Rail type welding system

Abstract

The present invention relates to a rail-type welding system capable of performing welding operations on ships and offshore plants. A rail-type welding system according to one embodiment of the present invention is a welding system for performing a welding operation on a workpiece, comprising: at least one rail module; at least one terminal module installed on the rail module for housing a cable; at least one attachment module installed on the rail module for attaching the rail module to the workpiece; a welding robot module for welding along a welding line of the workpiece; and at least one moving module mounted on the welding robot module and movably installed on the rail module.

Description

Technology Field

[0001] The present invention relates to a rail-type welding system, and more specifically, to a rail-type welding system capable of performing welding operations on ships and offshore plants. Background Technology

[0002] Generally, in the shipbuilding and marine sectors, such as shipyards and offshore plants, the fabrication and assembly of hull blocks are carried out through welding.

[0003] Welding operations are performed manually by workers, and while welding is easy in large spaces, there is a problem that welding in enclosed and narrow spaces, such as enclosed blocks, is difficult. In other words, when welding in enclosed and narrow spaces, workers are inserted into the narrow space to perform welding manually, but there is a problem that the workers' movements are uncomfortable and it is difficult to maintain a welding position for a long time.

[0004] As a result, there is a problem where variations in welding quality occur, and physical fatigue and exhaustion may accumulate among workers due to welding in confined spaces.

[0005] In addition, in the case of confined spaces, there is a problem in that workers must perform work in poor conditions, such as being exposed to hazardous gases generated by welding and preheating environments.

[0006] In order to solve these problems, recently, methods have been proposed to ensure worker safety, improve welding quality, facilitate maintenance, increase work efficiency, and respond to adverse environmental conditions by performing welding work in enclosed and confined spaces using welding robots. Prior art literature

[0007] Republic of Korea Registered Patent No. 10-1603918 The problem to be solved

[0008] The objective of the present invention is to provide a rail-type welding system capable of performing welding operations in enclosed and confined spaces of ships and offshore plants.

[0009] Another objective of the present invention is to provide a rail-type welding system that enables worker convenience and uniformity of welding quality by remotely controlling or automatically performing welding work in enclosed and narrow spaces where it is difficult for a worker to enter, and minimizes human error in welding work by minimizing the welder's degree of freedom.

[0010] Furthermore, the technical problems that the present invention aims to solve are not limited to those mentioned above, and other unmentioned technical problems will be clearly understood by those skilled in the art from the description below. means of solving the problem

[0011] A rail-type welding system according to one aspect of the present invention, in a welding system for performing a welding operation on a workpiece, may include at least one rail module, at least one terminal module installed on the rail module for housing a cable, at least one attachment module installed on the rail module for attaching the rail module to the workpiece, a welding robot module for welding along a welding line of the workpiece, and at least one moving module mounted on the welding robot module and movably installed on the rail module.

[0012] In a rail-type welding system according to one aspect of the present invention, the rail module includes a rail body formed to be elongated, a plurality of installation holes formed in the rail body, and main rails formed on each of the longitudinal sides, and the moving module may include a moving body on which a welding robot module is mounted, a driving unit for driving the moving body, and a moving unit for moving the moving body by driving the driving unit.

[0013] In a rail-type welding system according to one aspect of the present invention, the main rail includes a gear section formed long in the longitudinal direction of the rail module on both sides of the rail module, and the driving section is provided on one side of the moving body and includes a gear box having a driving gear inside, and a driving motor that drives the driving gear, wherein the driving gear installed in the gear box meshes with the gear section, and the driving gear rotates by the driving of the driving motor so that the moving module can move relative to the rail module.

[0014] In a rail-type welding system according to one aspect of the present invention, the main rail includes rail grooves formed along the longitudinal direction of the rail module on both sides of the rail module, and the moving part includes a plurality of roller housings provided on the lower surface of the moving body and rollers horizontally arranged within each roller housing, and the rollers installed within the roller housings can be movably coupled to the rail grooves.

[0015] In a rail-type welding system according to one aspect of the present invention, the rail module may include a protrusion formed to protrude forward on both sides of the longitudinal front end center, a coupling groove formed on both sides of the longitudinal rear end center, and a locking device provided on each side of the rear end upper portion to fix each protrusion coupled to each coupling groove.

[0016] In a rail-type welding system according to one aspect of the present invention, the rail module includes a male connector provided at the longitudinal front end center and a female connector provided at the longitudinal rear end center, and the male connector and the female connector can be electrically connected to an attachment module.

[0017] In a rail-type welding system according to one aspect of the present invention, the attachment module comprises a top plate, attachment boxes provided on each lower side of the top plate with an open bottom, and an electromagnet installed tiltably within each attachment box, and the rail module can be attached and fixed to a welding object by the magnetic force of the electromagnet.

[0018] In a rail-type welding system according to one aspect of the present invention, a moving module may include a moving body, a first mounting part formed on the upper part of the moving body, and a second mounting part detachably coupled to the first mounting part and on which a welding robot module is mounted.

[0019] In a rail-type welding system according to one aspect of the present invention, a first installation part is arranged lengthwise along the longitudinal direction of a movable body and includes each connecting plate arranged at a certain interval in the width direction of the movable body, and a stopper arranged on one side between each connecting plate, and a second installation part is formed as a plate body, which is inserted between each connecting plate and stops by coming into contact with the stopper, and can be fixed and released with respect to the first installation part in a dovetail structure.

[0020] In a rail-type welding system according to one aspect of the present invention, the rail module further comprises a cable installation module for receiving and fixing a cable on the upper portion, wherein the cable installation module may include an auxiliary rail formed long in the longitudinal direction of the rail module at the center of the upper surface of the rail module, a cable moving part installed to be movable in the longitudinal direction of the auxiliary rail on the auxiliary rail, and a cable installation part provided on the upper portion of the cable moving part, wherein a cable is installed thereon. Effects of the invention

[0021] A rail-type welding system according to one embodiment of the present invention can perform welding work in enclosed and narrow spaces of ships and offshore plants, and by remotely controlling or automatically performing welding work in enclosed and narrow spaces where it is difficult for a worker to enter, it is possible to improve worker convenience and standardize welding quality.

[0022] A rail-type welding system according to one embodiment of the present invention is easy to manufacture to meet on-site requirements through functional modularization, facilitates the movement, installation, and maintenance of the equipment, enables immediate application by replacing the relevant module in the event of a problem, minimizes human error in welding operations by minimizing the welder's freedom, ensures worker safety, improves welding quality, facilitates maintenance, increases work efficiency, and enables response to adverse welding environments.

[0023] Furthermore, the effects obtainable from the present invention are not limited to those mentioned above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below. Brief explanation of the drawing

[0024] FIG. 1 is a perspective view showing a rail-type welding system according to a first embodiment of the present invention. FIG. 2 is an exploded perspective view showing a rail-type welding system according to a first embodiment of the present invention. FIG. 3 is a perspective view showing a rail module of a rail-type welding system according to a first embodiment of the present invention. FIG. 4 is a perspective view showing a modified example of a rail module of a rail-type welding system according to the first embodiment of the present invention. FIG. 5 is a perspective view showing an enlarged view of a connector in one variant of a rail module of a rail-type welding system according to the first embodiment of the present invention. FIG. 6 is a perspective view showing a terminal module of a rail-type welding system according to a first embodiment of the present invention. FIG. 7 is a perspective view showing an attachment module of a rail-type welding system according to a first embodiment of the present invention. FIG. 8 is a drawing showing the tilting operation of an attachment module of a rail-type welding system according to a first embodiment of the present invention. FIG. 9 is a perspective view showing a moving module of a rail-type welding system according to a first embodiment of the present invention. FIG. 10 is a perspective view showing a welding robot module being separated from a moving module of a rail-type welding system according to a first embodiment of the present invention. FIG. 11 is a perspective view showing a rail-type welding system according to a second embodiment of the present invention. FIG. 12 is a perspective view showing a rail module of a rail-type welding system according to a second embodiment of the present invention. FIG. 13 is a drawing showing a welding operation being performed on a workpiece in a closed and narrow space using a rail-type welding system according to a second embodiment of the present invention. Specific details for implementing the invention

[0025] The present invention is capable of various modifications and may have various embodiments, and specific embodiments are illustrated and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and it should be understood that it includes all modifications, equivalents, and substitutions that fall within the spirit and scope of the invention.

[0026] The terms used in this invention are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this invention, terms such as "comprising" or "having" are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0027] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that in the accompanying drawings, identical components are indicated by the same reference numerals whenever possible. Furthermore, detailed descriptions of known functions and configurations that may obscure the essence of the invention will be omitted. For the same reason, some components in the accompanying drawings may be exaggerated, omitted, or schematically depicted.

[0028] Hereinafter, a rail-type welding system according to the first embodiment of the present invention will be described.

[0029] FIG. 1 is a perspective view showing a rail-type welding system according to a first embodiment of the present invention. FIG. 2 is an exploded perspective view showing a rail-type welding system according to a first embodiment of the present invention. FIG. 3 is a perspective view showing a rail module of a rail-type welding system according to a first embodiment of the present invention. FIG. 4 is a perspective view showing a modified example of a rail module of a rail-type welding system according to a first embodiment of the present invention. FIG. 5 is a perspective view showing an enlarged view of a connector in a modified example of a rail module of a rail-type welding system according to a first embodiment of the present invention. FIG. 6 is a perspective view showing a terminal module of a rail-type welding system according to a first embodiment of the present invention. FIG. 7 is a perspective view showing an attachment module of a rail-type welding system according to a first embodiment of the present invention. FIG. 8 is a drawing showing a tilting operation of an attachment module of a rail-type welding system according to a first embodiment of the present invention. FIG. 9 is a perspective view showing a moving module of a rail-type welding system according to a first embodiment of the present invention. FIG. 10 is a perspective view showing a welding robot module being separated from a moving module of a rail-type welding system according to a first embodiment of the present invention.

[0030] A rail-type welding system according to one embodiment of the present invention is intended to automatically perform welding work in a confined and narrow space where it is difficult for a person, such as a worker or welder, to enter. It is intended to automatically perform welding work along the welding line of a workpiece in the shipbuilding and marine fields, such as ships and offshore plants, but is not limited thereto and can be applied to general welding work and can be implemented with various other modifications.

[0031] Referring to FIGS. 1 to 10, a rail-type welding system (1) according to a first embodiment of the present invention may include a rail module (10), a terminal module (20), an attachment module (30), a welding robot module (40), a moving module (50), and a control unit (not shown).

[0032] The rail module (10) has a rectangular shape with a certain thickness and can be arranged lengthwise to correspond to the length direction of the weld line of the object to be welded when inserted into a sealed and narrow space.

[0033] Specifically, the rail module (10) may include a rail body (11) having a long length and a plurality of installation holes (11a, 11b, 11c) formed through the rail body (11) in the thickness direction for installing a terminal module (20) and an attachment module (30).

[0034] Referring to FIG. 3, the rail module (10) may have main rails (13) formed on both sides.

[0035] The main rail (13) may include rail grooves (13b) formed longitudinally on both sides of the rail module (10). The rail grooves (13b) may be movably coupled to the rollers (55b) of the moving module (50) described later.

[0036] Additionally, the main rail (13) may include a gear section (13a) formed longitudinally on both sides of the rail module (10). The gear section (13a) may mesh with the driving gear (53b) of the moving module (50) described later. The gear section (13a) may be positioned on the upper part of the rail groove (13b) on both sides of the rail module (10).

[0037] Referring to FIG. 4, the rail module (10) may be composed of multiple units, and in this case, another rail module (10') may be installed by being connected to the front and / or rear end of one rail module (10).

[0038] Referring to FIG. 5, protrusions (14a) may be formed protruding forward on both sides of the front center of the rail module (10), and coupling grooves (14b) may be formed on both sides of the rear center of the rail module (10) to correspond to the front of the rail module (10).

[0039] Accordingly, when one rail module (10) is combined with another rail module (10'), a protrusion (14a) or a coupling groove (14b) formed at the front or rear end of one rail module (10) can be inserted into a coupling groove (14b) or a protrusion (14a) formed at the rear or front end of the other rail module (10') to be combined.

[0040] At this time, in order to secure the connection between one rail module (10) and another rail module (10'), a locking device (14c) may be provided on each of the upper rear ends of the rail modules (10, 10'), and a locking hole (14d) may be formed on each of the protrusions (14a) protruding from the front ends of the rail modules (10, 10'). Accordingly, by connecting and disconnecting the locking device (14c) to the locking hole (14d), a plurality of rail modules (10, 10') can be interconnected and disconnected.

[0041] Here, the locking device (14c) is configured as a one-touch locking type and may include a pin (not shown), a spring (not shown), and a rotating handle (not shown in the drawing). When the rotating handle is rotated in the forward direction, the pin is inserted into the locking hole (14d) by the elasticity of the spring, and when the rotating handle is rotated in the reverse direction, the pin is separated from the locking hole (14d). However, it is not limited to this and can be modified in various ways.

[0042] Meanwhile, a connector (15) may be provided at the center of the front or rear end of the rail module (10) to provide electricity to the attachment module (30).

[0043] In addition, when multiple rail modules (10, 10') are connected, a connector (15) may be provided at the center of the front and rear ends of the rail modules (10, 10') so that they can be electrically connected.

[0044] Specifically, a male connector (15a) or a female connector (15b) may be provided at the front end center of the rail module (10), and a female connector (15b) or a male connector (15a) may be provided at the rear end center of the rail module (10). At this time, the male connector (15a) and the female connector (15b) may be coupled to each other.

[0045] Meanwhile, at both longitudinal ends or at any end of the rail module (10), a sensing sensor (not shown) may be provided to prevent collision between the rail module (10) and the inner wall within a sealed and narrow space, or to check the position.

[0046] Accordingly, when an inner wall is detected by a detection sensor within a sealed and narrow space, the entry and position of the rail module (10) can be controlled to prevent the inner wall and the end of the rail module (10) from colliding and causing damage. At this time, the detection sensor may be a distance sensor, but is not limited thereto.

[0047] The terminal module (20) can be installed in the installation hole (11b) of the rail module (10), and can accommodate a cable for supplying power, such as electricity, to the attachment module (30). Referring to FIG. 6, the terminal module (20) may have a plurality of cable storage holes (22a) formed along the longitudinal direction of the rail module (10) to accommodate at least one cable branched out.

[0048] Specifically, the terminal module (20) is formed in a box shape on the upper plate (21) and the lower part of the upper plate (21), and includes a storage box (22) that is smaller in size than the upper plate (21), and a plurality of cable storage holes (22a) for storing cables such as wires may be formed through the storage box (22).

[0049] The attachment module (30) can be installed in the installation holes (11a, 11c) of the rail module (10) and can receive electricity through a cable connected. Referring to FIG. 7, the attachment module (30) may include an attachment box (33a, 33b) which is provided on both lower sides of the top plate (31) and has a space formed inside for installing an attachment unit, with the lower side being open, and an attachment unit inserted into each attachment box (33a, 33b).

[0050] Here, the attachment unit may be an electromagnet (35a, 35b) capable of attaching the rail module (10) to a metal object to be welded by magnetic force so as to prevent shaking and ensure stable fixation of the rail module (10) during welding work. That is, when installing the welding system (1) in a sealed and narrow space, the worker pushes the welding system (1) in, places the welding system (1) in the correct position, and then fixes the rail module (10) to perform welding work. Therefore, the attachment unit that comes into contact with the rail module (10) may be an electromagnet (35a, 35b) to facilitate the fixation and movement of the rail module (10).

[0051] Here, the electromagnet (35a, 35b) can be installed in a tiltable manner in the attachment box (33a, 33b). Referring to FIG. 8, the electromagnet (35a, 35b), with its upper portion inserted into the attachment box (33a, 33b), can be installed in a tiltable manner in the width direction of the attachment box (33a, 33b). When the attachment surface, such as the inner surface where the rail module (10) is attached within a sealed and narrow space, is formed flat, the electromagnet (35a, 35b) is attached in a state perpendicular to the attachment surface. When the attachment surface, such as the inner surface where the rail module (10) is attached within a sealed and narrow space, is formed curved or curvature, the electromagnet (35a, 35b) can be tilted toward one side or the other side in the width direction and then attached to correspond to the attachment surface.

[0052] To this end, the lower part of the electromagnet (35a, 35b) is formed to protrude partially toward the attachment surface from the lower side of the attachment box (33a, 33b), and the upper center of the electromagnet (35a, 35b) can be tiltably connected to the inner side of the attachment box (33a, 33b) by a hinge pin (not shown in the drawing). Here, it is preferable that the electromagnet (35a, 35b) protrude about 1 mm to 3 mm from the lower side of the attachment box (33a, 33b), but more preferably, the electromagnet (35a, 35b) can protrude about 2 mm from the lower side of the attachment box (33a, 33b).

[0053] At this time, a hinge hole (not shown in the drawing) for inserting a hinge pin (not shown in the drawing) may be formed through the longitudinal center of the electromagnet (35a, 35b), and the hinge pin is inserted into the hinge hole, while both ends of the hinge pin may be fixedly installed on both sides inside the attachment box (33a, 33b). Accordingly, the electromagnet (35a, 35b) can be tilted to one side and the other side in the width direction of the attachment box (33a, 33b) with respect to the hinge pin. As a result, when the electromagnet (35a, 35b) comes into contact with an attachment surface that is curved, curvatured, or inclined, it can be tilted to one side or the other side in the width direction of the attachment box (33a, 33b) with respect to the hinge pin and positioned to correspond to the attachment surface.

[0054] In one embodiment of the present invention, the attachment unit is made of an electromagnet (35a, 35b), and the electromagnet (35a, 35b) is tilted in the width direction of the attachment box (33a, 33b) as an example. However, a tilting member (not shown) may be formed protruding downward from the center of the inner surface of the attachment box (33a, 33b), a circular tilting piece (not shown) may be formed at the end of the tilting member, and a tilting groove (not shown) may be formed at the upper center of the electromagnet (35a, 35b) to be coupled to the tilting piece, wherein the entrance side of the tilting groove may be formed slightly smaller than the diameter of the tilting piece. Accordingly, the tilting piece coupled within the tilting groove is not separated through the entrance side of the tilting groove, and it is also possible to enable the electromagnet (35a, 35b) coupled to the tilting member to tilt in the length direction and the width direction. By connecting the electromagnet (35a, 35b) to the inner center of the attachment (33a, 33b) with a tilting member, the attachment (33a, 33b) can be tilted not only in the longitudinal and transverse directions, but also at free angles and positions.

[0055] Meanwhile, in one embodiment of the present invention, the attachment unit is described as being an electromagnet (35a, 35b) as an example, but it is also possible to have a structure in which the attachment unit is vacuum-adsorbed to the attachment surface to fix the rail module (10).

[0056] Specifically, the attachment module (30) includes a top plate (not shown), attachment boxes (not shown) provided on each lower side of the top plate, and an attachment unit installed in the attachment box, wherein the attachment unit may be an adsorption pad (not shown).

[0057] Here, at least one adsorption hole (not shown) may be formed in the adsorption pad, and it may include an adsorption pump (not shown) that vacuum adsorbs an attachment surface through the adsorption hole of the adsorption pad, and a tube (not shown) connecting the adsorption pump and the adsorption pad. Specifically, the adsorption pad can be vacuum adsorbed to a floor surface, etc., to fix the rail-type welding system (1).

[0058] When the workpiece is made of a non-metallic material, it cannot be attached by the magnetic force of the electromagnet (35a, 35b), and thus, the rail-type welding system (1) can be attached and fixed to the workpiece by adding an adsorption force by vacuum adsorption.

[0059] In addition, since the suction pad can be applied to metal materials, it can be applied regardless of the material of the object to be welded. Therefore, when the rail module (10) is positioned in the correct position for performing welding work, the suction pump operates, and the suction pad, which has a suction hole formed therein, is attached to the attachment surface so that the rail module (10) can be fixed.

[0060] At this time, it is preferable that the suction pad be made of a flexible material and positioned to correspond to the curvature, curve, and slope of the attachment surface. Additionally, the suction pad may be formed in a bellows shape toward the attachment surface. Therefore, when the attachment surface, such as the inner surface to which the rail module (10) is attached, is curved or formed with a curvature, each suction pad can be stretched or partially extended to correspond to the attachment surface, thereby allowing the rail module (10) to be positioned to correspond to the shape of the attachment surface.

[0061] In one embodiment of the present invention, a terminal module (20) and an attachment module (30) are respectively installed on one side and the other side of the terminal module (20) on the rail module (10), but the arrangement and number of installation holes (11a, 11b, 11c) and the arrangement and number of terminal modules (20) and attachment modules (30) are not limited to this and can be implemented in various ways to limit the weight or distribute the load of the rail module (10).

[0062] The welding robot module (40) is for welding along the welding line of a workpiece and may be in the form of a multi-joint robot in which a welding torch (41) is installed.

[0063] Referring to FIG. 1, the welding robot module (40) may include a camera (42) and a laser vision sensor (44).

[0064] The camera (42) can identify on-site conditions, such as interferences within enclosed and narrow spaces. Additionally, the camera (42) can detect the position of the object to be welded or the weld line of the object to be welded. Furthermore, the camera (42) can detect the position of the welding torch (41) directed toward the object to be welded or the weld line of the object to be welded. Here, the camera (42) may be a CCD camera, but is not limited thereto and can be modified in various ways.

[0065] The laser vision sensor (44) is used to automatically locate the welding line of a workpiece using a laser, and can accurately adjust and control the position of the welding torch (41) relative to the welding line in real time. Therefore, it is possible to perform precise welding with the welding torch (41) while tracking the welding line with the laser vision sensor (44).

[0066] Meanwhile, the welding robot module (40) may further include an inertial sensor (not shown), and the inertial sensor can check the tilt and orientation of the rail module (10) on which the welding robot module (40) is installed. The inertial sensor may be an accelerometer or a gyroscope, and can measure the movement and change of direction of the welding robot module (40), thereby allowing the position, tilt, and orientation of the welding robot module (40) to be adjusted. Therefore, after checking the orientation and direction of the welding robot module (40) and the rail module (10) on which the welding robot module (40) is installed through the inertial sensor, the final angle of the welding torch (41) of the welding robot module (40) is set and checked, thereby allowing for precise welding of the welding line. In this way, by checking the orientation of the welding robot module (40) according to the tilt and direction of the welding robot module (40) through the inertial sensor, the angle of the welding torch (41) relative to the welding line of the object to be welded can be controlled and adjusted, thereby enabling optimization of the welding.

[0067] In addition, the welding robot module (40) can be connected to multiple cables, such as electric wires and gas supply lines.

[0068] The moving module (50) can be equipped with a welding robot module (40) and can be movably installed on the rail module (10).

[0069] Specifically, referring to FIG. 9, the moving module (50) may include a moving body (51) to which a welding robot module (40) is detachably coupled, a driving unit (53) that drives the moving module (50), and a moving unit (55) that moves the moving module (50) by driving the driving unit (53).

[0070] The movable body (51) may have an installation part formed on the upper part for installing a welding robot module (40).

[0071] Specifically, the installation section may include a first installation section (57) formed on the upper part of the movable body (51) and a second installation section (58) on which the welding robot module (40) is installed. The first installation section (57) may be arranged lengthwise along the length direction of the movable body (51) and may include each connecting plate (57a, 57a') arranged at a certain distance apart along the width direction of the movable body (51), and a stopper (57b) arranged on one side between each connecting plate (57a, 57a'). Accordingly, the other side between each connecting plate (57a, 57a') facing the stopper (57b) may be formed open, and a predetermined space may be formed between each connecting plate (57a, 57a') and the stopper (57b) for installing the second installation section (58).

[0072] Referring to FIG. 10, the second installation part (58) can be detachably installed on the first installation part (57), and a welding robot module (40) can be detachably mounted on the upper part.

[0073] The second installation part (58) can be slidably connected through the other side formed open between each connecting plate (57a, 57a') in the first installation part (57). Specifically, the second installation part (58) can be formed as a plate body and inserted between each connecting plate (57a, 57a') to be connected. Accordingly, it is inserted between each connecting plate (57a, 57a') through the open part of the first installation part (57) and slidably connected, and the end of the slidally connected second installation part (58) can be moved only to a certain position by contacting the stopper (57b) and connected to the inside of each connecting plate (57a, 57a') and the stopper (57b).

[0074] In order to prevent the second installation part (58) from detaching after being installed on the first installation part (57), the two sides that come into contact with each connecting plate (57a, 57a') may be formed at a predetermined angle, and the inner side of each connecting plate (57a, 57a') that comes into contact with the second installation part (58) may be formed at a predetermined angle.

[0075] At this time, both sides of the second installation part (58) may be formed at an angle to correspond to each connecting plate (57a, 57a') of the first installation part (57). Specifically, the second installation part (58) may be formed at an angle so that the lower area is larger than the upper area, and the inner surface of each connecting plate (57a, 57a') may be formed at an angle to correspond to this. Thus, the second installation part (58) connected to the first installation part (57) can be prevented from detaching.

[0076] Meanwhile, the inner surface of each connecting plate (57a, 57a') of the first installation part (57) may be formed to be inclined in the longitudinal direction toward the stopper (57b). Specifically, the width between each connecting plate (57a, 57a') may be formed in a shape that gradually decreases toward the stopper (57b), and the width of the second installation part (58) connected between each connecting plate (57a, 57a') may also be formed in a shape that gradually decreases. Accordingly, the width of each connecting plate (57a, 57a') may be formed to be inclined in a shape that increases toward the stopper (57b) from a position far from the stopper (57b), and the width of the second installation part (58) that is slidably connected between each connecting plate (57a, 57a') may also be formed in a shape that gradually decreases toward the stopper (57b) when connected.

[0077] Meanwhile, at least one coupling hole (57c) may be formed on the bottom surface of the first installation part (57), and the second installation part (58) may be provided with a coupling piece (58a) to be coupled to the coupling hole (57c) of the first installation part (57). At this time, the coupling piece (58a) may be provided in the second installation part (58) at a position corresponding to the coupling hole (57c) of the first installation part (57).

[0078] Here, the connecting piece (58a) may be in the shape of a dovetail. Accordingly, after slidingly connecting the second installation part (58) to the first installation part (57), the dovetail-shaped connecting piece (58a) is positioned to correspond to each connecting hole (57c), and the second installation part (58) can be fixed to the first installation part (57) by connecting the dovetail-shaped connecting piece (58a) to the connecting hole (57c).

[0079] Meanwhile, the second installation part (58) may have a plurality of screw grooves formed therein for mounting a welding robot module (40) using a fastening member (not shown), such as a bolt.

[0080] By the structure described above, the welding robot module (40) is mounted on the upper part of the second mounting part (58) by screw connection, and then the second mounting part (58) with the welding robot module (40) mounted thereon is slidably connected to the first mounting part (57), and by fastening a dovetail-shaped connecting piece (58a) into the connecting hole (57c), the installation of the second mounting part (58) and the welding robot module (40) on the first mounting part (57) of the movable body (51) can be completed.

[0081] In one embodiment of the present invention, a welding robot module (40) is mounted on a second mounting part (58), and then the second mounting part (58) on which the welding robot module (40) is mounted is installed on the first mounting part (57) as an example. However, it is also possible to mount the welding robot module (40) on the upper part of the second mounting part (58) after installing the second mounting part (58) on the first mounting part (57), but is not limited thereto.

[0082] In addition, in one embodiment of the present invention, a welding robot module (40) is mounted on the second mounting part (58) as an example, but various modules such as a cleaning module (not shown) and a welding inspection module (not shown) can be mounted and installed on the second mounting part (58), and it is preferable to perform various processes by replacing and applying the second mounting part (58) according to the site conditions and uses.

[0083] The driving unit (53) is provided in the moving body (51) and can drive the moving module (50) to move the moving body (51) relative to the moving module (50).

[0084] Specifically, the drive unit (53) may be provided on one side of the moving body (51) and may include a gear box (53a) having a drive gear (53b) inside and a drive motor (53c) that drives the drive gear (53b).

[0085] The gear box (53a) is a box-shaped structure provided on one side in the width direction of the moving body (51) and may have a driving gear (53b) provided inside. At this time, the driving gear (53b) is provided within the gear box (53a) and may be positioned so as to be located at the bottom of the moving body (51).

[0086] Here, the drive gear (53b) can be engaged with the gear section (13a) formed longitudinally on both sides of the rail module (10). That is, the gear section (13a) of the rail module (10) and the drive gear (53b) of the moving body (51) can be engaged in a rack and pinion manner. Accordingly, the drive gear (53b) engaged with the gear section (13a) rotates by the drive of the drive motor (53c), and the moving module (50) can move along the longitudinal direction of the gear section (13a) relative to the rail module (10) where the gear section (13a) is formed.

[0087] The moving part (55) may include a plurality of roller housings (55a) provided at each edge of the lower surface of the moving body (51) and at the center of one side of the lower surface of the moving body (51) facing the gear box (53a), and a roller (55b) horizontally arranged within each roller housing (55a).

[0088] The roller housing (55a) may be provided in a box shape at each lower edge of the moving body (51) and at the longitudinal center edge of the moving body (51). Accordingly, three roller housings (55a) may be arranged at a certain distance apart on one side of the lower part of the moving body (51), and two roller housings may be arranged at a certain distance apart on the other side.

[0089] At this time, each roller housing (55a) is positioned in the width direction, but the sides facing each other may be formed open. A roller (55b) is installed within the roller housing (55a) and may be positioned horizontally. Accordingly, the roller (55b) installed within each roller housing (55a) can be movably coupled to the rail groove (13b) formed on both sides of the rail body (11) through the open sides.

[0090] In this way, the roller (55b) of each roller housing (55a) is coupled to the rail groove (13b) formed longitudinally on both sides of the rail module (10), so that the moving module (50) can move forward and backward relative to the rail module (10).

[0091] Here, the rail groove (13b) may be formed in a semicircular or V shape, but is not limited thereto.

[0092] The control unit is for controlling the rail-type welding system (1) and may be provided within the welding system (1), but may be provided outside the rail-type welding system (1) and installed to be controllably connected to the rail-type welding system (1).

[0093] Specifically, the control unit can control the supply of electricity to the electromagnets (35a, 35b) of the attachment unit. The control unit can control the welding operation of the welding robot module (40). The control unit can control the movement of the moving module (50). The control unit can control the operation of the rail-type welding system (1).

[0094] The control unit can remotely control the process and movement of the rail-type welding system (1) through a program such as an automation system. The control unit can control the performance of welding while moving along the welding line through a sensor unit for CAD data, touch sensing, or other measurements.

[0095] The control unit can selectively control welding conditions in enclosed and confined spaces. Specifically, the control unit can control current, voltage, travel speed, or the supply speed of electrical wires and cables. The control unit can acquire a welding path and spatial shape, and calculate the start and end positions of the welding using the acquired welding path or spatial shape.

[0096] The control unit can configure a path for a welding operation by calculating the start and end positions of the welding. To this end, the control unit may include a calculation unit for calculating the start time, end time, and path of the welding. Additionally, the control unit may include a storage unit for storing various data calculated through the calculation unit.

[0097] The control unit is connected to a laser vision sensor (44), and can perform precision welding by tracking the welding line through the laser vision sensor (44).

[0098] The control unit is connected to the camera (42) and can determine the situation at the scene through the image captured via the camera (42).

[0099] The control unit is connected to the welding torch (41) and can perform welding work on the object to be welded through the welding torch (41).

[0100] To this end, the control unit may include a display unit (not shown) for providing the site situation to the operator.

[0101] Hereinafter, the assembly process of a rail-type welding system according to one embodiment of the present invention will be described.

[0102] First, the terminal module (20) and the attachment module (30) are installed by inserting them into a plurality of installation holes (11a, 11b, 11c) formed in the rail module (10).

[0103] At this time, a terminal module (20) is installed in an installation hole (11b) formed in the center of the rail module (10), and an attachment module (30) is inserted and installed in each of the installation holes (11a, 11c) formed on one side and the other side of the rail module (10) in the longitudinal direction, centered on the terminal module (20).

[0104] At this time, each electromagnet (35a, 35b) installed in each attachment box (33a, 33b) of the attachment module (30) may be positioned to protrude a certain portion from the lower part of the rail module (10).

[0105] After inserting and installing the terminal module (20) and the attachment module (30) into the installation holes (11a, 11b, 11c) of the rail module (10) in this way, the terminal module (20) and the attachment module (30) are fixedly installed by fastening them to the rail module (10) with fastening members (not shown), such as bolts.

[0106] Then, after mounting the welding robot module (40) on the second installation part (58) of the moving module (50), the second installation part (58) is installed on the first installation part (57) provided on the upper surface of the moving module (50).

[0107] Specifically, after mounting the welding robot module (40) on the second installation part (58) using a fastening member such as a bolt, the second installation part (58) is joined by sliding it through the part formed open in the first installation part (57). That is, the inclined portions formed on both sides of the second installation part (58) are positioned to correspond to the inclined portions formed on the inner side of each connecting piece (58a) of the first installation part (57), and then the second installation part (58) is joined by sliding it toward the stopper (57b) formed in the first installation part (57).

[0108] At this time, the second installation part (58), which is slidably coupled between each coupling piece (58a) of the first installation part (57), comes into contact with the stopper (57b), and the coupling piece (58a) formed in a dovetail shape on the second installation part (58) while in contact with the stopper (57b) and the coupling hole (57c) formed on the bottom surface of the first installation part (57) can be arranged on the same axis.

[0109] Accordingly, the second installation part (58) can be slidably coupled to the first installation part (57), and after moving the end of the second installation part (58) to come into contact with the stopper (57b), the second installation part (58) can be fixed to the first installation part (57) by coupling the coupling piece (58a), which is formed in a dovetail shape on the second installation part (58), to the coupling hole (57c) of the first installation part (57).

[0110] Meanwhile, it is possible to install a welding robot module (40) on the upper part of the second installation part (58) after installing the second installation part (58) on the first installation part (57), but it is not limited to this and can be implemented in various ways.

[0111] After installing the welding robot module (40) on the moving module (50) in this manner, the moving module (50) is connected to the rail module (10). Specifically, the moving module (50) is connected to the rail module (10) such that a roller (55b) installed within a plurality of roller housings (55a) provided at the bottom of the moving body (51) is inserted into a rail groove (13b) formed on both sides of the rail module (10). At this time, the driving gear (53b) provided on the moving module (50) is installed to mesh with the gear portion (13a) provided on both sides of the rail module (10).

[0112] After installing the moving module (50) on the rail module (10) in this way, the driving motor is driven to rotate the driving gear (53b) engaged with the gear part (13a), and the moving module (50) moves forward and backward along the length of the rail module (10) by the rotation of the driving gear (53b).

[0113] Hereinafter, the process of performing welding work through a rail-type welding system according to one embodiment of the present invention is described.

[0114] First, a worker or welder positions the rail-type welding system (1) according to the present invention in a closed and narrow space.

[0115] At this time, the rail-type welding system (1) is positioned on the object to be welded, such as by pushing the rail-type welding system (1) into a sealed and narrow space, while not supplying electricity to the attachment unit (30) of the rail-type welding system (1) which is equipped with an attachment module (30) of the rail-type welding system (1) and consists of electromagnets (35a, 35b).

[0116] When the attachment surface, such as the floor of a sealed or narrow space, is not flat but formed with curvature or a curve, each electromagnet (35a, 35b) of the attachment module (30) provided in the rail-type welding system (1) is tilted so that the rail-type welding system (1) is stably attached to the attachment surface.

[0117] After positioning the rail-type welding system (1) on the object to be welded, electricity is supplied to the attachment module (30) to generate magnetic force in each electromagnet (35a, 35b) of the attachment module (30) and attach the rail module (10) to the metal object to be welded.

[0118] Meanwhile, if the workpiece is made of a non-metallic material, the attachment unit may be composed of a suction pad capable of vacuum suction, and the rail module (10) is attached to the workpiece made of a non-metallic material by vacuum suction with the suction pad.

[0119] In one embodiment of the present invention, the attachment unit is described as being composed of an electromagnet (35a, 35b) that can be attached to a metal material by magnetic force, or an adsorption pad that can be attached to a metal or non-metal material by vacuum adsorption. However, it is also possible to install both the electromagnet (35a, 35b) and the adsorption pad as attachment units in the attachment module (30), and to selectively and alternatively operate the rail-type welding system (1) according to the material of the object to be welded to attach the rail-type welding system (1) to the attachment surface of the object to be welded, and various other modifications are possible.

[0120] The welding line of the workpiece is welded through the welding robot module (40) that has the rail-type welding system (1) placed on the workpiece in this way.

[0121] After the rail-type welding system (1) is installed in a sealed and narrow space, the control unit generates a welding path and performs welding work along the welding path with a welding robot module (40). Specifically, after positioning a welding torch (41) on the welding line of the object to be welded, a moving module (50) equipped with a welding robot module (40) moves along the welding line relative to the rail module (10) to perform welding work. That is, the welding work is performed by the welding robot module (40) mounted on the moving module (50) while the moving module (50) moves along the welding line toward the inside of the sealed and narrow space in the direction facing the outside, or the welding work is performed by the welding robot module (40) mounted on the moving module (50) while the moving module (50) moves along the welding line toward the outside from the inside of the sealed and narrow space in the direction facing the outside.

[0122] At this time, the welding robot module (40) in the form of a multi-joint robot performs welding work while taking on various shapes toward the welding line.

[0123] Meanwhile, the welding line is automatically detected in real time through a laser vision sensor (44) installed in the welding robot module (40), and the shape of the welding robot module (40) or the position of the welding torch (41) is adjusted in real time so that the welding torch (41) moves along the welding line.

[0124] Additionally, the position of the welding torch (41) directed toward the welding target or welding line is detected through a camera (42) installed on the welding robot module (40), and if the position of the welding torch (41) is not accurate, the position of the welding robot module (40) or the welding torch (41) is adjusted relative to the welding line.

[0125] Meanwhile, after checking the tilt and posture of the welding robot module (40) through the inertial sensor installed in the welding robot module (40), the optimal angle of the welding robot module (40) with respect to the welding line is set, and then a precise welding operation is performed on the welding line.

[0126] Thus, the control unit performs welding work through a welding path set using basic CAD data after the installation of the rail-type welding system (1), or performs welding work while recognizing and tracking the welding line through a laser vision sensor (44). The welding path can be set by obtaining the spatial shape of a closed and narrow space through various sensors and detection sensors, and calculating the welding start position and welding end position using the obtained spatial shape to set a basic path or welding path.

[0127] At this time, the site conditions within the enclosed and narrow space can be checked in real time using a camera (42), and the presence or absence of separate interferences and obstacles can be identified before welding work can be performed.

[0128] In one embodiment of the present invention, a welding robot module (40) is mounted on a mobile module (50) to automatically perform welding work in a confined and narrow space where it is difficult for a worker or welder to enter. However, it is also possible to modularize various industrial robots, orthogonal manipulators, or centering devices and mount them on the mobile module (50) to utilize them for various types of work, and various other modifications are possible.

[0129] In this way, the welder or welder can minimize human error in welding by selecting the material of the workpiece, welding position, or shape of the weld part without selecting and controlling welding conditions such as current, voltage, and speed, and by automatically performing the welding work through the welding robot system (1).

[0130] Meanwhile, in the rail-type welding system (1) according to the present invention, when multiple rail modules (10) are connected and applied, the rear end or front end of another rail module (10') can be connected to the front end or rear end of any one rail module (10).

[0131] Specifically, a protrusion (14a) formed protruding from the lower front end of another rail module (10') is coupled to a coupling groove (14b) formed at the lower rear end of one rail module (10), and a one-touch locking type locking device (14c) provided on both sides of the upper rear end of one rail module (10) where the coupling groove (14b) is formed is rotated so that the locking device (14c) is coupled to a locking hole (14d) formed in the protrusion (14a), thereby connecting the rail modules (10, 10') to extend the overall length.

[0132] Here, a plurality of rail modules (10, 10') are electrically connected by coupling a male connector (15a) provided at the front end center of another rail module (10') to a female connector (15b) provided at the rear end center of one rail module (10). Thus, after placing one rail module (10) into a sealed and narrow space, another rail module (10') is connected to one rail module (10) that is partially inserted and placed into the sealed and narrow space, thereby forming a plurality of interconnected rail modules (10) in the sealed and narrow space.

[0133] Meanwhile, depending on the welding environment within a sealed and confined space, when performing welding operations by connecting multiple rail modules (10, 10'), each rail module (10, 10') may be formed with different lengths or each rail module (10, 10') may be formed with the same length. Accordingly, by installing one attachment module (30) on one rail module (10) and one attachment module (30) on another rail module (10'), the number of attachment modules (30) can be adjusted to appropriately control the magnetic force attached to a metal welding target. That is, the number of attachment units per rail module (10) can be configured as one or more depending on the form of the welding robot module (40) installed on the rail module (10), load distribution, etc.

[0134] When the lengths of each rail module (10, 10') are formed differently, it is preferable to place the rail module (10') with the shortest length at the end so that the rail module (10') placed last can assist the rail module (10) located before it, thereby improving overall stability when multiple rail modules (10, 10') are connected, but is not limited thereto.

[0135] In this embodiment, two rail modules (10, 10') formed in a modular form are connected as an example, but the number of connected rail modules (10, 10') is not limited to this and can be varied to suit the conditions of the work site. At this time, it is desirable to manufacture the rail-type welding system (1) with a total weight of 10 kg or less to ensure the safety of the worker.

[0136] Hereinafter, a rail-type welding system according to a second embodiment of the present invention will be described.

[0137] FIG. 11 is a perspective view showing a rail-type welding system according to a second embodiment of the present invention. FIG. 12 is a perspective view showing a rail module of a rail-type welding system according to a second embodiment of the present invention. FIG. 13 is a drawing showing welding work being performed on a workpiece in a closed and narrow space using a rail-type welding system according to a second embodiment of the present invention.

[0138] Since the rail-type welding system according to the second embodiment of the present invention has the same structure as the first embodiment except for the cable installation module, a redundant description of the same configuration will be omitted.

[0139] Referring to FIGS. 11 and 12, a rail-type welding system (1') according to a second embodiment of the present invention may further include a cable installation module (70).

[0140] The cable installation module (70) is intended to store and secure various cables (7), including wires and gas supply pipes connected to the welding robot module (40), and to move the various cables (7) according to the movement of the welding robot module (40) mounted on the moving module (50).

[0141] Specifically, the cable installation module (70) may include an auxiliary rail (71) formed long in the longitudinal direction of the rail module (10) at the center of the upper surface of the rail module (10), a cable moving part (73) installed to be movable in the longitudinal direction of the auxiliary rail (71) on the auxiliary rail (71), and a cable installation part (75) on which the cable (7) is installed.

[0142] The auxiliary rail (71) may have a moving groove (71a) formed on the inner side to allow the cable moving part (73) to move, and may have a cross-section formed in the shape of "└┘". Additionally, the upper part of each side may have a bent portion (not shown in the drawing) that is bent toward the center.

[0143] The cable moving part (73) may include a moving piece (73a) for moving by being coupled to the moving groove (71a) of the auxiliary rail (71) and a moving plate (73b) formed as a plate on the upper part of the moving piece (73a).

[0144] Specifically, the movable member (73a) may be formed in a "T" shape to prevent it from coming off the moving groove (71a). Accordingly, both ends of the movable member (73a) are prevented from coming off by a bending portion that is bent toward the center from each side of the moving groove (71a), and can be moved along the longitudinal direction of the auxiliary rail (71). The movable plate (73b) may be formed as a plate body and extend in the width direction of the rail module (10).

[0145] The cable installation section (75) can be formed lengthwise on the upper surface of the movable plate (73b) in the direction of movement of the movable plate (73b). The cable installation section (75) can be arranged in multiple units spaced apart at regular intervals in the width direction of the movable plate (73b).

[0146] Specifically, the cable installation part (75) includes a support member (75a) with its lower end connected to a movable plate (73b) and a roll member (75b) provided on the upper part of the support member (75a), and may be provided as a pair arranged at a certain distance from each other so as not to be detached after the cable (7) is inserted.

[0147] In a pair of cable installation sections (75), the support member (75a) is an elastic body and can be formed at a certain angle of inclination toward the mutually facing direction. Accordingly, the inlet side of the cable installation section (75) into which the cable (7) is inserted is slightly smaller than the diameter of the cable (7), and the inner side of the cable installation section (75) into which the inserted cable (7) is placed can be formed to correspond to the diameter of the cable (7).

[0148] Here, the roll member (75b) may be made rotatable during the insertion and separation of the cable (7) so that the cable (7) can be easily inserted and separated between the pair of roll members (75b). Accordingly, the cable (7) inserted into the space between the support members (75a) through each roll member (75b) does not detach from the cable installation part (75).

[0149] With the structure described above, various cables (7) connected to the welding robot module (40) are inserted into and stored in the cable installation part (75) of the cable installation module (70), and when the moving module (50) equipped with the welding robot module (40) moves, the cable moving part (73) moves on the auxiliary rail (71), thereby preventing the cables (7) connected to the welding robot module (40) from getting tangled.

[0150] At this time, the height of the cable installation part (75) is formed higher than the inner side of the moving module (50) so as to prevent the cable installation module (70) moving on the auxiliary rail (71) from being inserted into the inner side of the moving module (50).

[0151] Meanwhile, referring to FIG. 12, in the case of a rail-type welding system (1') according to the second embodiment of the present invention, a plurality of rail modules (10, 10') can be connected and applied, and in this case, a cable installation module (70) is installed on each of the plurality of rail modules (10, 10'), and as a result, each auxiliary rail (71) can be interconnected.

[0152] As the cable moving part (73) moves on each interconnected auxiliary rail (71), the cable installation part (75) in which the cable (7) is stored can be moved.

[0153] Accordingly, with reference to FIG. 13, a rail-type welding system (1') that is inserted into a closed and narrow space where it is difficult for a worker and a welder to enter moves along the welding line (5) of a workpiece (3, 3'), and a welding robot module (40) moves along the welding line (5) in correspondence with the welding line (5) to perform a precise welding operation.

[0154] At this time, various cables (7) connected to the welding robot module (40) can be stored and organized through the cable installation module (70), and then move along the moving module (50) on which the welding robot module (40) is mounted, thereby preventing the cables (7) from getting tangled.

[0155] Although the present invention is illustrated and described above in relation to specific embodiments, it will be readily apparent to those skilled in the art that various modifications and changes are possible without departing from the spirit and scope of the invention as set forth in the appended claims. Explanation of the symbols

[0156] 1, 1' : Rail-type welding system 3, 3' : Workpiece 5 : Weld line 7 : Cable 10, 10' : Rail Module 11: Rail body 11a, 11b, 11c: Installation holes 13: Main rail 13a: Gear section 13b: Rail groove 14a: Protrusion 14b: Connecting groove 14c: Locking device 14d : Lock hole 15 : Connector 15a: Male connector 15b: Female connector 20: Terminal module 21: Top plate 22: Storage box 22a: Cable storage hole 30: Attachment module 31: Top plate 33a, 33b: Attachment 35a, 35b: Electromagnet 40: Welding robot module 41: Welding torch 42: Camera 44: Laser vision sensor 50: Mobile Module 51: Mobile Body 53 : Drive unit 53a : Gearbox 53b: Drive gear 53c: Drive motor 55: Moving part 55a: Roller housing 55b : Roller 57 : First installation part 57a, 57a' : Connecting plate 57b : Stopper 57c : Connection hole 58 : Second installation part 58a : Connecting piece 70 : Cable installation module 71 : Auxiliary rail 71a : Moving groove 73: Cable moving part 73a: Moving part 73b : Moving plate 75 : Cable installation section 75a : Support piece 75b : Roll member

Claims

Claim 1 A welding system for performing a welding operation on a workpiece, comprising: at least one rail module; at least one terminal module installed on the rail module for housing a cable; at least one attachment module installed on the rail module for attaching the rail module to the workpiece; a welding robot module for welding along a welding line of the workpiece; and at least one moving module mounted on the welding robot module and movably installed on the rail module, wherein the rail module comprises a male connector provided at a longitudinal front end center and a female connector provided at a longitudinal rear end center, and the male connector and the female connector are electrically connected to the attachment module. Claim 2 A rail-type welding system according to claim 1, wherein the rail module comprises a rail body formed in an elongated shape, a plurality of installation holes formed in the rail body, and main rails formed on each of the longitudinal sides, and the moving module comprises a moving body on which a welding robot module is mounted, a driving unit for driving the moving body, and a moving unit for moving the moving body by the driving of the driving unit. Claim 3 In paragraph 2, the main rail comprises a gear section formed longitudinally along both sides of the rail module, and the driving section comprises a gear box provided on one side of the moving body, having a driving gear inside, and a driving motor that drives the driving gear, wherein the driving gear installed in the gear box meshes with the gear section, and the driving gear rotates by the driving of the driving motor so that the moving module moves relative to the rail module, a rail-type welding system. Claim 4 In paragraph 2, the main rail includes rail grooves formed longitudinally along both sides of the rail module, and the moving part includes a plurality of roller housings provided on the lower surface of the moving body and rollers horizontally arranged within each roller housing, and the rollers installed within the roller housings are movably coupled to the rail grooves, forming a rail-type welding system. Claim 5 A rail-type welding system according to claim 1, wherein the rail module comprises a protrusion formed to protrude forward on both sides of the longitudinal front end center, a coupling groove formed on both sides of the longitudinal rear end center, and a locking device provided on each side of the upper rear end to fix each protrusion coupled to each coupling groove. Claim 6 delete Claim 7 A rail-type welding system according to claim 1, wherein the attachment module comprises a top plate, attachment boxes respectively provided on both lower sides of the top plate and having an open bottom, and an electromagnet installed tiltably within each attachment box, and wherein the rail module is attached and fixed to a welding object by the magnetic force of the electromagnet. Claim 8 A rail-type welding system according to claim 1, wherein the moving module comprises a moving body, a first mounting part formed on the upper part of the moving body, and a second mounting part detachably coupled to the first mounting part and on which the welding robot module is mounted. Claim 9 In claim 8, the first installation part is arranged lengthwise along the longitudinal direction of the movable body and includes each connecting plate arranged at a certain interval in the width direction of the movable body, and a stopper arranged on one side between each connecting plate, and the second installation part is formed as a plate body, is inserted between each connecting plate and stops upon contact with the stopper, and is fixed and released with respect to the first installation part in a dovetail structure, a rail-type welding system. Claim 10 A rail-type welding system according to claim 1, wherein the rail module further comprises a cable installation module for receiving and fixing a cable on the upper portion, wherein the cable installation module comprises an auxiliary rail formed long in the longitudinal direction of the rail module at the center of the upper surface of the rail module, a cable moving part installed to be movable in the longitudinal direction of the auxiliary rail on the auxiliary rail, and a cable installation part provided on the upper portion of the cable moving part, wherein a cable is installed thereon.

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