EP2780132A1 - Procédé et dispositif de soudage et/ou de coupe de pièces, en particulier de tubes, pour la formation de structures offshore - Google Patents

Procédé et dispositif de soudage et/ou de coupe de pièces, en particulier de tubes, pour la formation de structures offshore

Info

Publication number
EP2780132A1
EP2780132A1 EP12790401.9A EP12790401A EP2780132A1 EP 2780132 A1 EP2780132 A1 EP 2780132A1 EP 12790401 A EP12790401 A EP 12790401A EP 2780132 A1 EP2780132 A1 EP 2780132A1
Authority
EP
European Patent Office
Prior art keywords
welding
cutting
rail
handling device
axis
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Withdrawn
Application number
EP12790401.9A
Other languages
German (de)
English (en)
Inventor
Kai Steffen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Weserwind Offshore Construction Georgsmarienhuette GmbH
Original Assignee
Weserwind Offshore Construction Georgsmarienhuette GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Weserwind Offshore Construction Georgsmarienhuette GmbH filed Critical Weserwind Offshore Construction Georgsmarienhuette GmbH
Publication of EP2780132A1 publication Critical patent/EP2780132A1/fr
Withdrawn legal-status Critical Current

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
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0217—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being fixed to the workpiece
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/032—Seam welding; Backing means; Inserts for three-dimensional seams
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/04—Tubular or hollow articles
    • B23K2101/06—Tubes

Definitions

  • the invention relates to a method for welding and / or cutting components, in particular tubes, for the formation of offshore structures, according to the preamble of claim 1. Furthermore, the invention relates to a device for welding and / or cutting according to the preamble of claim 7.
  • Offshore structures are formed from large and heavy components, in particular pipes. Wherever components to be joined meet, three-dimensional profiles, so-called intersecting curves, are produced, in particular in the case of pipes. At least the end of one of several pipes to be assembled must have a three-dimensional course corresponding to the intersection curve, which is produced by appropriate cutting. The pipes prepared in this way are then joined by welding.
  • the relatively large and heavy tubes or similar components are not moved along a cutting or welding device, but at least the working means, such as a welding or cutting torch, of the device is moved relative to the stationary components. Accordingly, at least the working means of the cutting or welding device serving directly for cutting or welding would have to be movable along the welding or cutting seam.
  • Such rails must follow the course of welding or cutting be adapted to the seam. This results in three-dimensional grading curves to elaborately designed rails. These rails must be individually adapted to the respective welding or cutting seam in the case of multi-dimensional grading curves. This is very expensive.
  • a method for achieving this object comprises the measures of claim 1. Accordingly, it is provided that at least one longitudinal guide is assigned to the component and a handling device leading at least to the working means of the welding or cutting device is moved along the longitudinal guide.
  • the handling device which can be moved on the longitudinal guide, the axis of the longitudinal guide is overlaid with the at least one additional axis of the handling device.
  • the working fluid can thus be moved multi-axially. Because of this, the longitudinal guide does not need to follow the course of the intersection curve of the at least one component, because deviations from the course of the longitudinal guidance to the intersecting curve are compensated by the handling device.
  • the result is that simple, straight-line guides can be used for any grading curve. The previously required individual adjustment of the longitudinal guide to the partially three-dimensional Verschneidungskurve thereby unnecessary.
  • a preferred embodiment of the method is provided to move the working means, such as a welding or cutting torch, by means of the handling device on at least one additional, anti-parallel to the linear guide running path.
  • the working means such as a welding or cutting torch
  • the handling device is designed to move the working fluid on at least two antiparallel tracks, the working fluid can be moved along three-dimensional grading curves.
  • a preferred embodiment of the method provides for using a preferably mobile robot as handling device.
  • a preferably mobile robot can be moved relative to the large, stationary components, in particular tubes, for offshore structures.
  • a multi-axis, in particular two-axis or three-axis, in particular mobile, robot as the robot for forming the handling device.
  • a multiaxial, in particular mobile robot can be along with the linear guide any three-dimensional intersection curves depart along with its mobility and thus easily produce three-dimensional welds and / or cutting paths.
  • a linear or optionally also curved rail as a linear guide.
  • a straight rail is the easiest way to realize it.
  • a curved rail which partly follows an odd-numbered weld or cutting path, has the advantage that an axis of the handling device or of the robot running transversely to the rail can be shorter.
  • it is preferably provided to detachably fasten the linear guide, in particular rail, to or in the vicinity of a component.
  • the rail can be releasably secured by magnets on the component, for example a pipe.
  • the rail can also be releasably secured elsewhere, provided that the rail is in a fixed relative relationship to the component or pipe.
  • An apparatus for solving the above-mentioned problem has the features of claim 7.
  • a handling device movable on an elongated rail, wherein the handling device is assigned to the working means for welding in particular and / or cutting.
  • the handling device may be associated with a cutting or welding torch, a laser for welding or cutting, or the like. Then the working means of the device for welding and / or cutting is movable both by the handling device and can be moved along with the handling device along the rail.
  • the handling device for moving the working means on at least two different tracks or axles.
  • the working fluid can be moved in space and thereby depart three-dimensional paths.
  • the handling device is designed as a multi-axis, preferably mobile, robot.
  • the robot can move in three-dimensional space in relation to the stationary component to be processed. It can be so large components, especially pipes, as they are necessary for the formation of offshore structures, be processed economically, and are provided mainly with welds or cutting tracks that follow any spatial Verschneidungskurven.
  • the robot is designed as an articulated-arm robot with an additional linear axis that deviates from the longitudinal axis of the rail.
  • Such an articulated robot with an additional linear axis is compact and has a simple structure, so that it can be easily arranged at the respective welding or cutting location and can be easily moved relative to the component to be cut or the component to be welded.
  • the device may preferably be further developed in such a way that the at least one rail is provided with at least one means for fastening to a component or another object.
  • the means may be, for example, one or more magnets, both permanent magnets and electromagnets, which hold the rail with the robot movable thereon and the welding means for working in a fixed non-displaceable relative arrangement on the component.
  • the solvability of the rail can be used for other welding or cutting work, even if these other cutting or welding work requires a different course of the cutting path or the weld.
  • this may be the component, in particular a pipe, previously welded brackets, but also separate brackets act.
  • the handling device or the robot are mounted on a carriage having its own drive and the carriage of his drive on the longitudinal guide, in particular the rail, movable.
  • the handling device need not have its own drive to move along the rail. Rather, a commercial mobile robot can be used, which is moved by the carriage. The robot then only needs to have one movement axis for two-dimensional welding or cutting paths and two movement axes for three-dimensional cutting or welding paths.
  • 1 is a schematic side view of two pipes to be welded at an acute angle to form part of an offshore structure
  • FIG. 2 shows a plan view of the weld along the intersection curve of the pipes to be welded together at an acute angle according to FIG. 1, and an enlarged detail from FIG. 2.
  • the figures show an example of the invention in connection with the welding of two tubes 10 and 11 of different diameters and an angle which is smaller than 90 °.
  • the pipes 10 and 11 to be welded are part of an offshore structure, for example a foundation structure. Due to the different diameters of the pipes 10, 11 and the wrong-angled welding of the same, where the end face of the smaller pipe 11 strikes the jacket of the larger pipe 10, a spatial intersection curve 12 occurs. Along this intersecting curve 12 are the pipes 10 and 11 to weld with a corresponding three-dimensional weld 13.
  • At least one welding tool for example a welding torch, a laser or the like, preferably with automatic feed of the welding material from the device according to the invention, is guided along the intersection curve 12 in a machine manner.
  • a welding tool for example a welding torch, a laser or the like
  • devices are provided, preferably the same devices.
  • Each device has a preferably straight trained linear guide, which in the illustrated embodiment is a straight rail 14, a carriage 15 and a mobile handling device.
  • the straight rail 14 is detachably connected to the outer surface of the larger pipe 10. This can be done by magnets, but also small welds, which are separated again after the production of the weld 13.
  • two parallel to the longitudinal central axis 17 of the larger tube 10 extending the same rails 14 are provided on opposite sides of the smaller tube 11.
  • two transverse to the longitudinal central axis 17 of the large tube 10 extending rails 14 are provided, of which only one is shown in FIG. 2.
  • the transverse rail 14, not shown, is opposite the transverse rail 14 on the opposite transverse side of the smaller pipe 11.
  • the transverse rails are bent around a portion of the shell of the large pipe 10 to follow the diameter of the pipe 10. In plan view (FIG. 2) they still run in a straight line just like the lateral rails 14, ie they lie in a cross-sectional plane perpendicular to the longitudinal central axis 17 of the large pipe 10.
  • the lengths of the rails 14 are dimensioned so that the carriages 15 can be moved sufficiently far thereafter in order to be able to produce the circumferential weld seam 13 with working means only shown symbolically in the figures, namely welding working means 18.
  • the movable carriage 14 on each rail 15 is provided with its own drive. As a result, the carriage 15 can be arbitrarily moved along its associated rail 14.
  • the mobile robot 16 On the self-propelled slide 15, the mobile robot 16 is fixed, preferably detachably, so that it also assigned to other slide 15 can be.
  • the robot 16 is designed such that it can move the welding working means 18, for example a welding torch, on two differently directed axes, these two axes deviating from the longitudinal direction of the rail 14, ie not running parallel to the longitudinal center axis 17 of the large tube 10 ,
  • the mobile robot 16 shown here is designed as a so-called articulated-arm robot, whose cantilever arm 19 is formed by two cantilever arm parts 20 and 21. Both Auslegerarmmaschine 20, 21 are the same length in the embodiment shown.
  • the two Auslegerarmmaschine 20, 21 are pivotally connected to each other about a bending axis 22.
  • An opposite free end of the jib part 15 facing the carriage 15 is rotatably connected to a robot base 24 about a rotation axis 23 extending parallel to the bending axis 22.
  • the axis of rotation 23 is associated with a linear axis 25, whereby the cantilever arm 19 formed on the axis of rotation 23 is movable up and down.
  • the axis of rotation 23 extends perpendicular to the rail 14, from the outer surface of the larger tube 10 to the outside.
  • the axis of rotation 23 extends radially to the longitudinal central axis 17 of the larger tube 10 to the outside.
  • the bending axis 22 is parallel to the axis of rotation 23.
  • the welding working means 18 is assigned, preferably fixed, so immovable. However, it is also conceivable to associate the welding working means 18 with the free end of the boom arm part 21 about the longitudinal axis thereof, preferably pivotably.
  • the drive of the carriage 15 and the drives of the robot 16 for moving the cantilever arm 19 on the linear axis 25 and pivoting the Auslegerarmmaschine 20, 21 about the bending axis 22 and the rotation axis 23 are connected to a common control of the robot base 24 and / or the carriage 15 may be assigned.
  • the drives of the carriage 15 and the robot 16 can be coordinated, preferably by appropriate programming, that the welding work means 18 is movable at a predetermined feed rate along such a range of the intersection curve 12 as that of the respective apparatus for producing a part of the weld 13 is reachable.
  • the method according to the invention for producing the peripheral weld seam 13 connecting the tubes 10 and 11 is described below:
  • each device which is first detachably fastened to the tube 10, produces a part of a section of the weld seam 13 that can be reached by it.
  • the welding working means 18 for example a welding torch or a laser, is guided along a part of the intersecting curve 12 by machine and in each case a section of the welding seam 13 is produced.
  • the movements of the welding tool 18 are thereby coordinated by the control of the robot 16 and the drive of the carriage 15 so that the portion of the weld 13 to be produced is guided along the corresponding section of the intersecting curve 12.
  • the welding working means 18 in the dot-dashed line in the Fig. 2 range shown spatially move.
  • the boom 16 is moved by the robot 16 on the linear axis 25 on a radially directed path to the longitudinal central axis 17 of the tube 10 and additionally pivoted about the axis of rotation 23 and / or the Auslegerarmteil 21 pivots about the bending axis 22 relative to the about the rotation axis 23 pivotable Auslegerarmteil 20.
  • These movements may interact in whole or in part so that the welding tool 18 is moved in a superimposed path required to guide the welding tool 18 away from the device at the portion of the intersecting cam 11 reachable thereby, thereby forming part of the weld 13 manufacture.
  • intersection curve 12 and the weld seam 13 it may be sufficient to execute only a portion of the possible movements of the robot 16 and the carriage 15 at the same time, for example, when the carriage 15 moves along the rail 14, only the extension arm 19 about the axis of rotation 23 and / or on the linear axis 25 too move while the buckling axis 22 remains unactuated.
  • the carriage 15 is usually always moved on the rail 14 with the intended feed rate, which may eventually change along the rail 14.
  • the movements of the individual devices are preferably coordinated so that one or two devices begin to produce the weld 13 and thereafter the remaining devices to the beginnings of the first formed portions of the weld 13 then make the remaining portions of the weld 13.
  • the rails 14 are separated with the carriage 15 and the robots 16 from the outer surface of the large tube 10 and attached to another pipe or other component to produce welds with other gradients . It is also conceivable to previously separate the carriage 15 with the robot 16 from the rail 14, so that the respective rail 15 is separated from the pipe 10 alone.
  • the control of the device will be reprogrammed. In particular, the relative position of the rail 14 of each device to the pipes or other components of the offshore structure to be welded is entered into the control.
  • An alternative method provides that the rails 14 are not fastened directly to one of the components to be welded, in particular tubes 10 and 11, but to fasten the respective rail to a holder.
  • the attachment to the bracket then does not need to be solvable.
  • the components to be welded are brought into a defined relative position to the holder, which is maintained during the production of the weld. From the holder then the weld for connecting the tubes 10 and 11 or other components of the offshore structure.
  • the advantage of this method is that the devices need not be attached to the components to be welded and may remain for welding other components to the holder. The new parts to be welded are then only to bring in the intended relative position for mounting and fix here during the welding process.
  • the invention is not only suitable for welding, but also for cutting.
  • the intersection curve 12 on the small tube 11 can be made so automatically programmatically and then along the intersection curve 12, the small tube 11 are welded to the large tube 10.
  • the same devices can be used for previously cutting the intersection curve 12.
  • the rails 14, the carriage 5 and the robot 16 may be the same, including the controller.
  • the welding of the smaller tube 11 with the larger tube 10 done without the need to change the programming. All that needs to be done is to exchange the cutting tool for a welding tool 18 and, if necessary, to change the feed rate if it deviates from the cutting during welding.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Laser Beam Processing (AREA)
  • Manipulator (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

Des tubes (10, 11) servant à former des structures offshore présentent des courbes d'intersection (12) multiples, complexes, tridimensionnelles. Pour le soudage habituellement mécanique des tubes (10, 11) le long de la courbe d'intersection (12), on déplace un moyen de soudage (18) le long d'un rail (14) fixé de manière amovible à un tube (10). Le rail (14) doit épouser individuellement le tracé du cordon de soudure (13) reliant les tubes (10, 11) au niveau de la courbe d'intersection (12). Ceci nécessite des rails (14) différents pour chaque courbe d'intersection (12) ou chaque cordon de soudure (13). L'invention consiste à agencer sur le rail (14) un robot mobile (16) auquel est associé le moyen de soudage (18). Ceci permet de réaliser également des cordons de soudure (13) complexes tridimensionnels avec un rail droit (14) qui peut être utilisé universellement pour différents cordons de soudure (13) présentant des tracés différents les uns des autres.
EP12790401.9A 2011-11-16 2012-10-31 Procédé et dispositif de soudage et/ou de coupe de pièces, en particulier de tubes, pour la formation de structures offshore Withdrawn EP2780132A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011118615A DE102011118615A1 (de) 2011-11-16 2011-11-16 Verfahren und Vorrichtung zum Schweißen und/oder Schneiden von Bauteilen, insbesondere Rohren, zur Bildung von Offshorestrukturen
PCT/EP2012/004547 WO2013072016A1 (fr) 2011-11-16 2012-10-31 Procédé et dispositif de soudage et/ou de coupe de pièces, en particulier de tubes, pour la formation de structures offshore

Publications (1)

Publication Number Publication Date
EP2780132A1 true EP2780132A1 (fr) 2014-09-24

Family

ID=47221277

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12790401.9A Withdrawn EP2780132A1 (fr) 2011-11-16 2012-10-31 Procédé et dispositif de soudage et/ou de coupe de pièces, en particulier de tubes, pour la formation de structures offshore

Country Status (3)

Country Link
EP (1) EP2780132A1 (fr)
DE (1) DE102011118615A1 (fr)
WO (1) WO2013072016A1 (fr)

Families Citing this family (6)

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Publication number Priority date Publication date Assignee Title
DE102015206044A1 (de) 2015-04-02 2016-10-06 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Schweißanordnung zum dauerhaften Fügen eines ersten rohrförmigen Bauteils mit einem zweiten Bauteil
DE102016216388A1 (de) 2016-08-31 2018-03-01 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. System und Verfahren zum Trennen eines rohrförmigen Bauteils
DE102017211359A1 (de) * 2017-07-04 2019-01-10 Robert Bosch Gmbh Mobiler Schweißroboter
CN109822199A (zh) * 2019-04-22 2019-05-31 晋西工业集团有限责任公司 一种相贯线焊接的工艺方法
CN110560857B (zh) * 2019-09-17 2021-01-22 王谊 一种小直径不锈钢管相贯线切割机
CN112518072B (zh) * 2020-11-23 2022-03-01 南京工程学院 一种基于线结构光视觉的空间相贯曲线焊缝结构建模方法

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Also Published As

Publication number Publication date
DE102011118615A1 (de) 2013-05-16
WO2013072016A1 (fr) 2013-05-23

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