JP7263651B2 - remote control welding system - Google Patents

Description

The present invention relates to welding systems, and more particularly to remote control welding systems for remotely controlling welding.

Conventionally, TIG (Tungsten Inert Gas) welding and SAW (Submerged Arc Welding) are known as welding systems for large tanks that store fuel such as liquefied natural gas (LNG).

As TIG welding, a welding apparatus disclosed in Patent Document 1 is known. This welding device welds the entire vertical joint between the side plates of an LNG tank or the like by melting a separately supplied welding wire with a torch that injects inert gas (inert gas) to generate a welding arc on a tungsten electrode. However, in TIG welding, a welding surface made of refractory and heat-resistant reinforcing paper with light-shielding glass is attached to the worker's helmet in order to protect the eyes from harmful light generated during arc welding or the like.

Patent document 2 is known as submerged arc welding. In submerged arc welding, a wire is brought close to the target position of the part to be welded, and flux particles are scattered thereon to generate an arc between the welding wire and the object to be welded. and a welding method that melts and joins welding wires. It is also called submerged arc welding because the arc cannot be seen during welding. Such a submerged arc welding method does not require light shielding because the arc is covered with flux, and generates almost no welding fumes.

Further, Patent Document 3 discloses a measure for reducing the labor of workers in a welding workshop during submerged arc welding. That is, in Patent Document 3, the operator only needs to remove the joint portion of the flux recovery hose and connect the joint portion to the flux supply hose joint portion to complete the manual work. It has a configuration that eliminates heavy labor and improves workability.

FIG. 9 is a front view showing a device 30A on the inner side of the tank side plate of a conventional submerged arc welding system. In general, an inner tank side plate and an outer tank side plate of an LNG tank or the like are composed of a plurality of members that are mounted and assembled in order from bottom to top in the vertical direction. In FIG. 9, the members M1, M2 and M3 constituting the inner tank side plate or the outer tank side plate are mounted and assembled in three stages in order from the bottom. 10 is an enlarged cross-sectional view of welding systems 30A, 30B taken along line X--X in FIG.

In FIG. 9, welding has already been completed at the joint W12 between the lowest member M1 and the upper member M2, and the joint between the member M2 and its upper (currently highest) member M3 It shows that welding of W23 is in progress.

The welding system 30A has a structure in which a welding device 32A for submerged arc welding and a work floor plate 33A are attached to a frame 31A as a construction means hung on an upper surface M3S of a member M3. The welding device 32A includes a welding torch section, a flux supply section, a wire supply section, a flux recovery section, a slag removal section, and an operation section (all not shown). A nozzle and a hose 34A extend from the wire supply section, the flux supply section, and the recovery section to the joint W23 to be welded.

In FIG. 9, an operator 35A performs a welding operation at the opening 31a of the frame 31A on the work floor plate 33A. In the figure, the joint W23(a) has already been welded, and the joint W23(b) has not yet been welded. The frame 31A and the welding device 32A are also provided on the opposite side of the members M1 to M3 (31B and 32B in FIG. 10), and the worker 35A performs the welding operation while moving the drive wheel 38 in the direction of the arrow by means of a motor or the like. I do. Therefore, the worker 35A carries a transceiver 36A to check the welding work status of the worker 35B (FIG. 10) on the opposite side. Details will be described later.

In FIG. 10, welding devices 32A, 32B and working floor plates 33A, 33B are attached to the frames 31A, 31B which are detachably connected on both sides (A, B) of the members M1 to M3. Workers 35A and 35B work together to perform the welding work from both sides of the members while operating the nozzles and hoses 34A and 34B extending from the welding devices 32A and 32B and the operation panel.

As described above, the two workers 35A and 35B communicate with each other through the transceivers 36A and 36B they carry, and confirm and set the wire target position, welding conditions (current, voltage), and welding speed. . A signal representing the set welding speed is input from the operation section to a movement motor (not shown), and the movement motor rotates the drive wheel 38 on the upper surface of the member M3. Rotation of the driving wheels 38 causes the frames 31A and 31B to move in the directions of the arrows shown in FIG.

Although not shown in the drawing, a flux belt is provided between the flux supply unit and the flux collection unit to move the flux. do.

JP-A-09-10931 Japanese Patent Application Laid-Open No. 2007-307570 JP-A-06-647

In submerged arc welding, since the arc is covered with flux, light shielding is unnecessary and welding fumes are hardly generated. Therefore, as shown in FIG. There is no need to attach a welding surface made of fireproof and heat-resistant reinforcing paper equipped with light-shielding glass to 37B.

However, conventional welding systems, including the examples shown in FIGS. 9 and 10, are required to perform precise welding operations on narrow working floors at high altitudes. In particular, when working on both the inner and outer surfaces of the tank side plate, there is a problem that the workers are placed in a dangerous work environment because they have to communicate with each other while working on the spot. be.

Furthermore, when performing a non-destructive inspection (radiographic inspection) after welding, there is a problem that the operator must leave the welding system in order to avoid being exposed to radiation.

Furthermore, in the welding work of a large tank, in order to shorten the work process, the frame of the welding device is hung at a plurality of places and the welding work is performed at the same time. is necessary, there is a problem that it invites soaring labor costs.

Therefore, the present invention eliminates the dangerous working environment by performing the welding operation at a place away from the welding machine by remote control without performing the welding work on the work floor board at a high place, and allows one worker to perform two welding operations. It is an object of the present invention to provide a remote control welding system that reduces labor costs by operating a welding device and enables parallel work with other work such as non-destructive inspection (radiographic inspection).

In order to achieve the above object, a first aspect of the present invention includes a welding means that moves along a member to be welded and welds a designated welding location on the member, and a welding means that moves together with the welding means. an imaging means for imaging the state of the welding point; and by remotely controlling the welding means and the imaging means, the welding point is specified for the welding means, and the state of the welding point imaged by the imaging means is displayed. and remote control means for controlling movement of said welding means and said imaging means.

A second aspect is the first aspect, wherein the members are a plurality of members mounted in order from the bottom to the top in the vertical direction, and are detachably mounted on the upper surface of the member positioned at the highest level and are movable. A remotely controlled welding system comprising an erection means for erection, said welding means and said imaging means being housed in said erection means. Here, "the member positioned at the top" means the member currently positioned at the top during the mounting process.

A third aspect is the remote control welding device according to the first or second aspect, wherein the installation means accommodates wire supply means for supplying welding wire and flux supply means for supplying flux to designated welding locations. provide the system.

A fourth aspect provides a remote control welding system according to the second or third aspect, wherein the installation means accommodates flux recovery means for recovering the flux supplied to the designated welding location after welding is completed.

A fifth aspect provides the remote control welding system according to any one of the second to fourth aspects, wherein the installation means accommodates slag removing means for removing unnecessary slag formed at the welded location after welding. .

According to a sixth aspect, in any one of the first to fifth aspects, the installation means communicates with the remote control means via a predetermined wired line or wireless line, and the remote control means Welding control means for controlling the welding means, the imaging means, the wire supply means, the flux supply means, the flux recovery means, and the slag removal means in accordance with the welding command of Provides a remote control welding system.

According to a seventh aspect, in any one of the second to sixth aspects, the installation means for accommodating the welding means, the imaging means, the wire supply means, the flux supply means, the flux recovery means, and the slag removal means is , is composed of two systems of erection means in a connected state or an independent state, provided on both sides of the member in the connected state, and provided on one side of the member in the independent state, and controls the welding control means provides a remote controlled welding system for welding specified weld points on said members from either side or from one side.

In an eighth aspect based on the third aspect, the wire supply means has wire measurement means for measuring the weight of the welding wire to be supplied to the welding location, and the welding control means measures the weight of the welding wire by the wire measurement means. A remote control welding system is provided that compares the measured weight with a predetermined threshold value, and sends a notification to the remote control means when the weight is less than the threshold value.

A ninth aspect provides a remote control welding system according to the eighth aspect, wherein the wire feeding means has wire cutting means for cutting and separating a predetermined length of welding wire supplied to the welding location after welding is completed.

In a tenth aspect based on the third aspect, the flux supply means has flux remaining amount sensing means for sensing the remaining amount of flux so that the flux supplied to the welding location does not run short, and the welding control means comprises: a remote control welding system that compares the remaining amount of flux sensed by the remaining flux sensing means with a predetermined threshold, and transmits a notification to the remote control means when the remaining amount of flux is less than the threshold; offer.

According to an eleventh aspect, in any one of the first to ninth aspects, the erecting means includes sound collecting means for collecting sound representing a welding state in the vicinity of the welding location, and the welding control means comprises the sound collecting means. for transmitting to said remote control means an acoustic signal output from said remote control means.

In a twelfth aspect, in any one of the first to eleventh aspects, the remote control means includes a deep learning function for building AI, records AI big data, or is built by an external computer We provide a remote control welding system that records AI big data via a network and automatically executes welding work based on AI.

According to the present invention, the welding operation is not performed on the work floor board at a high place, and the welding operation is performed at a place away from the welding machine by remote control, so that the dangerous work environment, non-destructive inspection (radiographic inspection), etc. Parallel work with other work is possible, and labor costs can be reduced.

1 is a front view showing a welding-side device in a remote control welding system according to an embodiment of the present invention; FIG. FIG. 2 is an enlarged cross-sectional view showing the device on the welding side along line XX in FIG. 1; 1 is a front view showing a remote-side device in a remote control welding system according to an embodiment of the present invention; FIG. Figure 4 is a side view of the remote device of Figure 3; FIG. 2 is a block diagram showing the configuration of a device on the welding side in FIG. 1; FIG. 5 is a block diagram showing the configuration of the remote device of FIGS. 3 and 4; FIG. FIG. 3 is a plan view showing an example of welding from both sides and one side of a wall (side plate) of one tank. FIG. 5 is a diagram representing the basic mechanism of deep learning performed by the remote control unit in another embodiment of the present invention; It is a front view showing a conventional welding system. FIG. 10 is an enlarged cross-sectional view showing the welding system along line XX in FIG. 9;

Hereinafter, the present invention will be described in more detail using the embodiments shown in the drawings, but the present invention is not limited to these, and various modifications can be made without departing from the gist of the present invention. It is possible to do so, and is limited only by the technical idea described in the claims.

Although the details will be described later, the remote control welding system of this embodiment consists of an unmanned welding side that actually performs welding at a site such as outdoors, and a welding side that is indoors separate from the site and operated by one or two operators. is connected to the remote side to be remotely controlled by wired communication or wireless communication.

The welding-side device welds the circular wall (side plate) of the LNG tank, which is a member to be welded, from the inner surface and the outer surface of the tank side plate. For this reason, in the welding side device, the inner side device (hereinafter referred to as device A) and the outer side device (hereinafter referred to as device B) are connected via a wall (side plate), ie, the member to be welded. Although the details will be described later, the apparatus A and apparatus B may be used alone for welding.

FIG. 1 is a front view showing the device 10A on the inner tank side. Although not shown in the figure, the device B on the outer surface side is connected to the device A with a wall (side plate) interposed therebetween. The wall (side plate) of the LNG tank is composed of a plurality of members to be welded that are mounted and assembled in order from bottom to top in the vertical direction. In FIG. 1, the members M1, M2 and M3 constituting the members are mounted and assembled in three stages in order from the bottom.

In FIG. 1, the joint W12 between the lowest member M1 and its upper member M2 indicates that welding has already been completed, and the joint W12 between the member M2 and its upper (currently highest) member M3 It shows that welding of W23 is in progress.

The device 10A has a structure in which a welding device 12A for submerged arc welding is attached to a frame 11A as a construction means that is hung over the upper surface M3S of a member M3. As will be described later, the welding device 12A includes a camera section as imaging means, a welding torch section as welding means, a flux supply section as flux supply means for supplying powdered flux, a wire supply section as wire supply means, A flux recovery section as a flux recovery means, a flux belt, a slag removal section as a slag removal means for removing slag that is a residue after welding, a wire cutting section as a wire cutting means for cutting a wire to prepare a wire tip, and a sound collecting unit as sound collecting means.

The frame 11A, together with the attached welding device 12A, moves in the direction of the arrow (from left to right in the figure) running on the upper surface M3S of the member M3 under control of the remote side. In addition, the frame 11 has a function of adjusting the length up and down by inserting and withdrawing the frame.

FIG. 2 is an enlarged cross-sectional view showing the device on the welding side along line X--X in FIG. As shown in FIG. 2, the device A on the inner side and the device B on the outer side are connected with a member M3 interposed therebetween. Welding devices 12A and 12B are attached to the frames 11A and 11B on both sides of the members M1 to M3. The frames 11A and 11B rotate the drive wheels 13 by driving motors driven by a movement driving unit (to be described later) under the control of the remote side, and run on the upper surface of the member M3.

As shown in the partially cutaway cross-sectional view, the welding devices 12A and 12B include flux belts 14A and 14B for moving and collecting the supplied flux, and camera units 15A and 15B as imaging means for imaging the welding points. , and although not shown in this figure, it houses a welding torch section, a flux supply section, a wire supply section, a flux collection section, a slag removal section, a wire cutting section, and a sound collection section, which will be described later. The flux belts 14A and 14B each have a motor for driving the belt rollers at the portion in contact with the member M2, and are rotated at the same speed as the frames 11A and 11B by synchronizing with the traveling motors of the frames 11A and 11B.・It has a function to move. This function suppresses rocking of the frames 11A and 11B during movement.

FIG. 3 is a front view showing two systems of devices 20A and 20B on the remote side in the remote control welding system of the embodiment according to the present invention. In FIG. 3, operation consoles 21A and 21B provide touch panels 22A and 22B, camera monitors 23A and 23B, personal computers (PCs) 24A and 24B for recording data, control units 25A and 25B, and control units 25A and 25B. , voltage adjustment, wire inching, and welding start/stop buttons 26A and 26B. This remote device 20A, 20B is managed by two or one operator. FIG. 4 is a side view showing remote device 20A operated by operator 27A. In addition, as another embodiment, it is also possible to construct the device 20 of one system instead of the devices 20A and 20B of two systems.

The touch panels 22A and 22B are means for displaying icons and operating the running speed of the frame, the movement of the torch, the adjustment of the flux belt, the movement of the wire cutter, ON OFF, and the ON OFF of the flux spraying by the operator's touch operation. Also, the wire weight and the presence or absence of flux are displayed on this touch panel. The operator inputs setting data regarding the running speed of the frame, the movement of the torch, the movement of the flux belt, the movement of the wire cutter, etc. from this touch panel. Current and voltage setting values, input of wire inching amount, welding start and stop are input by toggle switches and ON OFF buttons of operation units 26A and 26B installed on the operation console 21A.

The PCs 24A and 24B accumulate and record a set of welding result data indicating the result of remote welding based on setting data such as welding start/stop time, welding current, voltage, and welding speed as history information. It is recording means, and includes a data recording section and a data display section, as will be described later. Welding heat input is managed based on the data recorded on the PC. The system configuration of the remote side devices 20A and 20B will be further described later.

FIG. 5 is a block diagram showing the configuration of the welding-side device 10A in FIG. Since the configuration of the device 10B is also the same, drawings and explanations are omitted. In FIG. 5, a welding control unit 101A as welding control means includes five camera units 15A, a flux supply unit 104A, a flux remaining amount sensor 113A, a flux recovery unit 107A, a wire supply unit, and five units connected via a system bus 103A. It controls the section 105A, the wire cutting section 111A, the wire remaining amount sensor 112A, the welding torch section 106A, the slag removing section 108A, and the sound collecting section 109A.

The welding control unit 101A also transmits and receives commands and data to and from the remote device 20A via the communication unit 102A. That is, the remote device 20A receives commands and data set by the operator 27A, controls the welding device 10A, and transmits data such as the welding status, remaining amount of wire, and remaining amount of flux to the remote device 20A in real time. device 20A. The remote device 20A displays the received data on the touch panel 22A.

In particular, the welding control unit 101A transmits to the remote side a detailed image of the welding location captured by the camera unit 15A, which is a characteristic component of this embodiment. For this reason, each of the plurality of camera units 15A has a field angle adjustment function, a zoom function, and the like, and these functions are operated by remote control. For example, when an image of the slag after welding is transmitted to the remote side, and the operator 27A judges that the slag should be removed by image analysis of the remote control unit, the operator 27A instructs the welding control unit 101A to remove the slag. A command to activate the unit 108A is transmitted.

The wire supply unit 105A also includes a wire remaining amount sensor as wire measuring means for measuring the weight of the welding wire to be supplied to the welding location. Similarly, the flux supply unit 104A is provided with a sensor for detecting the residual flux in the flux storage container, etc., as a residual flux sensing means for sensing the residual flux so that the flux to be supplied to the welding location is not short. The welding control means compares the residual flux sensed by the residual flux sensing means with a predetermined threshold value, and when the residual flux is less than the threshold value, notifies the remote control means.

5 is a driving means comprising a motor or the like that drives the drive wheels 13 to move the frame 11, and drives the drive wheels 13 according to the moving speed set by the control on the remote side. Stop moving or change moving speed accordingly.

The functions and operations of the welding torch portion 106A, the flux recovery portion 107A, the slag removal portion 108A, etc. are the same as those of the prior art, so the description thereof will be omitted.

FIG. 6 is a block diagram showing the configuration of the remote device 20A of FIGS. Since the configuration of the device 20B is also the same, drawings and explanations are omitted. In FIG. 6, a remote control unit 201A as remote control means controls a touch panel 22A, a camera monitor 23A, and a PC 24A, which are connected via a system bus 202A. Further, the remote control unit 201A transmits and receives commands and data to and from the welding control unit 101A on the welding side via the communication unit 203A. Furthermore, the remote control unit 201A exchanges data with the PC 204A which stores many data necessary for welding control. The PC 204A has a data recording section 24A1 and a data display section 24A2, accumulates data each time welding is completed, and prepares for subsequent welding.

As described above, the data recording unit 24A1 of the PC 24A stores welding result data indicating the results of welding performed according to setting data of the traveling speed of the frame, that is, the welding speed, current, and voltage. , voltage, welding speed and welding heat input calculated from these data are recorded.

Before starting a new weld, based on the welding result data recorded in the PC 24A, the operator sets the welding current, voltage, and running speed of the frame (welding speed) to achieve the optimum welding width and welding depth. ). In addition, the torch is moved, the flux belt is adjusted, and the flux spraying is turned on and off.

Next, the operation of the remote control welding system according to this embodiment will be described. The remote control unit 201A receives various welding conditions input and determined by the operator 27A, such as the moving speed of the frame 11A, the distance between the welding point and the welding torch, the flux hose, etc., the target position of the wire, current, and voltage. command and setting data are transmitted to the welding control unit 101A via the communication unit 203.

The welding control unit 101A brings the welding torch unit 106A closer to the welding location based on the command and data received via the communication unit 102A, and sets the target position of the wire supplied from the wire supply unit 105A. Next, the welding control section 101A sprays flux to the wire setting position from the hose of the flux supply section 104A.

Next, the welding control unit 101A supplies electrical energy from a welding power source (not shown) to the wire through the welding torch unit 106A to generate an arc, which melts the tip of the wire to form a welded portion. Weld.

Simultaneously with welding, the welding control section 101A rotates the flux belt 14A with a motor (not shown) that drives the flux belt 14A to move the flux to the position of the hose of the flux recovery section 107A. The welding control unit 101A preliminarily controls and sets the flux collecting unit 107A on the flux belt 14A to collect and reuse the flux.

These series of welding processes are imaged by the camera section 15A and sound is collected by the sound collection section 109A, and the image data and sound data are transmitted in real time by the welding control section 101A to the remote control section 201A via the communication section 102A. be done.

Remote control unit 201A displays image data received from welding control unit 101A via communication unit 203A on camera monitor 23A, and generates received sound data from a speaker (not shown). Since a plurality of cameras 15A (five in this embodiment) are installed, the screen of the camera monitor 23A is also divided into five. Each of these screens can be enlarged and displayed on one screen.

The operator 27A determines whether or not welding has been normally processed based on the displayed image data and the generated acoustic data. For example, when slag is detected in the image data from the camera monitor 23A, a slag removal command is input from the touch panel 22A. Remote control unit 201A transmits the command to welding control unit 101A.

When the welding control unit 101A receives a slag removal command from the remote control unit 201A, the welding control unit 101A controls the slag removal unit 108A that operates a chipper with compressed air supplied from the compressor to remove the slag.

As described above, the remote control welding system according to the present embodiment is composed of two systems, the inner surface side (A) and the outer surface side (B) of the side plate, and moves along the members M1 to M3 to be welded, and moves along the members M1 to M3 to be welded. Welding devices 12A and 12B that weld the welding points specified in M3, a plurality of camera units 15A and 15B that move together with the welding devices 12A and 12B and capture the state of the welding points, the welding devices 12A and 12B, and By remotely controlling the camera units 15A and 15B, a welding location is specified for the welding devices 12A and 12B, and based on the state of the welding location captured by the camera units 15A and 15B, the welding devices 12A and 12B and the camera are controlled. and a remote control unit 201 that remotely controls movement of the units 15A and 15B.

Therefore, according to the remote control welding system of the present embodiment, welding is performed by remote control at a place away from the welding machine, thereby eliminating the dangerous work environment and the effects on the mind and body of the worker. By operating two welding devices by the operator, labor costs can be reduced, and parallel work with other work such as non-destructive inspection (radiographic inspection) can be made possible.

The members M1 to M3 are a plurality of members that are mounted and assembled in order from bottom to top in the vertical direction. Further, welding torch sections 106A, 106B and camera sections 15A, 15B are housed in frames 11A, 11B, respectively.

Therefore, the frame 11 can be constructed so as to be able to travel on the upper surface of the member positioned at the highest position after the mounting and assembly work, regardless of the number of mounting stages of the member. In addition, it is possible to acquire real-time image data of welding conditions by the welding torch units 106A and 106B, which are captured by the camera units 15A and 15B.

The frames 11A and 11B accommodate wire supply units 105A and 105B that supply welding wire and flux supply units 104A and 104B that supply flux to designated welding locations.

The frames 11A and 11B accommodate flux collectors 107A and 107B that collect the flux supplied to designated welding locations after welding is finished.

The frames 11A and 11B accommodate slag removing parts 108A and 108B for removing unnecessary slag formed at the welding locations after welding, and wire cutting parts 111A and 111B for cutting the tip of the welding wire to shape it.

Frames 11A and 11B communicate with remote control units 201A and 201B via a predetermined wired line or wireless line, and respond to welding commands from remote control unit 201 by welding torch units 106A and 106B, cameras 15A, 15B, wire supply units 105A, 105B, flux supply units 104A, 104B, flux recovery units 107A, 107B, slag removal units 108A, 108B, and wire cutting units 111A, 111B to perform welding processing. It accommodates the parts 101A and 101B.

Therefore, through communication between the welding side and the remote side, the welding process can be automatically performed by remote control without relying on the on-site worker. By operating two welding devices, workers can reduce labor costs and perform parallel work with non-destructive inspection (radiographic inspection).

Welding torch units 106A and 106B, camera units 15A and 15B, wire supply units 105A and 105B, flux supply units 104A and 104B, flux collection units 107A and 107B, slag removal units 108A and 108B, and wire cutting units 111A and 111B. Frames 11A and 11B for housing are provided on both sides of members M1 to M3, and under the control of welding control section 101, designated welding points of members M1 to M3 are welded from both sides.

Therefore, it is not necessary for workers who perform welding work on both sides of a member to communicate with each other using a transceiver or the like as in the conventional art, so that the dangerous work environment and the effects on the mind and body of the workers can be further eliminated. be able to.

The wire supply units 105A and 105B have sensors for measuring the weight of the welding wire to be supplied to the welding location, and the welding control units 101A and 101B compare the weight measured by these sensors with a predetermined threshold value. Then, when the weight is less than the threshold value, a notification to that effect is sent to the remote control units 201A and 201B.

Therefore, the operator on the remote side can recognize from the touch panels 22A and 22B that the remaining welding wire is running low, so that the welding wire can be quickly replenished.

The flux supply units 104A and 104B have sensors that detect the remaining amount of flux so that the flux supplied to the welding locations does not run short. When it is less than the threshold value, the fact is transmitted to the remote control units 201A and 201B.

Therefore, since the operator 26 on the remote side recognizes from the touch panels 22A and 22B that the collected flux is insufficient for the next supply, the flux can be quickly replenished.

The frames 11A and 11B further include sound collectors 109A and 109B that collect sound representing the welding state in the vicinity of the welding location. are transmitted to the remote control units 201A and 201B.

Therefore, the operator on the remote side can judge whether the welding state is good or bad by the sound emitted from the predetermined speaker.

In the above embodiment, the remote control welding system applied to the submerged arc welding method was described, but other welding methods such as TIG welding method, MIG (metal inert gas) welding method, etc. can also be remotely controlled according to the present invention. It goes without saying that welding systems are applicable.

In the above-described embodiment, the two connected devices 10A and 10B are configured to simultaneously weld the inner surface side and the outer surface side of the tank side plate. Therefore, a configuration in which welding is performed on one side of the inner tank side plate or the outer tank side plate is also included in the scope of the present invention.

For example, in Japanese Patent No. 5882520 and Japanese Patent No. 5946579 owned by the applicant of the present application, a member is mounted and an outer tank is welded, and the outer surface of the outer tank, that is, the outer tank liner is used as a frame to prevent a liquid barrier. of concrete is done independently. Therefore, by applying the present invention to the welding of the inner surface of the outer tank, excellent effects can be obtained.

In addition, when welding is performed simultaneously on the inner surface side and the outer surface side of the side plate by the devices 10A and 10B, the finished weld bead shape may differ between the inner and outer surfaces. Welding separately in configuration allows for variable welding speeds and results in higher quality weld joints. As will be explained below, the devices 10A, 10B may be singularly configured to repair weld bead non-uniformities in the preceding two-sided devices 10A, 10B, and the subsequent devices may be singly configured.

FIG. 7 is a plan view showing an example of welding from both sides and one side of a plurality of walls (side plates) of one tank, that is, a member M3 to be welded. In FIG. 7, three connected devices 10(1), 10(2), and 10(3) simultaneously weld from both sides of the member M3 with the device 10A and the device 10B respectively connected. However, in the state of the weld bead after welding, it is not always appropriate to continue welding from both sides at the same time. Rather, the weld bead finish shapes on both sides are usually different.

For this reason, it may be more effective to run the devices 10A and 10B independently to restore the respective weld bead shapes. Therefore, as shown in FIG. 7, the device 10A and the device 10B are configured to run individually after the devices 10(1), 10(2), and 10(3). The device 10 is composed of two devices 10A and 10B that can be connected and separated, but it can also be used as a single device by stopping the function of one side.

Next, modifications of the embodiment will be described. In this modified example, the remote control units 201A and 201B have a deep learning function for constructing artificial intelligence (AI), and record AI big data in the data recording units 24A1 and 24B1 of the PCs 24A and 24B. Alternatively, the AI big data constructed by an external computer is recorded in the data recording units 24A1 and 24B1 via the network, and the image data captured by the camera units 15A and 15B is processed based on the AI image data by the operator. Welding can also be performed automatically without relying on

FIG. 8 is a diagram showing the basic mechanism of deep learning executed by the remote control unit 201A. The same applies to the remote control section 201B. Deep learning uses information processing neural networks that model the structure of neural circuits in the human brain to learn large amounts of data. As shown in FIG. 8, the neural network consists of an input layer x, a hidden layer (hidden layer) z, and an output layer y. Note that the hidden layer z is actually composed of a plurality (n) of layers z(1) to z(n). Each layer consists of a number of nodes, each node having an edge connecting it to each node in the next layer. Each layer has an activation function and each edge has a weight value.

In the input layer x, the history data recorded in the PC 24A each time, that is, the setting data (welding current, voltage, running speed of the frame (welding speed), groove shape, target position of the wire, etc.) and welding result data (Welding current, voltage, welding heat input, welding position information, welding time, welding width, welding depth, power consumption, etc.) are input as one set of combination data. The input layer x weights these data and passes them to the hidden layer z.

A plurality of hidden layers z extracts data feature amounts for each layer, while obtaining higher-level feature amounts and passing them to the output layer y.

Based on the data passed from the hidden layer z(n), the output layer y shortens the welding time, optimal welding width, optimal welding depth, ensuring welding quality, saving power consumption, etc. is output to the welding-side device 10A.

History data obtained by this new welding, that is, combined data of setting data and welding result data is also newly recorded in the PC 24A. Therefore, history data is accumulated in the PC 24 for each welding, and the precision of deep learning in the remote control unit 201A is also improved.

As another modification, the remote control unit 201A records AI big data constructed by an external computer via a network, and automatically performs welding based on the AI.

That is, according to this modification, the remote control unit 201A equipped with a deep learning function that constructs AI performs automatic welding instead of a skilled operator with extensive welding experience and high information processing ability. .

In addition, by expanding the remote control welding system in this embodiment, the welding control unit that welds tanks and the like at different sites and the remote side that collectively remotely controls these are connected by a network, and AI is used. It is possible to build a multi-welding system that utilizes this.

In addition, in the above embodiment, the invention of manufacturing the LNG tank has been described, but the present invention is not limited to the manufacturing of the LNG tank. Those skilled in the art can easily understand that, in addition to the manufacture of LNG tanks, for example, it can be applied to various liquid tanks including low-temperature flat-bottomed cylindrical LPG tanks, crude oil tanks, and other water tanks. Accordingly, application of the present invention to cryogenic flat-bottom cylindrical LPG tanks, crude oil tanks, and other tanks for various liquids, including water, etc., is within the scope of the appended claims.

The present invention eliminates the dangerous work environment and the physical and mental effects of the workers by automatically performing the welding process by remote control without relying on the workers at the site, so that one worker can operate two welding devices. It contributes to increase the industrial utility value because it is possible to reduce labor costs by operating and to carry out parallel work with non-destructive inspection (radiographic inspection).

10A, 10B welding side devices 11A, 11B frames 12A, 12B welding devices 15A, 15B camera units 20A, 20B remote side devices 22A, 22B touch panels 23A, 23B camera monitors 24A, 24B PC
24A1, 24B1 data recording units 24A2, 24B2 data display units 25A, 25B control units 26A, 26B operation units 101A, 101B welding control units 102A, 102B communication units 103A, 103B system buses 104A, 104B flux supply units 105A, 105B wire supply units 106A, 106B welding torch units 107A, 107B flux collecting units 108A, 108B slag removing units 109A, 109B sound collecting units 110A, 110B movement driving units 111A, 111B wire cutting units 112A, 112B wire remaining amount sensors 113A, 113B flux remaining amount sensors 201A, 201B Remote control units 202A, 202B System buses 203A, 203B Communication unit

Claims (12)

Welding means for moving along a member to be welded among a plurality of members mounted in order from bottom to top in a vertical direction and welding a designated welding point on the member;
It is detachably and movably mounted on the upper surface of the member positioned at the highest position among the plurality of members, and the above-described an erection means to which the welding means can be attached;
an imaging means that moves together with the welding means and captures an image of the state of the welded portion;
A welding location is specified for the welding device by remotely controlling the welding device and the imaging device, and the welding device and the imaging device are moved based on the state of the welding location imaged by the imaging device. a remote control means for controlling the
A remote control welding system comprising: 2. The remote control welding system according to claim 1, wherein said welding means and said imaging means are housed in said installation means. 3. The remote control welding system according to claim 1, wherein said installation means accommodates wire supply means for supplying welding wire and flux supply means for supplying flux to designated welding locations. 4. The remote control welding system according to claim 2 or 3, wherein said installation means accommodates flux recovery means for recovering flux supplied to a designated welding location after completion of welding. 5. The remote control welding system according to any one of claims 2 to 4, wherein said installation means accommodates slag removal means for removing unnecessary slag formed at the welded location after welding. The installation means communicates with the remote control means via a predetermined wired line or wireless line, and controls the welding means and the imaging means in accordance with a welding command from the remote control means. 6. A remotely controlled welding system as claimed in any one of claims 1 to 5, characterized in that it contains welding control means for causing the welding process to be carried out by means of the remote controlled welding system. The erection means for accommodating the welding means and the imaging means are composed of two systems of erection means that can be connected and separated. 7. The remote control welding system according to claim 6 , wherein the welding control means is provided on one side of the member and welds a specified welding portion of the member from both sides or from one side under the control of the welding control means. The wire supply means has wire measuring means for measuring the weight of the welding wire to be supplied to the welding location,
The installation means contains welding control means for controlling the wire supply means to perform a welding process,
The welding control means compares the weight measured by the wire measuring means with a predetermined threshold, and when the weight is less than the threshold, notifies the remote control means of the fact. The remote control welding system according to claim 3, wherein: 9. The remote control welding system according to claim 8, wherein said wire feeding means has wire cutting means for cutting and separating a predetermined length of welding wire supplied to the welding location. The flux supply means has a remaining flux sensing means for sensing the remaining flux so that the flux supplied to the welding location does not run short,
The installation means contains welding control means for controlling the wire supply means to perform a welding process,
The welding control means compares the residual flux sensed by the residual flux sensing means with a predetermined threshold value, and when the residual flux is less than the threshold value, transmits the fact to the remote control means. The remote control welding system according to claim 3, characterized in that: The installation means includes a sound collecting means for collecting sound representing a welding state in the vicinity of the welding point, and the welding control means transmits an acoustic signal output from the sound collecting means to the remote control means. The remote control welding system according to claim 6 , characterized in that: The remote control means has a deep learning function to build AI, records big data of AI, or records big data of AI built by an external computer via a network, and welds based on AI. 12. A remote control welding system according to any one of claims 6 to 11, wherein the welding is performed automatically.

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