JPH0616949B2 - Pipe welding position measuring device - Google Patents
Pipe welding position measuring deviceInfo
- Publication number
- JPH0616949B2 JPH0616949B2 JP63255809A JP25580988A JPH0616949B2 JP H0616949 B2 JPH0616949 B2 JP H0616949B2 JP 63255809 A JP63255809 A JP 63255809A JP 25580988 A JP25580988 A JP 25580988A JP H0616949 B2 JPH0616949 B2 JP H0616949B2
- Authority
- JP
- Japan
- Prior art keywords
- pipe
- face plate
- welding
- optical axis
- light source
- 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.)
- Expired - Fee Related
Links
- 238000003466 welding Methods 0.000 title claims description 46
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 230000003287 optical effect Effects 0.000 claims description 20
- 238000010586 diagram Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
- Machine Tool Sensing Apparatuses (AREA)
Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明は、管の内面を円周溶接する自動溶接機にあらか
じめ溶接すべき位置を教示するための溶接位置測定装置
に関する。Description: TECHNICAL FIELD The present invention relates to a welding position measuring device for teaching a position to be welded in advance to an automatic welding machine for circumferentially welding the inner surface of a pipe.
［従来の技術］ 新設管の配管における管の継手溶接において、管外周か
らの溶接が困難な場合や厚肉の場合には、管内からの溶
接が必要となる。また、既設管における溶接欠陥部（裏
波不足、目違い部）の補修または補強のために管内から
溶接が行われる。[Prior Art] In joint welding of pipes in a new pipe, if it is difficult to weld from the outer circumference of the pipe or if it is thick, it is necessary to weld from inside the pipe. In addition, welding is performed from inside the pipe in order to repair or reinforce the welding defect portion (insufficient back seam, misaligned portion) in the existing pipe.
これらの管内溶接は管径が小さい場合は、人間が管内に
入ることが出来ないため、管外からテレビカメラ等を用
いて溶接すべき位置を検出して遠隔操作により自動溶接
される。この自動溶接は、あらかじめ管内全周に亘って
溶接すべき位置の三次元座標（管軸方向Ｘ、円周方向
Ｙ、半径方向Ｚ）を測定し記憶させた後、この座標に溶
接トーチを位置せしめて行わせるティーチングプレイバ
ック方式が採用されてきている。In the case of the pipe welding, if the pipe diameter is small, a person cannot enter the pipe. Therefore, the position to be welded is detected from the outside of the pipe using a television camera or the like, and the welding is automatically performed by remote control. In this automatic welding, the three-dimensional coordinates (pipe axis direction X, circumferential direction Y, radial direction Z) of positions to be welded over the entire circumference of the pipe are measured and stored in advance, and then the welding torch is positioned at these coordinates. The teaching playback system, which is performed at least, has been adopted.
従来、このティーチングプレイバック溶接における溶接
すべき位置の測定装置は、第８図に示すような管内を移
動する台車41に、駆動装置により管軸中心を回転中心と
して回転し、管軸方向（Ｘ方向）に移動可能にした面板
42を取付け、該面板に、管壁に向けてテレビカメラ43を
固定し、このテレビカメラ43の視野内に面板42から半径
方向に向け管壁に当接された機械式変位計44を設けてお
き、テレビカメラ43で撮影した溶接しようとする管壁の
所定位置（開先または溶接欠陥）に変位計44の先端が合
致するように、面板を回転および管軸方向に移動させ
て、Ｘ、Ｙ、Ｚの座標を測定する装置が用いられてい
た。Conventionally, in this teaching playback welding, the measuring device for the position to be welded rotates a truck 41 moving in the pipe as shown in FIG. Direction) movable face plate
42 is mounted, a television camera 43 is fixed to the face plate toward the pipe wall, and a mechanical displacement gauge 44 is provided in the field of view of the television camera 43 in the radial direction from the face plate 42 and abutted on the pipe wall. Every time, the face plate is rotated and moved in the axial direction of the pipe so that the tip of the displacement meter 44 matches the predetermined position (groove or welding defect) of the pipe wall to be welded photographed by the TV camera 43, and X, A device for measuring the Y and Z coordinates has been used.
［発明が解決しようとする課題］ しかし、従来方式では、第８図に示すように、溶接しよ
うとする位置に目違いがあったり、またマイターベンド
部のように折れ角部では正確に半径方向の変位（Ｚ）を
測定できないことに加え、管軸方向、円周方向に移動す
る際、機械変位計の先端が曲げられて損傷する欠点があ
った。この欠点を解消するため、機械的変位計に替え
て、渦電流等を用いた非接触変位計を用いることが考え
られる。しかし、この場合は変位計の損傷を防止するこ
とは出来るが、これらの非接触変位計は或る面積の平均
的な変位を測定するため、点の測定を正確に行うことは
出来なかった。[Problems to be Solved by the Invention] However, in the conventional method, as shown in FIG. 8, there is a difference in the position to be welded, or in the radial direction at the bent corner portion such as the miter bend portion. In addition to being unable to measure the displacement (Z) of No. 1, there was a drawback that the tip of the mechanical displacement meter was bent and damaged when moving in the pipe axis direction and the circumferential direction. In order to eliminate this drawback, it is conceivable to use a non-contact displacement meter using eddy current or the like instead of the mechanical displacement meter. However, in this case, although the displacement gauge can be prevented from being damaged, since these non-contact displacement gauges measure the average displacement of a certain area, the point measurement cannot be performed accurately.
本発明は、このような従来の課題を解決し、故障が生じ
にくく、かつ、正確に溶接しようとする位置を教示して
自動溶接を行わせることができる管内溶接位置測定装置
を提供することを目的とする。The present invention solves such conventional problems, and provides an in-pipe welding position measuring device which is less likely to cause a failure and which can teach an accurate welding position and perform automatic welding. To aim.
［課題を解決するための手段］ この目的を達成するための本発明の溶接位置測定装置
は、次のように構成される。すなわち、 管内の軸方向に移動可能な台車に搭載され、溶接位置を
あらかじめ教示して自動溶接を行う管内溶接装置におい
て、管軸心を中心として回転可能かつ管軸方向に移動可
能に前記台車に面板を取付け、該面板に、半径方向に案
内駆動される溶接トーチと、同じく半径方向に光軸中心
を一致させ、管内壁を指向するように固定されたテレビ
カメラと、テレビカメラの光軸中心に対して一定の傾斜
角を保持して、テレビカメラの光軸中心と平行に案内駆
動される光源とを備えるとともに、前記テレビカメラの
光軸中心と光源の光軸中心は、前記面板と平行な同一平
面内に位置するように配置され、さらに前記面板の回転
量を検出する角度センサと、面板の管軸方向移動量を検
出する変位センサと、光源の移動量を検出する変位セン
サと、および溶接トーチの半径方向移動を検出する変位
センサとを設置したことを特徴とする管内溶接位置測定
装置である。[Means for Solving the Problems] The welding position measuring device of the present invention for achieving this object is configured as follows. That is, in an in-pipe welding apparatus that is mounted on a truck that is movable in the axial direction of the pipe and that teaches the welding position in advance and performs automatic welding, the carriage that is rotatable around the pipe axis and movable in the pipe axis direction A face plate is attached, a welding torch that is guided and driven in the radial direction, a television camera fixed so that the optical axis center is also aligned in the radial direction and is directed toward the inner wall of the tube, and the optical axis center of the television camera. And a light source that is guided and driven in parallel with the optical axis center of the television camera while maintaining a constant inclination angle with respect to the optical axis center of the television camera and the optical axis center of the light source are parallel to the face plate. Arranged so as to be located in the same plane, further an angle sensor for detecting the amount of rotation of the face plate, a displacement sensor for detecting the amount of movement of the face plate in the tube axis direction, a displacement sensor for detecting the amount of movement of the light source, And a displacement sensor for detecting the radial movement of the welding torch, which is a pipe welding position measuring device.
［作用］ 本発明では、面板の管周方向の角度と管軸方向の変位、
また光軸及び溶接トーチの半径方向の変位を正確に検出
すると共に、特にテレビカメラと一定の位置関係を保持
する光学的手段を利用して非接触状態で溶接すべき位置
の測定を行う。このため管内溶接位置を精度よく把握で
きる。[Operation] In the present invention, the angle of the face plate in the pipe circumferential direction and the displacement in the pipe axial direction,
Further, the radial displacements of the optical axis and the welding torch are accurately detected, and the position to be welded is measured in a non-contact state by utilizing an optical means that maintains a fixed positional relationship with the television camera. Therefore, the welding position in the pipe can be accurately grasped.
［実施例］ 以下図面に基いて実施例を説明する。第１図は本発明の
実施例の縦断面図、第２図はその第１図のＡ−Ａ矢視、
第３図は第２図のＢ−Ｂ矢視である。[Examples] Examples will be described below with reference to the drawings. 1 is a longitudinal sectional view of an embodiment of the present invention, FIG. 2 is a view taken along the line AA of FIG.
FIG. 3 is a BB arrow view of FIG.
この発明の測定装置は、管１内を管軸方向に走行する台
車２の先端部に溶接トーチ、クリーニング装置等ととも
に設けられる。台車２は図示しない管内移動装置に連結
されて管１内を移動し、所定位置にて円筒状の本体の外
部に設けた複数のピストンシリンダ３で管壁に押圧クラ
ンプされて固定される。The measuring device of the present invention is provided at the tip of a carriage 2 that travels in the pipe 1 in the pipe axial direction together with a welding torch, a cleaning device, and the like. The dolly 2 is connected to an in-pipe moving device (not shown), moves in the pipe 1, and is fixed at a predetermined position by being pressed and clamped to the pipe wall by a plurality of piston cylinders 3 provided outside the cylindrical main body.
台車本体４の内部には、外周と台車車体内面の間隙にベ
アリング６で支持されたドラム５が、台車本体４に固定
されたモータＡに連結されて、管軸周りに回転駆動され
るようにしてある。モータ回転軸には角度センサ、例え
ばエンコーダ７が連結され、モータ軸の回転角度からド
ラム５の回転角を測定するようになっている。Inside the carriage main body 4, a drum 5 supported by a bearing 6 in a gap between the outer circumference and the inner surface of the carriage body is connected to a motor A fixed to the carriage main body 4 so as to be driven to rotate around a pipe axis. There is. An angle sensor, for example, an encoder 7 is connected to the motor rotation shaft, and the rotation angle of the drum 5 is measured from the rotation angle of the motor shaft.
ドラム５および台車２の前部には対応する貫通孔が設け
られ、面板13が先端に固定されたシャフト８が前記貫通
孔を通してドラム５内部に挿通されている。該シャフト
８にはキー溝９が設けてあり、ドラム貫通孔に固定され
たガイド10の突状に嵌合されて、ドラム５との回転が拘
束された状態で管軸方向に移動自在にされている。ま
た、シャフト８にはラック11が設けられ、該ラック11は
ドラム５に固定されたモータＢで駆動される歯車12に噛
み合っている。Corresponding through holes are provided in the front portions of the drum 5 and the carriage 2, and a shaft 8 having a face plate 13 fixed at its tip is inserted into the drum 5 through the through holes. A key groove 9 is provided on the shaft 8, and a guide 10 fixed to a drum through hole is fitted into the shaft in a protruding shape so as to be movable in the pipe axis direction while being restrained from rotating with the drum 5. ing. Further, a rack 11 is provided on the shaft 8, and the rack 11 meshes with a gear 12 driven by a motor B fixed to the drum 5.
以上の構成により、モータＡを駆動することによってド
ラム５を介して面板13が回転され、またモータＢを駆動
することによって面板13を管軸方向に一定の範囲にわた
って移動させることができる。なお、モータＡ、モータ
Ｂは管外から遠隔操作により駆動される。With the above configuration, the face plate 13 can be rotated via the drum 5 by driving the motor A, and the face plate 13 can be moved over a certain range in the tube axis direction by driving the motor B. The motor A and the motor B are driven by remote control from outside the pipe.
一方、前記歯車12の回転軸には変位センサ、例えばエン
コーダ14が固定されており、歯車12の回転、即ちモータ
Ｂの回転量からシャフト８の管軸方向移動量（Ｘ方向変
位）を測定するようになっている。On the other hand, a displacement sensor, for example, an encoder 14 is fixed to the rotating shaft of the gear 12, and the amount of rotation of the gear 12, that is, the amount of rotation of the motor B is used to measure the amount of movement of the shaft 8 in the tube axis direction (displacement in the X direction). It is like this.
ドラム５を介して回転駆動され、かつ管軸方向に移動さ
れる面板13の前面にはテレビカメラ15、光源17、溶接ト
ーチ16等が設けられている。テレビカメラ15は半径方向
に光軸中心を一致させて管壁を撮影するように指向させ
て面板13に固定されている。A television camera 15, a light source 17, a welding torch 16 and the like are provided on the front surface of a face plate 13 which is rotationally driven via the drum 5 and is moved in the tube axis direction. The television camera 15 is fixed to the face plate 13 so that the center of the optical axis is aligned in the radial direction so that the tube wall is imaged.
テレビカメラ15の側方には管壁に向け十字スリットまた
はスポット光を投射する光源17が、テレビカメラ15の光
軸中心に対し角度θをもって指向するように配置されて
いる。また、カメラと光源の両光軸中心は管軸と垂直な
同一平面内に位置するようにして配置され、しかも光源
17はテレビカメラ15の光軸中心と平行に面板13に固定さ
れたスライド部材18に取付けられている。更に、スライ
ド部材18の側方にはモータＣで駆動されるチェーン19が
スライド部材と平行に配置され、チェーン19の一部には
光源17の支持部23が連結されている。A light source 17 for projecting a cross slit or spot light toward the tube wall is arranged on the side of the TV camera 15 so as to be directed at an angle θ with respect to the optical axis center of the TV camera 15. The center of the optical axis of both the camera and the light source is located in the same plane perpendicular to the tube axis.
Reference numeral 17 is attached to a slide member 18 fixed to the face plate 13 in parallel with the optical axis center of the television camera 15. Further, a chain 19 driven by a motor C is arranged parallel to the slide member on the side of the slide member 18, and a support portion 23 of the light source 17 is connected to a part of the chain 19.
カメラの光軸中心と光源と光軸中心を管軸に垂直な同一
平面内に位置させる理由は、このようにすれば管壁との
間隔（Ｚ）が変化しても、常に十字スリット光（又はス
ポット光）をテレビ画面のＸ軸中央基準線に一致させる
ことができ、溶接位置を基準線に一致させた時のＸ軸座
標を測定すれば良いからである。両光軸が同一平面内に
ない場合には、十字スリット光（又はスポット光）はＸ
軸中央基準線とズレてしまい、又Ｚが変化するとテレビ
画面上でＸ軸方向に動くことになり、Ｘ軸中央基準線に
合致させた溶接位置から外れてしまい、正確な溶接位置
の座標が測定できない不都合が生じる。The reason why the optical axis center of the camera, the light source, and the optical axis center are located on the same plane perpendicular to the tube axis is that the cross slit light ( This is because the spot light) can be made to coincide with the X-axis center reference line of the television screen, and the X-axis coordinates when the welding position is made to coincide with the reference line can be measured. When both optical axes are not in the same plane, the cross slit light (or spot light) is X
If it shifts from the axis center reference line, or if Z changes, it will move in the X axis direction on the TV screen, and it will deviate from the welding position matched with the X axis center reference line, and the accurate welding position coordinates will be displayed. Inconvenience that cannot be measured occurs.
チェーン19はモータＣに連結した駆動歯車（プーリ）20
と従動歯車21の間に平行状に張設されている。従動歯車
21の回転軸にはＺ方向変位センサ22（例えばポテンショ
メータ）が取付けられ、光源の移動量を測定するように
されている。この結果、光源の十字スリットまたはスポ
ットはテレビカメラ15の光軸中心と一定の角度θを保持
しながら平行移動ができる。なお、この角度θは大きく
した方が測定精度が良くなるが、取付け配置上の都合か
ら、実用的には45゜〜15゜（望ましくは約30゜）の範囲
とする。The chain 19 is a drive gear (pulley) 20 connected to the motor C.
And the driven gear 21 are stretched in parallel. Driven gear
A Z-direction displacement sensor 22 (for example, a potentiometer) is attached to the rotary shaft of 21 to measure the amount of movement of the light source. As a result, the cross slit or spot of the light source can move in parallel with the center of the optical axis of the television camera 15 while maintaining a constant angle θ. It should be noted that the larger the angle θ, the better the measurement accuracy, but from the viewpoint of mounting arrangement, it is practically within the range of 45 ° to 15 ° (preferably about 30 °).
溶接トーチ16は管の半径方向に案内駆動され、かつ、移
動量を測定する手段を備える必要がある。また、溶接ト
ーチ16はアーク発生時の飛散スパッタが、テレビカメラ
15および光源17等に悪影響を生じさせないように配置し
なければならない。このため本実施例では、溶接トーチ
16はテレビカメラ15の反対側（180゜）の位置に配置
し、案内駆動および移動量の測定手段を光源の案内駆動
および移動量測定手段と兼用させている。勿論、溶接ト
ーチの半径方向の移動とその移動量測定手段は独立して
設けてもよい。なお、本実施例に示す各部の駆動手段、
測定手段は１例を示すものであり、他の公知の手段に替
えて用いても何ら差しつかえない。The welding torch 16 should be guided and driven in the radial direction of the pipe, and should be provided with means for measuring the amount of movement. In addition, the welding torch 16 has a TV camera that produces spatter when an arc occurs.
It must be arranged so as not to adversely affect 15 and the light source 17. Therefore, in this embodiment, the welding torch is
The reference numeral 16 is arranged on the opposite side (180 °) of the television camera 15, and the guide driving and moving amount measuring means is also used as the light source guiding driving and moving amount measuring means. Of course, the radial movement of the welding torch and its movement amount measuring means may be provided independently. Incidentally, the drive means of each part shown in the present embodiment,
The measuring means is just an example, and any other known means may be used in place.
なお、前記テレビカメラから送られる映像を写すテレビ
の画面上には、中央を交点としたＸ軸、Ｙ軸の基準線を
設けておく。It should be noted that X-axis and Y-axis reference lines having an intersection at the center are provided on the screen of the TV which displays the image sent from the TV camera.
次に、本発明の装置を用いて溶接位置を測定する方法を
説明する。Next, a method of measuring the welding position using the device of the present invention will be described.
テレビカメラ15によって撮影されるテレビ画面（画面
のＸ軸が管軸方向の撮影された範囲、Ｙ軸が管周方向の
撮影された範囲）を監視しながら台車２を走行させ、テ
レビ画面の基準線Ｘ軸の中央付近で停止させ、台車をク
ランプする。The trolley 2 is run while monitoring the TV screen (the X-axis of the screen is the imaged range in the tube axis direction, and the Y-axis is the imaged range in the tube circumferential direction) taken by the TV camera 15. Stop near the center of the line X-axis and clamp the carriage.
モータＡを駆動させて面板13を管軸周りに回転させ、
管内の上、下または左右のいずれかに面板位置をセット
する（この時の面板回転角＝０とする） 溶接しようとする位置（継手中央部）WLにテレビ画面
の基準線のＸ軸中央が一致するようにモータＢを駆動
し、面板を移動する。（第４図） テレビ画面において管壁に光源17から投影されている
十字スリットまたはスポット光SLが基準線Ｙ軸中央に一
致するようにモータＣを駆動し、光源を点線の如く移動
する。（第５図） この状態で図示しないデータ収録器に初期値データと
してデータを取込む。Drive the motor A to rotate the face plate 13 around the tube axis,
Set the face plate position on the top, bottom, or left or right of the pipe (set face plate rotation angle = 0 at this time). At the position to weld (center of joint) WL, the center of the X-axis of the reference line on the TV screen is The motor B is driven so that they coincide with each other, and the face plate is moved. (FIG. 4) The motor C is driven so that the cross slit or spot light SL projected from the light source 17 on the tube wall on the television screen coincides with the center of the Y axis of the reference line, and the light source is moved as shown by the dotted line. (FIG. 5) In this state, data is taken in as an initial value data into a data recorder (not shown).
＝０゜，Ｘ＝Ｘ0 ，Ｚ＝Ｚ０ 次にモータＡを駆動して所定の角度（＝５゜または
＝10゜程度）面板を管軸周りに回転させて停止する。= 0 °, X = X 0 , Z = Z 0 Next, the motor A is driven to rotate the face plate at a predetermined angle (about 5 ° or = 10 °) around the tube axis and stop it.
角度の位置において溶接しようとする位置とテレビ
画面の基準線Ｘ軸の中央にｅx のズレがあれば、一致す
るようにモータＢを駆動して面板をＸ方向に調整する。
この時エンコーダ７にて面板の管軸方向変位を測定す
る。（第６図） 十字スリットまたはスポット光が基準線Ｘ軸中央とズ
レｅ′z があれば一致するようにモータＣを駆動する。
この時の光源の半径方向変位をポテンショメータ22によ
り測定する。（第７図） この状態でデータをデータ収録器にて取込み記憶させ
る。If there is a deviation of e x between the position to be welded at the angular position and the center of the X-axis of the reference line on the TV screen, the motor B is driven so as to match the position and the face plate is adjusted in the X direction.
At this time, the displacement of the face plate in the tube axis direction is measured by the encoder 7. (FIG. 6) The motor C is driven so that the cross slit or spot light coincides with the center of the X-axis of the reference line if there is a deviation e ′ z .
The radial displacement of the light source at this time is measured by the potentiometer 22. (FIG. 7) In this state, the data is captured and stored by the data recorder.
以下、同様にして面板を所定ピッチ角毎に360゜回
転させて、管軸方向変位（Ｘ）と半径方向変位（Ｚ）の
データを記憶させる。Thereafter, similarly, the face plate is rotated by 360 ° at every predetermined pitch angle, and the data of the pipe axial displacement (X) and the radial displacement (Z) are stored.
この結果以下の表に示すデータが記憶される。As a result, the data shown in the table below is stored.
以下、記憶された溶接位置のデータを読み出し所定の
演算を行いながら溶接トーチをＸ方向、Ｚ方向に位置を
制御しながら管周方向に駆動して、自動溶接を行う。 Hereinafter, the stored welding position data is read out and the welding torch is driven in the pipe circumferential direction while controlling the position in the X and Z directions while performing a predetermined calculation to perform automatic welding.
なお、データを取込む角度ピッチが粗い場合は、その
中間の値を演算で補間する。When the angular pitch for capturing data is rough, an intermediate value is interpolated by calculation.
［発明の結果］ この発明によれば、溶接しようとする位置の測定を非接
触で行うため、開先の目違いや、マイターベンドのよう
に傾斜した継手部でも装置を故障させることが無く、ま
た、光学的に半径方向の変位を測定できるため溶接しよ
うとする位置が複雑な形状（目違い、傾斜等）であって
も、点で測定でき、正確なデータが得られ、高品質の溶
接を行うことが可能である。[Results of the Invention] According to the present invention, since the position to be welded is measured in a non-contact manner, there is no misalignment of the groove and no failure of the device even with a joint part inclined like a miter bend, Also, since the radial displacement can be measured optically, even if the position to be welded has a complicated shape (misalignment, inclination, etc.), it can be measured at a point, accurate data can be obtained, and high quality welding is possible. It is possible to
第１図は本発明に係る測定装置の全体を示す断面図、第
２図は第１図Ａ−Ａ矢視図、第３図は第１図Ｂ−Ｂ矢視
図、第４図及び第５図は本発明における操作の手順を示
す説明図、第６図及び第７図は本発明装置を用いて行う
テレビ画面上における操作状況を示す説明図、第８図は
従来例の説明図である。 １……管、２……台車、３……ピストンシリンダ、４…
…台車本体、５……ドラム、６……ベアリング、７，14
……エンコーダ、８……シャフト、９……キー溝、10…
…ガイド、11……ラック、12……歯車、13……面板、15
……テレビカメラ、16……溶接トーチ、17……光源、18
……スライド部材、19……チェーン、20……駆動歯車、
21……従動歯車、22……ポテンショメータ、23……支持
部、Ａ，Ｂ，Ｃ……モータFIG. 1 is a cross-sectional view showing the whole of the measuring apparatus according to the present invention, FIG. 2 is a view taken along arrow AA of FIG. 1, FIG. 3 is a view taken along arrow BB of FIG. 1, FIG. 4 and FIG. FIG. 5 is an explanatory diagram showing an operation procedure in the present invention, FIGS. 6 and 7 are explanatory diagrams showing an operation situation on a television screen performed by using the device of the present invention, and FIG. 8 is an explanatory diagram of a conventional example. is there. 1 ... Pipe, 2 ... Cart, 3 ... Piston cylinder, 4 ...
… Car body, 5 …… Drum, 6 …… Bearing, 7,14
...... Encoder, 8 ...... Shaft, 9 ...... Keyway, 10 ...
… Guide, 11 …… Rack, 12 …… Gear, 13 …… Face plate, 15
... TV camera, 16 ... welding torch, 17 ... light source, 18
...... Slide member, 19 …… Chain, 20 …… Drive gear,
21: driven gear, 22: potentiometer, 23: support, A, B, C: motor
───────────────────────────────────────────────────── フロントページの続き (72)発明者 迫間 隆司 大阪府大阪市此花区酉島５―11―61 大阪 瓦斯株式会社導管技術センター内 (72)発明者 土谷 雅敏 大阪府大阪市此花区酉島５―11―61 大阪 瓦斯株式会社導管技術センター内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takashi Sakoma 5-11-61 Torishima, Konohana-ku, Osaka-shi, Osaka Prefecture Inside the Pipeline Technology Center, Osaka Gas Co., Ltd. 11-61 Osaka Gas Co., Ltd. Conduit Technology Center
Claims (1)
れ、溶接位置をあらかじめ教示して自動溶接を行う管内
溶接装置において、 管軸心を中心として回転可能かつ管軸方向に移動可能に
前記台車に面板を取付け、該面板に、半径方向に案内駆
動される溶接トーチと、同じく半径方向に光軸中心を一
致させ、管内壁を指向するように固定されたテレビカメ
ラと、テレビカメラの光軸中心に対して一定の傾斜角を
保持して、テレビカメラの光軸中心と平行に案内駆動さ
れる光源とを備えるとともに、前記テレビカメラの光軸
中心と光源の光軸中心は、前記面板と平行な同一平面内
に位置するように配置され、さらに前記面板の回転量を
検出する角度センサと、面板の管軸方向移動量を検出す
る変位センサと、光源の移動量を検出する変位センサ
と、および溶接トーチの半径方向移動を検出する変位セ
ンサとを設置したことを特徴とする管内溶接位置測定装
置。1. An in-pipe welding apparatus, which is mounted on a carriage that is movable in the axial direction within the pipe and which teaches a welding position in advance and performs automatic welding, is rotatable about the pipe axis and movable in the pipe axis direction. A face plate is attached to the carriage, a welding torch guided and driven in the radial direction is attached to the face plate, and a television camera fixed in such a manner that the optical axis center is also aligned in the radial direction and is directed toward the inner wall of the tube. The optical axis center of the television camera and the optical axis center of the light source are provided with a light source which is guided and driven in parallel with the optical axis center of the television camera while maintaining a constant inclination angle with respect to the optical axis center. An angle sensor that is arranged so as to be located in the same plane parallel to the face plate and that detects the amount of rotation of the face plate, a displacement sensor that detects the amount of movement of the face plate in the tube axis direction, and a displacement that detects the amount of movement of the light source. With sensor And a displacement sensor for detecting the radial movement of the welding torch, a pipe welding position measuring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63255809A JPH0616949B2 (en) | 1988-10-13 | 1988-10-13 | Pipe welding position measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63255809A JPH0616949B2 (en) | 1988-10-13 | 1988-10-13 | Pipe welding position measuring device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02104474A JPH02104474A (en) | 1990-04-17 |
| JPH0616949B2 true JPH0616949B2 (en) | 1994-03-09 |
Family
ID=17283929
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63255809A Expired - Fee Related JPH0616949B2 (en) | 1988-10-13 | 1988-10-13 | Pipe welding position measuring device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0616949B2 (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| NL9001124A (en) * | 1990-05-14 | 1991-12-02 | Nucon Eng & Contracting Bv | DEVICE FOR CARRYING INSPECTORS IN THE INTERIOR OF A TUBULAR BODY. |
| KR100808606B1 (en) * | 2006-11-30 | 2008-02-28 | 한국전력공사 | Welding head feeding machine for inside of pipe or shell |
| JP4998409B2 (en) * | 2008-08-22 | 2012-08-15 | トヨタ自動車株式会社 | Laser irradiation apparatus and method |
| US10589371B2 (en) * | 2013-05-23 | 2020-03-17 | Crc-Evans Pipeline International, Inc. | Rotating welding system and methods |
| US11767934B2 (en) | 2013-05-23 | 2023-09-26 | Crc-Evans Pipeline International, Inc. | Internally welded pipes |
| US10695876B2 (en) | 2013-05-23 | 2020-06-30 | Crc-Evans Pipeline International, Inc. | Self-powered welding systems and methods |
| US10480862B2 (en) | 2013-05-23 | 2019-11-19 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| RU2695694C2 (en) | 2014-08-29 | 2019-07-25 | СиАрСи-ЭВАНС ПАЙПЛАЙН ИНТЕРНЭШНЛ ИНК. | Welding method and system |
| US11458571B2 (en) | 2016-07-01 | 2022-10-04 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
| JP2018040577A (en) * | 2016-09-05 | 2018-03-15 | 富士通株式会社 | Movement distance calculation device, mobile imaging device, movement distance calculation method, and movement distance calculation program |
| CN111451663B (en) * | 2020-05-18 | 2020-11-10 | 浙江天平光电科技有限公司 | Welding assembly equipment for LED lamp tube |
| CN112153333A (en) * | 2020-09-14 | 2020-12-29 | 中核核电运行管理有限公司 | Novel electric spark detection device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6240975A (en) * | 1985-08-20 | 1987-02-21 | Nippon Steel Corp | Detecting method for butt state of steel plate |
| JPS62183969A (en) * | 1986-02-07 | 1987-08-12 | Hitachi Ltd | Detecting device for welding position |
-
1988
- 1988-10-13 JP JP63255809A patent/JPH0616949B2/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6240975A (en) * | 1985-08-20 | 1987-02-21 | Nippon Steel Corp | Detecting method for butt state of steel plate |
| JPS62183969A (en) * | 1986-02-07 | 1987-08-12 | Hitachi Ltd | Detecting device for welding position |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH02104474A (en) | 1990-04-17 |
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