JP2604690B2 - Automatic flange assembly welding apparatus and automatic flange assembly welding method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a flange automatic assembling welding apparatus and a flange automatic assembling welding method.
The present invention relates to a flange automatic assembling welding technique for automatically assembling and welding a flange corresponding to a diameter of a pipe.

[0002]

2. Description of the Related Art When processing (cutting, bending, flange welding, etc.) pipes used in a piping system of various devices, pipes of various diameters are supplied one by one by a pipe handling device, and flanges are supplied to the pipes. It is necessary to weld after positioning. Conventionally, a pipe handling apparatus capable of sequentially supplying pipes housed in a pipe rack one by one has been put into practical use. When welding a flange to a pipe supplied by this apparatus, the supply, positioning, Temporary welding and main welding are performed in this order, but the size of the pipe and the flange are various, the positional relationship of the flange to the pipe is not uniform, and it is necessary to align the bolt hole of the flange with the pipe to the specified position. Since it is difficult to automate the operation of supplying, positioning, and tacking the flange, the fact is that the operation is performed manually, and only the flange welding operation is automated. This flange welding apparatus is usually installed at another station downstream of the flange assembling station for assembling a flange to a pipe.

[0003]

As described above, since the size of the pipe and the flange are various and it is difficult to automatically assemble the flange to the pipe, the work efficiency and productivity of assembling the flange to the pipe are low. There is a problem that the manufacturing cost of the piping member is high. Further, since a flange welding device for automatically welding a flange to a pipe is provided at another station downstream of the flange assembling station, it is disadvantageous in terms of factory space and equipment costs. Further, since the flange assembly is performed manually as described above, it is disadvantageous in terms of automation of a pipe conveying system for automatically supplying pipes from a pipe rack to a flange assembly station and a flange welding station . An object of the present invention is to provide an automatic flange assembly welding apparatus and a flange automatic assembly welding method that can automate the assembly welding of a flange to a pipe.

[0004]

According to a first aspect of the present invention, there is provided an automatic flange welding apparatus for automatically assembling a flange at an end of a pipe and welding and joining the pipe. A pipe cradle for placing and supporting, a pipe handling device for supplying one pipe on the pipe cradle one by one, and each pipe supplied by the pipe handling device is placed and supported on a plurality of roller members. A rotary drive device that rotates via the plurality of roller members, and an automatic flange feeder that feeds and assembles a flange corresponding to the diameter of the pipe to an end of a pipe supplied to the rotary drive device. It has a plurality of flange supply units capable of supplying a plurality of types of flanges, and has been retracted to an installation position where the flanges are to be assembled and to the outside in the axial direction of the pipe. A flange automatic feeder possible locations switched and avoid position, a welding robot for pre Symbol welded to the pipe and a flange that is rotated by the rotational driving device, unloading table a pipe the flange is welded from the rotation driving device And a pipe unloading mechanism for unloading the pipe.

According to a second aspect of the present invention, there is provided a method for automatically assembling and welding a flange, wherein a plurality of pipes arranged on a pipe support are connected to a pipe handling apparatus. Thus, a pipe supplying step of supplying one by one onto a plurality of roller members of the rotary driving device, and a flange corresponding to the diameter of the pipe is provided by an automatic flange supplying device at an end of the pipe supplied to the rotary driving device. a flange assembly process assembling, while rotating a pipe and the flange via a plurality of rollers member of the rotary drive device, and a welding step of welding the pipe and the flange by welding robot, the flange is welded And an unloading step of unloading the set pipe from the rotary drive device onto the unloading table by the pipe unloading mechanism. According to a third aspect of the present invention, in the method of the second aspect, in the pipe supplying step, a plurality of pipes of a plurality of diameters arranged and mixed on a pipe receiving stand are supplied one by one. It is assumed that.

[0006]

In the welding apparatus for assembling a flange according to the first aspect, when the flange is automatically assembled to the end of the pipe and welded and joined, a plurality of pipes are placed and supported on the pipe support, and pipe handling is performed. The apparatus supplies one pipe at a time to the pipe holder, and the rotary drive unit places each of the pipes supplied by the pipe handling apparatus on a plurality of roller members while supporting the pipes. And rotationally driven. The automatic supply device supplies a flange corresponding to the diameter of the pipe to the end of the pipe supplied to the rotary drive device and assembles the flange. This automatic flange supply device supplies a plurality of types of flanges. It has a plurality of possible flange supply units, in which the flange is mounted to the end of the pipe at the mounting position, and after the mounting, the flange is moved to a retracted position retracted outward in the axial direction of the pipe. Welding robot is welding the pipe flange which is rotated by a pre-Symbol rotary drive. Next, the pipe unloading mechanism unloads the pipe to which the flange has been welded from the rotary drive device onto the unloading table.

In the method for assembling and welding a flange according to a second aspect of the present invention, when a flange is attached to an end of a pipe and welded and joined, a plurality of pipes arranged on a pipe receiving stand are pipe-handled in a pipe supplying step. In accordance with the diameter of the pipe is supplied one by one to a plurality of roller members of the rotary driving device, and then, in a flange assembling step, the end of the pipe supplied to the rotary driving device is automatically supplied to the end of the pipe by a flange automatic feeding device. assembling the flange, then at the welding step, while rotating the pipe and the flange via a plurality of rollers member of the rotary drive device, for welding the pipes and the flange by welding robots. Next, in the unloading step, the pipe to which the flange is welded is unloaded from the rotary drive device to the unloading table by the pipe unloading mechanism. According to the flange assembly welding method of the third aspect, the same operation as the second aspect is achieved, but in the pipe supplying step, a plurality of pipes of a plurality of diameters which are mixed and aligned on the pipe receiving pedestal.
Since these are supplied one by one, flange assembly welding can be performed in accordance with the subsequent processes (bending process, pipe assembly process).

[0008]

According to the first aspect of the present invention, there is provided a flange assembling welding apparatus, as described above, a pipe cradle, a pipe handling apparatus for supplying one pipe on the pipe cradle to a rotary driving device, A rotary driving device for driving the rotary shaft, an automatic flange supply device having a plurality of flange supply units capable of supplying a plurality of types of flanges, a welding robot, and a pipe unloading mechanism. the device, at the end of each pipe to be supplied one by one to the rotary drive, by a flange automatic feeder, assembled by supplying a flange corresponding to the diameter, the welding robot, the rotation driven by the rotary drive The pipe to be welded and the flange are welded together, and the pipe with the welded flange is transferred from the rotary drive to the discharge table by the pipe discharge mechanism. And then, is output, the supply pipe for the rotary drive, the flange supply and assembling of relative pipe on the rotary drive device, and the flange of the welding joint for pipes, a discharge pipe after the flange welding Can be automated. In addition, flange assembly welding can be performed by supplying pipes with different diameters in a mixed state, so that production can be tailored to the subsequent processes (bending process, pipe assembly process), and the work efficiency and productivity of flange assembly welding And the production cost of piping can be reduced. Moreover, in the state of supporting the pipe on the rotary drive, it is possible to carry out the welding joint and the assembly of the flange in the same station, it is advantageous in terms of plant space and equipment costs, the pipe transport system of It is also advantageous in terms of automation.

In the method for automatically assembling and welding a flange according to claim 2, as described above, the pipes are supplied one by one to the rotary driving device by the pipe handling device. assembly by supplying a flange corresponding to the diameter of the pipe by the flange automatic assembling apparatus, although such is rotated with the pipe and the flange by rotary drive
Luo welding the pipe flange welded joint in a robot, since the unloading pipe after flange welded from the rotary drive device by a pipe delivery mechanism onto unloading platform, the same as defined in Claim 1,
A supply pipe for the rotary drive, the flange supplied and the assembly of the relative pipes on the rotary drive device, and the flange of the welding joint for pipes, can be automated and unloading of the pipe after the flange welding, flange pairs The work efficiency and productivity of fitting welding can be improved, and the manufacturing cost of piping can be reduced.

[0010] Moreover, in the state of supporting the pipe on the rotary drive, it is possible to carry out the welding joint and the assembly of the flange in the same station, it is advantageous factory space and in terms of equipment cost, of the pipe It is also advantageous in terms of automation of the transport system . In the flange assembly welding method 請 Motomeko 3, but the same effect as claim 2, in the pipes supplying step, a plurality of caliber pipes one by one which are aligned in a mixed on pipe cradle To supply
Flange assembly welding can be performed in accordance with the subsequent processes (bending process, pipe assembly process).

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic plan view of an automatic flange welding apparatus provided in a pipe processing plant. In this automatic flange welding apparatus, pipes P of various diameters and lengths supplied from the front are formed by pipes. It is supplied one by one to the rollers of the rotary drive device 50 by the handling device 40, the flange F is fitted to the right end of the pipe P by the automatic flange supply device 60, and the flange F is attached to the pipe P by the welding robot 70.
And the pipe P after the flange welding is carried out onto the carry-out table 26 by the pipe carry-out mechanism .

The pipe handling apparatus 40 will be described. The pipe handling apparatus 40 is provided in the pipe conveying direction and has five pedestals 1 inclined downward from the upstream side to the downstream side. And five stoppers 2 which are fixed to be aligned with each other on the upper side, and which are disposed on the receiving table 1 on the downstream side of the stoppers 2 in parallel with the pipe P in the left-right direction via a bearing 3. Shafts 4 supported on the cradle 1, five sets of swing arms 5 fixed to the shafts 4 at their downstream ends and extending upstream, and an air cylinder 6 for reciprocatingly driving the shafts 4 in the axial direction.
And two sets of swing air cylinders 7 for swinging the swing arm 5 up and down by rotating the shaft 4, and the pipe P picked up by the swing arm 5 is placed on the rotary drive device 50. And an inclined transfer table 8 for transferring the sheet to an inclined transfer table.

As shown in FIGS. 2 and 3, by rotating the shaft 4 via the lever 7a by the swinging air cylinder 7, each swinging arm 5 is tilted downward so that the tip end thereof becomes a cradle. The swing position is switched between a standby position where it sinks below 1 and a supply position where the leading end thereof rises above the receiving table 1 and the transfer surface of the swing arm 5 is inclined downward toward the downstream side. It is free.

Each of the swing arms 5 includes a first side plate 10, a second side plate 11, a movable arm 12, and a curved restricting member 13. The downstream end of the first side plate 10 is connected to the shaft 4 via a sleeve 14. The second side plate 11 is fixed to the first side plate 10
And is fixed to the first side plate 10 by connecting bolts and the like at predetermined intervals and is fixed to the first side plate 10.
a is slidably fitted to the upper portion between the two side plates 10 and 11 except for the tip side portion, and the top plate portion 12b is
11 is slidably fitted between the upper ends of the guide portions 11a
Is a guide roller 1 provided between both side plates 10 and 11.
6 is supported from below and is prevented from falling off, and is restricted from above by a bolt 17 between both side plates 10 and 11.

The distal end portion of the movable arm 12 protrudes outside the distal ends of the side plates 10 and 11, and the distal end portion thereof is connected to an arc-shaped curved restricting device 13 centered on the shaft 4 to extend downward long. I have. The above-mentioned curved restricting device 13 is provided on the pedestal 1.
The pair of guide rods 15 projecting horizontally from the side of the leg 1a is loosely fitted and guided, and even when the swing arm 5 swings upward to the supply position, the curved-shaped restricting member 13 holds the above-mentioned condition. The guide rod 15 does not come off.

The upper end of the curved restricting tool 13 projects about 5 cm above the tip of the movable arm 12, and that part serves as a locking tool 13a. The stopper P locks the pipe P from the upstream side. Here, the position of the movable arm 12 with respect to both side plates 10 and 11 is set as follows so that the pipes P of various diameters placed and aligned on the receiving table 1 can be reliably picked up one by one by the swing arm 5. The position is adjusted by a position adjusting mechanism such as

As shown in FIG. 3, the downstream end of the movable arm 12 is connected to the receiving table 1 by a link mechanism comprising a link plate 18a, an L-shaped link plate 18b, and a connecting rod 18c.
The corners of the L-shaped link plate 18b are pivotally supported by brackets 19 protruding from the first side plate 10. When the shaft 4 is moved in the direction of arrow A, the pivotal support of the L-shaped link plate 18b is moved in the direction of arrow. L-shaped link plate 18 through 18c
b rotates counterclockwise in FIG. 3, the movable arm 12 is pushed to the upstream side via the link plate 18a, and the shaft 4
The position of the tip of the movable arm 12 with respect to the side plates 10 and 11 can be adjusted according to the amount of movement of the movable arm 12 in the axial direction.

To control the amount of movement of the shaft 4,
The control device of the welding robot 70 is shared, and the extension amount of the piston rod of the air cylinder 6 is controlled based on a detection signal from a movement amount detector that detects the movement amount of the shaft 4. In the pipe handling device 40, when the pipe P is not supplied, the air cylinder 7
Each of the swinging arms 5 is held at the standby position where the swinging arm 5 is swung downward without supplying air to the shaft 4 and the shaft 4 is linked with the shaft 4 by the air cylinder 6 according to the diameter of the pipe P to be picked up next, which is received by the stopper 2. The position of the movable arm 12 is adjusted via a mechanism.

A plurality of pipes P having a plurality of diameters are mixed and arranged on the receiving table 1. When the pipes P on the receiving table 1 are supplied one by one, the shaft 4 is rotated by the air cylinder 7. When the swing arm 5 is swung upward by this operation, the locking member 13a is interrupted between the most downstream pipe P and the upstream pipe P, and only the most downstream pipe P is placed on the swing arm 5. When the pipe P is scooped up and the swinging arm 5 reaches the supply position, the pipe P rolls on the swinging arm 5 and the inclined conveyance table 8 and is supplied to the rotary driving device 50. At this time, the next lowermost pipe P is stopped and stopped by the curving restricting member 13, so that the swing arm 5 can be reliably returned to the standby position. As described above, the pipes P of various diameters can be reliably scooped up one by one by the pipe handling apparatus 40 and supplied to the next step.

Next, the rotary drive device 50 will be described. The rotary drive device 50 includes two to four rubber rollers 21 and three pairs of metal idler rollers 22 which are driven to rotate by a motor 28. The rotation of the rubber roller 21 causes the pipe P to rotate at a predetermined speed, and the rotation driving device 50 is controlled by a control device of the welding robot 70.

Next, the automatic flange supply device 60 will be described.
1, a lower moving table 32 which is moved on the base 31 in the left-right direction by a cylinder (not shown), and a lower moving table 32
, An upper movable table 33 guided by a guide of the lower movable table 32 and driven to move in three stages in the front-rear direction by a cylinder (not shown), and a book attached to the upper movable table 33. In the case of the embodiment, there are three flange supply units 20 that can supply three types of flanges F, and are controlled by the control device of the welding robot 70.

The lower moving table 32 is imagined while the flange supply unit 20 of the flange F corresponding to the diameter of the pipe P on the rotary driving device 50 is connected to the driving device 30 through sliding movement in the front-rear direction. The pipe P is moved to the line position (assembly position), the engaging member 20a is engaged with the pipe P, the right end of the pipe P is positioned, and the flange F is attached to the right end of the pipe P. Incidentally, the flange _{F 1} before step smell
Those Te assembled welding already, flange F ₂ is assembled welding straight
The latter one is shown.

[0023] After installation of the flange F, the lower part moving base 32
Moves to the right solid line position (retracted position), and then the flange F is automatically welded to the pipe P by the welding robot 70 while rotating the pipe P by the rotary drive device 50. After this welding is completed, the rotary drive is driven. The rubber roller 21 of the device 50 is swung by the air cylinder 24 around the swing shaft 23 via the lever 25, and the pipe P with the flange is transferred to the discharge stand 26. The swing shaft 23, the air cylinder 24, the lever 2
5. Drive control means and the like for the air cylinder 24 correspond to a pipe unloading mechanism.

As described above, three types of flanges can be supplied while the pipes P supplied to the rotary driving device 50 one by one are placed and supported on the rollers 21 and 22 of the rotary driving device 50. the flange automatic feeder 60 having three flanges supply unit 20 automatically attached the flange F in accordance with the diameter of the pipe P to the end of the pipe P, the rotation driving device 50 and a pipe P and the flange F While rotating, the pipe P and the flange F are welded and joined by the robot 70, and the pipe P after the flange welding can be carried out onto the carry-out stand 26 by the pipe carrying-out mechanism. Can be automated to increase work efficiency and productivity, and reduce piping production costs.

Further, since the assembling and welding of the flange F to the pipe P can be performed at the same station, it is advantageous in terms of factory space and equipment costs . Also,
Since the pipe handling device 40 is provided and a plurality of pipes P on the receiving table 1 can be supplied one by one to the rotary drive device 50, the transport system of the pipes P can be simplified and automated.
A plurality of pipes P having a plurality of diameters are mixed and aligned on the receiving table 1, and the pipes P are supplied one by one to perform flange assembling welding. ) Can be produced according to.

[Brief description of the drawings]

FIG. 1 is a schematic plan view of an automatic flange welding apparatus according to an embodiment of the present invention.

FIG. 2 is a vertical sectional side view of a pipe handling device of the automatic flange assembly welding device.

FIG. 3 is a view as viewed in the direction of arrow 3 in FIG. 2;

[Explanation of symbols]

 P Pipe F Flange 1 Cradle 20 Flange Supply Unit 21 Rubber Roller 22 Idling Roller 23 Swing Axis 24 Air Cylinder 25 Lever 26 Carry Out Table 40 Pipe Handling Device 50 Rotary Drive Device 60 Automatic Flange Supply Device 70 Welding Robot

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code Agency reference number FI Technical display location B65G 47/90 B65G 47/90 C (72) Inventor Shigeru Nakayama 3-1, Higashikawasakicho, Chuo-ku, Kobe-shi No. 1 Kawasaki Heavy Industries, Ltd. Kobe Plant (72) Inventor Takashi Sakurai 3-1-1, Higashi Kawasaki-cho, Chuo-ku, Kobe City, Kawasaki Heavy Industries Co., Ltd. Kobe Plant (56) References JP 3-35495 (JP, B2) Jiko 32381 (JP, Y2)

Claims (3)

(57) [Claims] 1. A flange automatic assembling and welding apparatus for automatically assembling and welding a flange to an end of a pipe, comprising: a pipe support for mounting and supporting a plurality of pipes; and a pipe on the pipe support. A pipe handling device that supplies one by one, and a rotation driving device that rotationally drives via the plurality of roller members while each pipe supplied by the pipe handling device is placed and supported on a plurality of roller members. An automatic flange supply device for supplying and assembling a flange corresponding to the diameter of the pipe to an end of the pipe supplied to the rotary driving device, wherein a plurality of flange supply units capable of supplying a plurality of types of flanges. and and assembled assembling the flange position anda position switchable flange automatic feeder to a retracted position retracted in the axial extending direction outer pipe A welding robot for welding a pipe and a flange which is rotated by a pre-Symbol rotary drive, a pipe delivery mechanism for unloading onto unloading platform a pipe the flange is welded from the rotation driving device, further comprising a Features flange automatic assembly welding equipment. 2. A method of welding a flange by welding a flange to an end of a pipe, wherein a plurality of pipes arranged on a pipe support are rotated one by one by a pipe handling device. A pipe supplying step of supplying a roller according to the diameter of the pipe to an end of the pipe supplied to the rotary driving device by an automatic flange supplying apparatus; while rotating the pipe and the flange via a plurality of rollers member of the drive unit, a welding step of welding the pipe and the flange by welding robot, a pipe in which the flange is welded, rotated by a pipe delivery mechanism An unloading step of unloading from a driving device onto an unloading table, comprising: 3. The method for automatically assembling and welding a flange according to claim 2, wherein in the pipe supplying step, a plurality of pipes of a plurality of diameters arranged and mixed together on a pipe receiving stand are supplied one by one. .