EP0807003A1 - Procede et dispositif pour souder automatiquement des tuyauteries - Google Patents
Procede et dispositif pour souder automatiquement des tuyauteriesInfo
- Publication number
- EP0807003A1 EP0807003A1 EP95940920A EP95940920A EP0807003A1 EP 0807003 A1 EP0807003 A1 EP 0807003A1 EP 95940920 A EP95940920 A EP 95940920A EP 95940920 A EP95940920 A EP 95940920A EP 0807003 A1 EP0807003 A1 EP 0807003A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- welding
- parts
- welded
- cable
- gravity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
Definitions
- the present invention relates to a method and a device for automatically welding parts made up of a certain number of tubular parts which are cut and joined together by welding to form a pipe, process in which the part already assembled by welding and the standardized spare part, are welded after positioning and lashing using lashing jaws, by means of a welding robot along the contact line between the two parts to be assembled. It finds its main application in the assembly of chemical and petrochemical industries, the workshops of metal constructions and the workshops of assembly. Automation of the welding process is now possible in a large number of branches of industry, in particular in steel construction and the automobile industry. Automatic welding processes are also applied in chemical factories, but their applications are limited to the production of relatively simple parts which are still manually manipulated.
- the torch occupies a fixed position and the part is capable of carrying out the necessary displacement, for example a revolution around a horizontal axis at an appropriate speed;
- the welding machine in which the torch occupies a fixed place and the part is driven in movement, has the drawback that, if the piping has a strange shape and size, the manipulation of the part is complicated. The movement of the piping is different for each weld bead and therefore impossible to program.
- the problem consists in suggesting accessories for suspension and / or welding apparatus, as well as in developing a welding method by which certain parts of complicated shape and size can be produced automatically without any intervention.
- the part thus obtained can be manipulated and moved at any time without the acceptable limit values, imposed by the directives for the manual handling of loads and the handling of goods, being violated, in accordance with the Royal Decree of August 12, 1993 concerning manual handling of loads.
- This Royal Decree transposes into Belgian law the fourth specific directive 90/269 / EEC of the Council of the European Communities of May 29, 1590 concerning the minimum safety and health requirements relating to the manual handling of loads involving risks, in particular dorso-lumbar, for workers.
- the present invention is fixed for the purpose of making easier the manual handling of pipes. It proposes a method of the type described in the preamble of claim 1 attached, characterized in that the part of the part to be welded already assembled by welding is suspended each time at its point of gravity by means of jaws and A cable which is stretched between the two tie-down points, as well as a suspension joint which consists of a cable tensioner, which is wedged in a ball joint, which in turn is suspended in a swivel.
- the swivel is preferably mounted on a ball bearing.
- an interchangeable gripping arm removably attached to an articulated arm of a welding robot brings a standardized spare part from a store to a work station.
- the proposed method uses a device which results from the combination of two accessories.
- the first accessory is a pair of jaws carried by a semi-circular frame provided with a cable fixing which serves as a point of gripping of the cable intended to lift the part, and also in a quarter-circle cover which can pivot around hinges having a lip in the form of a pouring spout and a pulling accessory provided with a folding lever.
- a second accessory is a hooking joint consisting of a metal body which is suspended by means of a swivel provided with a ball bearing from an eyelet, on the occasion of which the body has two equidistant orifices, the at least one is provided with a thread and a tightening bolt having a housing for keeping a tension cable taut.
- a hanging joint allows the part to be oriented in any direction.
- FIG. 1 is a diagram of a tubing of complicated shape and dimensions consisting of nine standardized tubular parts; - Figures 2 to 8 are each an example of planning a job which shows a succession of operations to achieve the above piping;
- - Figure 9 is a partial view of a securing clamp according to the invention;
- - Figure 10 is an end view of the securing jaws shown in Figure 9;
- - Figure 11 is a cross section of a fastening joint;
- - Figure 12 is a perspective view of a mandrel for positioning a straight tubular part;
- - Figure 13 is a perspective view of a curved mandrel for positioning an elbow in the robot.
- welding and
- - Figure 14 is a perspective view of a steerable lashing device.
- a pipe is formed by several standardized pipes which are welded to each other, for example tubular pieces 3, elbows 2, T-shaped pieces 4 and bricks. of 5.
- the complex piping is carried out by a succession of steps as illustrated in Figures 2 to 8.
- the welding unit has three parts:
- a welding device comprising a mobile welding torch 34 controlled by a robot 30.
- the device according to the invention comprises a welding robot having an articulated arm on which can be removably and successively fixed an interchangeable gripping arm which takes the or the parts to be welded in a standardized spare parts store located within reach of the robot and brings them to the welding station in the desired arrangement, a cutting torch which makes it possible to trace on the parts to be welded the lines of intersection and penetration of the parts to be welded and to cut the corresponding profiles and an interchangeable welding torch which produces the weld bead which assembles the above-mentioned parts.
- a free standardized tubular part is brought by a gripping arm fixed to an articulated arm of a welding robot 7 to the work station of a welding torch 34.
- the portions of straight tubes 3, T-pieces 4 and flanges 5 are secured using a rectilinear spindle 26 fitted with hydraulic keys which are distributed radially around the spindle 26.
- the spindle is illustrated by a cylinder moved from a rest position 19 shown in dotted lines in Figure 12, to a service position 20.
- the spindle is moved by sliding along a curved slide shown in solid lines in the same figure 12.
- the elbows 2 are stowed on a curved spindle 18, arranged parallel to the welding plane.
- This spindle is brought by sliding or pivoting from a rest position 24, illustrated in dotted lines in FIG. 13 to a service position 25, illustrated in solid lines in the same figure, thanks to the combination of rectilinear movements of a jack.
- the parts to be welded are stowed on the curved spindle under the action of the hydraulic keys.
- the orientable securing device 21 comprises two jaws 15 which are connected by a threaded rod comprising a right thread and a left thread which encloses or releases a piece to be welded.
- the threaded rod is driven by a geared motor 22.
- the movement is carried out perpendicular to the welding surface using a hydraulic cylinder 29.
- the securing device 21 returns to its initial position by which the space is freed up to allow the parts to be assembled by welding.
- the size of the gripping members in the steric configuration surrounding the work station of the welding torch is limited to only one quadrant of the available space. It follows that the weld bead is always accessible and that the welding operation can always take place easily, applying for the torch 34, carried by an articulated arm of the robot 30, a circular movement easy to program.
- the part of the pipe 1 already welded is fixed to the center of gravity G by means of the lifting device 39 (traveling crane).
- the welding device consists of a robot currently available on the market, comprising an articulated arm with six axes on which the welding torch 34 is mounted.
- the robot 30 is coupled to a welding station.
- the robot can start welding after securing the parts and removing the oriental jaws 21.
- the operator makes a choice between various operations previously programmed. It makes sense to indicate and number the rest of the operations on the worktops, so that the operator only has to enter the codes on the dial. By gripping the parts already assembled by welding at the center of gravity, the part can be easily turned in any direction and easily brought to the lashing device.
- Two pairs of jaws, ajar, are moved by sliding along the piping. Then, the jaws are served and tensioned using the lever 44. The jaws form the anchoring points of a cable 52 which is tightened by a clamping screw 53 in a tensioner described in more detail below .
- the location of the securing device is determined so as to be aligned with the center of gravity G.
- the cable 52 fixed to the reinforcement point for fixing the cable, passes through the center of gravity of the piping. The precise location where the lashing jaws must be brought can be indicated on the design office work plans.
- the cable 52 is then tensioned and the point of attachment of the cable comprising a suspension articulation is moved by sliding along the cable towards the center of gravity.
- the center of gravity is on the right which connects the two pairs of lashing jaws.
- the center of gravity is on the right which connects on the one hand the center of gravity of the portion of piping already assembled by welding and on the other hand the center of gravity of the piece welded last, on the occasion of what the ratio of the distances from G to the center of gravity of the already welded assembly and the distance of the last welded part is inversely proportional to the ratio of the weights of the corresponding parts.
- Two cables can also be used, each of which is fixed to a tubular part.
- This procedure provides the following advantages: a) faster production of the weld bead; b) the appearance and quality of the weld is better; c) the quality of the weld is constant; d) the positioning of the tube portions is faster;
Landscapes
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BE9401186 | 1994-12-29 | ||
BE9401186A BE1009012A4 (nl) | 1994-12-29 | 1994-12-29 | Werkwijze en inrichting voor het automatisch lassen van buisleidingen. |
PCT/BE1995/000117 WO1996022856A1 (fr) | 1994-12-29 | 1995-12-20 | Procede et dispositif pour souder automatiquement des tuyauteries |
Publications (1)
Publication Number | Publication Date |
---|---|
EP0807003A1 true EP0807003A1 (fr) | 1997-11-19 |
Family
ID=3888566
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP95940920A Withdrawn EP0807003A1 (fr) | 1994-12-29 | 1995-12-20 | Procede et dispositif pour souder automatiquement des tuyauteries |
Country Status (4)
Country | Link |
---|---|
US (1) | US5968384A (fr) |
EP (1) | EP0807003A1 (fr) |
BE (1) | BE1009012A4 (fr) |
WO (1) | WO1996022856A1 (fr) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6230072B1 (en) * | 1998-02-09 | 2001-05-08 | John W. Powell | Boiler automated welding system (BAWS) |
US6259968B1 (en) * | 1998-07-07 | 2001-07-10 | Daimlerchrysler Corporation | Method and apparatus for establishing work position of manufacturing tool |
DE102009020146B3 (de) * | 2009-04-08 | 2010-06-10 | V & M Deutschland Gmbh | Verfahren und Vorrichtung zum Verbinden der Enden von Rohren aus Stahl mittels Orbitalschweißen in Hybridtechnik |
EP3140070B1 (fr) * | 2014-05-09 | 2018-08-22 | Esab AB | Bras de soudage ergonomique doté d'une pluralité de bielles et d'articulations de bras |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3571908A (en) * | 1969-02-19 | 1971-03-23 | Union Carbide Corp | Pipeline welding |
GB1284431A (en) * | 1969-10-13 | 1972-08-09 | County Riverway Boilers Ltd | Improvements in or relating to external alignment clamps for pipes |
US4058025A (en) * | 1975-06-16 | 1977-11-15 | Wood Charles A | Counterweight assembly |
US4145593A (en) * | 1976-02-03 | 1979-03-20 | Merrick Welding International, Inc. | Automatic pipe welding system |
NO142109C (no) * | 1979-03-30 | 1980-07-02 | Total Transportation System In | Anordning for tilbringing, posisjonering og innjustering av profiler for heftsveising e.l. ved oppbygging av paneler e.l. |
US4347421A (en) * | 1980-02-15 | 1982-08-31 | Sumitomo Precision Products Company Limited | Automatic pipe circumference welding apparatus |
US4535213A (en) * | 1982-10-20 | 1985-08-13 | Srnic Ljubomir | Apparatus for welding in vertical, horizontal and slanting position |
US5165160A (en) * | 1991-07-22 | 1992-11-24 | Poncelet George V | Apparatus and method for axially aligning straight or curved conduits |
BE1005512A3 (fr) * | 1991-11-21 | 1993-08-31 | Henri Bosteels | Installation de soudage par induction et bout a bout de tubes metalliques. |
JP3230695B2 (ja) * | 1992-07-02 | 2001-11-19 | 株式会社小松製作所 | ワークの切断・搬出装置 |
US5312096A (en) * | 1993-03-09 | 1994-05-17 | Jasper Thomas E | Welding jig for pipes |
FR2717724B1 (fr) * | 1994-03-24 | 1996-04-26 | Snecma | Installation de soudage automatique. |
-
1994
- 1994-12-29 BE BE9401186A patent/BE1009012A4/nl not_active IP Right Cessation
-
1995
- 1995-12-20 US US08/875,053 patent/US5968384A/en not_active Expired - Fee Related
- 1995-12-20 WO PCT/BE1995/000117 patent/WO1996022856A1/fr not_active Application Discontinuation
- 1995-12-20 EP EP95940920A patent/EP0807003A1/fr not_active Withdrawn
Non-Patent Citations (1)
Title |
---|
See references of WO9622856A1 * |
Also Published As
Publication number | Publication date |
---|---|
BE1009012A4 (nl) | 1996-10-01 |
WO1996022856A1 (fr) | 1996-08-01 |
US5968384A (en) | 1999-10-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1778435B2 (fr) | Poste de realisation d'un travail sur une piece | |
FR2513559A1 (fr) | Dispositif pour le positionnement, le raccordement et le traitement de pieces de construction | |
FR2799670A1 (fr) | Procede de cintrage d'un tube metallique de faible diametre et dispositif pour sa mise en oeuvre | |
EP2801428A1 (fr) | Procédé et machine d'usinage de pièces sous forme de barres avec système automatique de retournement et de remise en référence de la pièce | |
FR2507520A1 (fr) | Pince pour dispositif de levage destine a la manutention de pieces | |
EP0807003A1 (fr) | Procede et dispositif pour souder automatiquement des tuyauteries | |
EP3481601B1 (fr) | Ensemble pour usinage d'une surface, comprenant un effecteur, destine a être monte sur un bras de robot, et au moins un element d'appui de l'effecteur sur la surface et/ou sur l'outillage avec liaison rotule entre eux | |
JP2005169489A (ja) | 斜動多関節ロボットを補助ロボットとして使用する溶接システム | |
FR2930737A1 (fr) | Appareillage pour le redresssement d'elements metalliques et/ou plastiques deformes a la suite d'une contrainte mecanique excessive | |
FR2553708A1 (fr) | Appareil d'enroulement de filaments, notamment d'armature de matiere plastique | |
FR2723545A1 (fr) | Poignee articulee pour la main de travail d'un robot | |
FR2612052A1 (fr) | Installation pour la fabrication automatisee des chaussures | |
EP0087996B1 (fr) | Dispositif de chargement et déchargement de pièces pour une machine-outil telle qu'une machine de tournage | |
JPH0654479U (ja) | 仕口溶接用ポジッショナ及びその治具 | |
FR2665656A1 (fr) | Procede de montage de structures en particulier de structures aeronautiques. | |
FR2945783A1 (fr) | Installation et procede d'assemblage de cotes d'habitacle de vehicules | |
WO1995019868A1 (fr) | Procede et dispositif d'assemblage d'une carrosserie automobile | |
JPH08174213A (ja) | 溶接方法及び溶接装置 | |
FR2631100A1 (fr) | Dispositif de positionnement de pieces metalliques contre un element metallique | |
WO2008031948A1 (fr) | Station de travail avec robot comportant une tête de positionnement et une tête de fixation, et procédé de fixation au moyen d'une telle station. | |
JP3131706B2 (ja) | 掘削ロッド保持装置 | |
WO2008031946A1 (fr) | Station de travail assurant un positionnement de pieces en temps masque | |
FR2915726A1 (fr) | Agencement pour le montage d'un element de carrosserie sur un element de structure de caisse | |
CN210438849U (zh) | 一种用于轴类电镀加工的表面处理工装 | |
FR2587272A1 (fr) | Procede et dispositif de redressement et d'alignement d'une premiere piece en matiere plastique par exemple thermosoudable avec une deuxieme piece en matiere plastique similaire pouvant egalement etre redressee en vue de leur assemblage bout a bout |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 19970726 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE CH DE ES FR GB IT LI LU NL |
|
GRAG | Despatch of communication of intention to grant |
Free format text: ORIGINAL CODE: EPIDOS AGRA |
|
17Q | First examination report despatched |
Effective date: 19980126 |
|
GRAG | Despatch of communication of intention to grant |
Free format text: ORIGINAL CODE: EPIDOS AGRA |
|
GRAH | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOS IGRA |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20020702 |