated in the straightener; and a vision camera mounted on the robot arm to measure the size of a metal plate seated on a measuring table of the material supply machine and measure the accuracy of the position and line to be joined of the coaming structure transferred to the straightener; It is characterized by being composed including.

The bending machine includes: a U-moving mold for bending a metal plate into a U shape; R-moving mold for bending a metal plate to a predetermined radius of curvature; and a hydraulic cylinder connected to the U-movable mold and the R-movable mold and pushing or pulling the U-moving mold and the R-moving mold for bending of the metal plate. It is characterized by being composed including.

The straightener includes: a straightener table on which the coaming structure bent by the bender is seated; a horizontal hydraulic cylinder mounted on the bottom of the calibration table; a support plate fixed to one upper side of the calibration table; a pressure plate connected to the horizontal hydraulic cylinder and located on an opposite side of the support plate; and a vertical hydraulic cylinder located on top of the calibration table; It is configured to include, and while one side of the bent coaming structure is supported on a support plate, the pressure plate according to the driving of the horizontal hydraulic cylinder presses the bent coaming structure, or the piston rod portion of the vertical hydraulic cylinder presses the bent coaming structure. By pressurizing the structure, the position and line to be joined of the coaming structure are accurately corrected.

By solving the above problems, the present invention provides the following effects.

First, by enabling processes such as inputting, bending, straightening, and welding of metal plates to manufacture ship coaming structures to be automated, productivity and workability can be improved, unnecessary waste of manpower reduced, and manufacturing costs reduced. .

Second, by allowing processes such as inputting, bending, straightening, and welding of metal plates to manufacture ship coaming structures to be automated, device operation and process management can be performed with only a small number of unskilled workers, and the existing manual labor can be performed. It can completely prevent muscle damage, finger pinching, and muscle fracture accidents.

Third, the manufacturing quality of the marine coaming structure can be improved by bending the metal plate for manufacturing the marine coaming structure into a coaming structure of the desired shape and then accurately correcting the welding position and line for the bent coaming structure. there is.

1 is a plan view and front view showing the arrangement of an automated device for bending and welding a ship's coaming structure according to the present invention;
Figure 2 is a partial enlarged view showing a vision camera mounted on a robot of the automation device for bending and welding a ship's coaming structure according to the present invention;
Figure 3 is a front view and a side view showing a material supply device of the automatic device for bending and welding a ship's coaming structure according to the present invention;
Figure 4 is a plan view and front view showing a bending machine of the automatic device for bending and welding a ship's coaming structure according to the present invention;
Figure 5 is a schematic diagram showing the operation of the bending machine of the automated device for bending and welding of marine coaming structures according to the present invention to bend a metal plate to a predetermined radius of curvature;
Figure 6 is a front view and a side view showing a straightener of an automated device for bending and welding a marine coaming structure according to the present invention.

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

The automatic device for bending and welding a ship's coaming structure according to the present invention is a coaming structure for a cable that allows a cable to pass through the space of each layer of the hull, a coaming structure for a hose that allows a hose to pass through the space of each layer of the hull, and a valve mounted on the wall of the hull, etc. In order to manufacture coaming structures with various shapes and sizes, such as coaming structures for installation and coaming structures for hatches that are installed to allow access to each floor space of the hull, the material supply process, bending process, straightening and welding processes are automated. The main point is to ensure that it progresses.

The attached Figure 1 is a plan view and a front view showing the arrangement of an automated device for bending and welding a ship's coaming structure according to the present invention.

As shown in FIG. 1, the automatic device for bending and welding a ship's coaming structure according to the present invention includes a material supply device 110, a bender 120, a straightener 130, and a discharge conveyor 140 centered on a robot 100. are sequentially arranged within the movement radius of the robot 100.

The robot 100 picks up the metal plate 20 aligned on the material supplier 110 and transfers it to the bender 120, and picks up the coaming structure 10 bent in the bender 120 to form a straightener 130. ) and is configured to perform welding on the position and line to be welded on the coaming structure 10 calibrated in the straightener 130.

To this end, the robot 100 is capable of circular movement sequentially along the material supplier 110, the bender 120, the straightener 130, and the conveyor 140, and the bender 120 is transferred from the material supplier 110. ) picks up and moves the metal plate 20, picks up the coaming structure 10 bent from the bender 120 and moves it to the straightener 130, and moves the coaming structure 10 straightened in the straightener 130. It is configured to include a robot arm 101 that performs welding on the position and line to be welded.

In particular, as shown in FIG. 2, the robot arm 101 measures the size of the metal plate 20 mounted on the measurement table 113 of the material supplier 110 and transfers it to the straightener 130. A vision camera 102 is installed to measure the accuracy of the welded position and line of the coaming structure 10.

The material supplier 110 is configured to perform the function of aligning the metal plate 20 for manufacturing the coaming structure to the preset coordinates desired by the robot 100.

To this end, as shown in FIG. 3, the material supplier 110 includes a stacking table 111 on which a plurality of metal plates 20 are stacked, and a sheet of metal plate 20 falling from the stacking table 111. ) is placed below the sliding rail unit 112 and is seated on a sliding rail unit 112 that transfers the sensor to the measurement table 113 and a sheet of metal plate 20 transferred from the sliding rail unit 112 is seated. It is configured to include a measurement table 113.

In addition, the material feeder 110 includes an LM guide 115 mounted on the lower structure 114 of the measurement table 113, and a servomotor 116 mounted on the lower structure 114 of the measurement table 113. ) and a pusher 117 in which the screw-type output shaft of the servomotor 116 is rotatably inserted and fastened to the LM guide 115 so as to move left and right, and is located on the opposite side of the pusher 117 and has a lower It further includes a zero point alignment block 118 that is fixedly mounted on the structure 114.

Accordingly, when a plurality of metal plates 20 are stacked on the stacking table 111 as a material for manufacturing a coaming structure, one metal plate 20 is sequentially slid from the stacking table 111 to the sliding rail portion 112. ) is transferred to the measurement table 113, and a sheet of metal plate 20 is placed on the alignment plate 119 of the measurement table 113.

Subsequently, when the screw-type output shaft of the servomotor rotates in place as the servomotor 116 is driven, the screw-type output shaft is screw-coupled and inserted into the pusher 117, and the pusher 117 moves the LM guide ( Since it is fastened to the 115) so that it can move left and right, the pusher 117 pushes the metal plate 20 mounted on the alignment plate 119 of the measurement table 113 along the LM guide 115.

At this time, the metal plate 20 is pushed by the pusher 117 and comes into close contact with the zero point alignment block 118 located on the opposite side of the pusher 117. As a result, the metal plate 20 is pushed by the pusher 117. ) and the zero point alignment block 118.

In this way, even if the metal plates 20 of different sizes are seated on the measurement table 113 depending on the type of coaming structure to be manufactured, they are pushed by the pushing force of the pusher 117 and are used for zero point alignment with the pusher 117. It becomes aligned between blocks 118.

When the metal plate 20 is aligned between the pusher 117 and the zero point alignment block 118, the size of the metal plate 20 is measured by the vision camera 102 mounted on the robot arm 101. And, the processing data for the coaming structure to be manufactured, which is determined according to the measured size of the metal plate 20, is automatically retrieved.

Therefore, in order to manufacture the coaming structure corresponding to the processing data retrieved as above, the robot 100 continuously performs processes such as bending, straightening, and welding.

The bending machine 120 is configured to bend the metal plate 20 transferred from the material supplier 110 by the robot 100 into the coaming structure 10 of a desired shape.

To this end, as shown in FIG. 4, the bending machine 120 uses a U-moving mold 121 for bending the metal plate 20 transferred from the material supplier 110 by the robot 100 into a U shape. ) and an R-moving mold 122 for bending the metal plate 20 to a predetermined radius of curvature, and connected to the U-moving mold 121 and the R-moving mold 122 to form a metal plate 20. It may be configured to include a hydraulic cylinder 123 that pushes or pulls the U-moving mold 121 and the R-moving mold 122 for bending.

Accordingly, the robot 100 holds the metal plate 20 transferred from the material supplier 110 and places it in close contact with the U-moving mold 121, and moves the U-moving mold 121 by driving the hydraulic cylinder 123. Based on the operation of pushing or pulling (121), the coaming structure 10 in which both parts of the metal plate 20 are bent into a U shape can be manufactured.

Alternatively, the robot 100 holds the metal plate 20 transferred from the material supplier 110 and places it in close contact with the R-moving mold 122, and moves the R-moving mold by driving the hydraulic cylinder 123. Based on the operation of pushing or pulling 122, the coaming structure 10 can be manufactured in which each corner of the metal plate 20 is bent to a predetermined radius of curvature (Radius), as shown in FIG.

At this time, both ends (end and end) of the coaming structure 10 bent in the bender 120 are not yet joined by welding, and the coaming structure 10 is welded in the straightener 130. After the position and line are accurately corrected, they are joined by welding by the robot 100.

The corrector 130 is configured to correct the position and line to be welded of the coaming structure 10 transferred from the bender 120 by the robot 100.

To this end, as shown in FIG. 6, the straightener 130 is mounted on a calibration table 131 on which the coaming structure 10 bent by the bender 120 is seated, and at the bottom of the calibration table 131. A horizontal hydraulic cylinder 132, a support plate 133 fixed to one upper side of the calibration table 131, and a pressure plate 134 connected to the horizontal hydraulic cylinder 132 and located on the opposite side of the support plate 133. ) and a vertical hydraulic cylinder 135 located on the upper part of the calibration table 131.

Accordingly, when the coaming structure 10 transferred from the bender 120 by the robot 100, that is, the coaming structure 10 whose bending has been completed, is seated on the calibration table 131, the vertical hydraulic cylinder 135 The piston rod portion 136, which moves forward according to the drive, pressurizes and adjusts the bent coaming structure 10, and with one side of the coaming structure 10 supported on the support plate 133, the horizontal hydraulic cylinder 132 By pressurizing and controlling the bent coaming structure 10 by the pressure plate 134 according to the drive, the straightness and uniformity of both ends (the part where the ends meet each other), which are the welding positions of the bent coaming structure, are accurately corrected. It can be adjusted.

At this time, the vision camera 102 mounted on the robot arm 101 measures the straightness and uniformity of both ends (where the ends meet each other) of the bent coaming structure at the welding position, and determines the tolerance range. If it is outside, the above correction process is further performed, and if it is within the tolerance range, the automatic welder of the robot arm 101 welds and joins both ends of the bent coaming structure at the welding position.

In this way, when the calibration process in the straightener 130 and the welding process by the robot arm 101 are completed, the coaming structure of the desired shape is completed, and the robot arm 101 prepares the completed coaming structure for the next process. By placing it on the conveyor 140, the coaming structure automated manufacturing process is completed.

Meanwhile, an application layer may be formed on the bending machine 120 to improve weather resistance and wear resistance.

The coating materials for this coating layer include 22% by weight of octafluoropentyl glycidyl ether, 17% by weight of diethanolamine, 13% by weight of hafnium, 17% by weight of organic acid magnesium, 9% by weight of titanium oxide (TiO2), and aluminum oxide (AIO2). ) 10% by weight and 12% by weight Cremopore EL, and the coating thickness can be 9㎛.

Octafluoropentyl glycidyl ether and diethanolamine play a role in corrosion prevention, weather resistance, and discoloration prevention, and hafnium is a transition metal element with wear resistance and weather resistance, and plays a role in having excellent water resistance and corrosion resistance.

Magnesium organic acid plays a role in providing alkali resistance and sliding properties to the surface of the coating film, Cremophor EL acts as a surfactant, and titanium oxide and aluminum oxide are added for the purpose of fire resistance and chemical stability.

The reason for limiting the ratio of the components and the coating thickness as above is that the present inventor analyzed the test results after repeated failures and found that the ratio showed the optimal weather resistance and abrasion resistance improvement effect.

In addition, a contamination-resistant coating layer made of an anti-fouling coating composition may be applied to the material supplier 110, the straightener 130, and the vision camera 102 to improve contamination resistance.

The stain-resistant coating composition contains sulforaurate and cocamidopropyl betaine in a molar ratio of 1:0.01 to 1:2, and the total content of sulforaurate and cocamidopropyl betaine is 1 to 10% by weight based on the total aqueous solution. am.

The molar ratio of sulforaurate and cocamidopropyl betaine is preferably 1:0.01 to 1:2. If the molar ratio is outside the above range, the applicability of the material supply device 110, straightener 130, and vision camera 102 may be affected. There is a problem in that this decreases or moisture adsorption on the surface increases after application, causing the coating film to be removed.

The sulforaurate and cocamidopropyl betaine are preferably contained in an amount of 1 to 10% by weight in the total composition aqueous solution. If the amount is less than 1% by weight, the applicability of the material supply device 110, the corrector 130, and the vision camera 102 is reduced. There is a problem, and if it exceeds 10% by weight, crystal precipitation is likely to occur due to an increase in the thickness of the coating film.

Meanwhile, it is preferable to apply the stain-resistant coating composition to the material supplier 110, the straightener 130, and the vision camera 102 by spraying. In addition, the final coating film thickness of the material supplier 110, straightener 130, and vision camera 102 is preferably 900 to 2300 Å. If the thickness of the coating film is less than 900 Å, there is a problem of deterioration in the case of high temperature heat treatment, and if it exceeds 2300 Å, there is a disadvantage that crystal precipitation on the coating surface is likely to occur.

Additionally, this stain-resistant coating composition can be prepared by adding 0.1 mole of sulforaurate and 0.05 mole of cocamidopropyl betaine to 1000 ml of distilled water and then stirring.

The reason for limiting the ratio of the components and the thickness of the coating film to the above values is that the present inventor analyzed the test results after repeated failures and found that the ratio showed the optimal anti-contamination application effect.

In addition, a heat dissipation coating agent is applied around the outer case of the servomotor 116 so that heat generated by the servomotor 116 can be smoothly dissipated to the outside. Accordingly, the heat emitted from the outer case of the servomotor 116 is sufficiently dissipated to the outside by the heat dissipation coating agent, thereby preventing the servomotor 116 from being excessively heated and effectively dissipating heat.

The composition of this heat dissipation coating agent includes 12% by weight of gamma glycidoxypropyl trimethoxysilane, 43% by weight of butyl cellosolve, 8% by weight of chromium oxide, 11% by weight of graphite, 7% by weight of silicon nitride, and 5% by weight of sodium hydroxide (NaOH). It consists of 4% by weight titanium oxide, 3% by weight urea resin, and 7% by weight polydimethylsiloxane.

Gamma glycidoxypropyl trimethoxysilane plays a role in protecting the heat dissipation coating layer, butyl cellosolve acts as a binder resin, chromium oxide acts as wear resistance, graphite has excellent thermal conductivity and electrical properties, and silicon nitride improves strength and prevents cracking, sodium hydroxide acts as a dispersant, titanium oxide acts as a weather resistance, urea resin acts as an anti-settling agent, and polydimethylsiloxane acts as an adhesion enhancer.

It is preferable that the heat dissipation thickness is 9 to 1600㎛.

The reason for limiting the constituent materials and components and limiting the mixing ratio as described above is that the present inventor analyzed the test results after repeated failures and found that the optimal effect was achieved with the above-mentioned constituents and numerical ratio. indicated.

Additionally, a mounting improvement coating layer may be applied to improve mounting force when the horizontal hydraulic cylinder 132 is mounted on the bottom of the calibration table 131.

This mounting improvement coating layer contains 65 parts by weight of water, 8 parts by weight of 3-mercaptopropyltrimethoxysilane, 9 parts by weight of butylimidazole, 11 parts by weight of phosphate ester, 4 parts by weight of ammonium persulfate, and 3 parts by weight of sodium bicarbonate. It can be done including.

3-Mercaptopropyltrimethoxysilane is added to provide adhesion and adhesion, butylimidazole is added to improve adhesion and accelerate curing, and phosphate ester acts as a surfactant. Ammonium sulfate acts as a catalyst, and sodium bicarbonate acts as a buffer.

The reason for limiting the constituent materials and components and limiting the mixing ratio as described above is that the present inventor analyzed the test results after repeated failures and found that the optimal effect was achieved with the above-mentioned constituents and numerical ratio. indicated.

10: coaming structure 20: metal plate
100: Robot 101: Robot arm
102: Vision camera 110: Material feeder
111: stacking table 112: sliding rail part
113: measurement table 114: substructure
115: Elm guide 116: Servo motor
117: Pusher 118: Block for zero point alignment
119: alignment plate 120: bending machine
121: U-moving mold 122: R-moving mold
123: Hydraulic cylinder 130: Calibrator
131: Calibration table 132: Horizontal hydraulic cylinder
133: support plate 134: pressure plate
135: vertical hydraulic cylinder 140: conveyor

Claims (5)

A material feeder 110 for aligning the metal plate for manufacturing the coaming structure according to the preset coordinates desired by the robot;
A bender 120 for bending the metal plate 20 transferred from the material supplier 110 by the robot 100 into a coaming structure 10 of a desired shape;
A straightener 130 for correcting the welded joint position and line of the coaming structure 10 transferred from the bender 120 by the robot 100;
The metal plate 20 aligned in the material feeder 110 is picked up and transferred to the bender 120, and the coaming structure 10 bent in the bender 120 is picked up and transferred to the straightener 130. A robot 100 that performs welding on the position and line to be welded on the coaming structure 10 calibrated in the straightener 130; and
A conveyor 140 for discharging the coaming structure 10 on which welding has been completed by the robot 100 for subsequent processing;
It is composed including,
Bending of a ship coaming structure, characterized in that the material supplier 110, bender 120, straightener 130, and conveyor 140 are sequentially arranged within the movement radius of the robot 100 with the robot 100 as the center. Welding automation device.
In claim 1,
The material feeder 110 is:
A stacking table 111 on which a plurality of metal plates 20 are stacked;
A sliding rail unit 112 that transfers a piece of metal plate 20 falling from the stacking table 111 to the measurement table 113;
A measurement table 113 disposed below the sliding rail unit 112 and on which a sheet of metal plate 20 transferred from the sliding rail unit 112 is seated;
An LM guide 115 mounted on the lower structure 114 of the measurement table 113;
A servomotor 116 mounted on the lower structure 114 of the measurement table 113;
A pusher 117 into which the screw-type output shaft of the servomotor 116 is rotatably inserted and fastened to the LM guide 115 so as to be movable left and right; and
A zero point alignment block 118 located on the opposite side of the pusher 117 and fixedly mounted on the lower structure 114;
It is composed including,
When the metal plate 20 is placed on the alignment plate 119 of the measurement table 113, the pusher 117 moves along the LM guide 115 by driving the thermomotor 116 and moves the metal plate ( 20) is pushed until it comes into close contact with the zero point alignment block 118. An automated device for bending and welding a coaming structure for a ship.
In claim 1,
The robot 100:
Circular movement is possible sequentially along the material supplier 110, bender 120, straightener 130, and conveyor 140, and the metal plate 20 is picked up from the material supplier 110 to the bender 120. Move, pick up the bent coaming structure 10 from the bender 120 and move it to the straightener 130, and weld the coaming structure 10 calibrated in the straightener 130 with respect to the position and line to be welded. a robot arm (101) that performs; and
Measure the size of the metal plate 20 mounted on the robot arm 101 and seated on the measuring table 113 of the material supply machine 110, and weld the coaming structure 10 transferred to the straightener 130. A vision camera 102 that measures the accuracy of the position and line to be joined;
An automated device for bending and welding a marine coaming structure, comprising:
In claim 1,
The bending machine 120:
U-moving mold 121 for bending the metal plate 20 into a U shape;
R-moving mold 122 for bending the metal plate 20 to a predetermined radius of curvature; and
Hydraulic pressure is connected to the U-movable mold 121 and the R-movable mold 122 and pushes or pulls the U-movable mold 121 and the R-movable mold 122 for bending of the metal plate 20. cylinder 123;
An automated device for bending and welding a marine coaming structure, comprising:
In claim 1,
The corrector 130:
A calibration table 131 on which the coaming structure 10 bent by the bender 120 is seated;
A horizontal hydraulic cylinder 132 mounted on the bottom of the calibration table 131;
A support plate 133 fixed to one upper side of the calibration table 131;
A pressure plate 134 connected to the horizontal hydraulic cylinder 132 and located on the opposite side of the support plate 133; and
A vertical hydraulic cylinder 135 located on the upper part of the calibration table 131;
It is composed including,
With one side of the bent coaming structure 10 supported on the support plate 133, the pressure plate 134 according to the driving of the horizontal hydraulic cylinder 132 presses the bent coaming structure 10, or the vertical Bending and coaming structures for ships, wherein the piston rod portion 136 of the hydraulic cylinder 135 pressurizes the bent coaming structure 10, thereby accurately correcting the welded position and line of the coaming structure 10. Welding automation device.

Images