JPH06344140A - Automatic piping welding equipment - Google Patents

Abstract

PURPOSE:To provide welding equipment which performs circumferential joint welding automatically from the inside of piping in place of a welder. CONSTITUTION:The automatic piping welding equipment performs circumferential joint welding of piping automatically from the inside of piping and is provided with an automatic welding machine 12 which travels freely along a track, a cylindrical welding machine supporting body 14 and a holding device 16 which supports the welding machine supporting body on the end thereof in the longitudinal direction. The welding machine supporting body is provided with the track 86 arranged annularly on the periphery thereof and the automatic welding machine is made to travel on the track. The holding device 16 is provided with at least a couple of strut shoes 18 capable of pressing and strutting the inner wall surface of piping in the opposite direction mutually outward in the radial direction of piping. When the piping automatic welding equipment is set up o the inside of piping, the holding device 16 struts the inner wall surface of piping by the strut shoes 18 and holds the welding machine supporting body so that the longitudinal direction thereof is along the pipe-axis direction of piping thereby.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic pipe welding apparatus, and more particularly to an automatic pipe welding apparatus for efficiently and automatically performing peripheral joint welding of pipes from the inside of the pipes.

[0002]

2. Description of the Related Art Manufacturing tolerances are set for pipes or parts for piping such as elbows and tees, and manufacturing errors within the tolerances are allowed. Therefore, when the pipe and pipe parts are butted or the ends of the pipes are butted and the peripheral joint welding is performed, even if the manufacturing errors of the inner diameters of both are within the tolerance, the differences between the two are mutually If it is amplified and becomes large, and the peripheral joint welding is performed from the outside of the pipe as it is, there is often a problem that a step is generated inside the welded joint. Especially the elbow,
Due to manufacturing reasons, piping parts such as tees are somewhat different from those of piping in cross-sectional shape such as roundness and dimensions such as inner diameter and wall thickness. Therefore, when the pipe and the pipe component are welded by the peripheral joint, a step is often generated. If the size of the generated step is more than the permissible error in the circumferential joint welding, the inside of the joint should be polished with a grinding tool such as a grinder to make a taper finish so that the step is within the permissible error.

Therefore, when there is a difference in inner diameter between the objects to be welded around the circumference, a step is not generated inside.
It is necessary to adjust the inner diameters of both parts to be welded in advance, but it is technically difficult and a large-scale device is necessary to adjust the inner diameter difference of a large-diameter pipe or a thick pipe component. Become. For this reason, in the circumferential joint welding between pipes or between pipes and pipe components, a method is often employed in which welding is performed from the inside of the joint to prevent a step.

[0004]

By the way, although an automatic welding apparatus for performing peripheral joint welding from the outside of a pipe has been put into practical use, an automatic welding apparatus capable of performing peripheral joint welding from the inside of a pipe is still in practical use. It hasn't reached the level of transformation. This is because it was technically difficult to hold the automatic welding device at a predetermined position near the joint inside the pipe and perform stable welding. On the other hand, the welding work performed inside the pipe has a very bad working environment even with sufficient ventilation, and therefore, in recent years, welders have a strong tendency to avoid such welding work. Increasing,
It is becoming more and more difficult to arrange a welder with a skill that can taper a stepped butt portion and weld well from inside the pipe. In addition, it is often necessary for a welder to enter the inside of the pipe and perform peripheral joint welding from the inside of the pipe for the pipe having a diameter that is physically impossible to perform welding from the inside.

Therefore, in view of such a situation, the present invention has an object of providing a welding apparatus which automatically performs the peripheral joint welding from the inside of the pipe, instead of the welder.

[0006]

In order to achieve the above object, a pipe automatic welding apparatus according to the present invention for automatically performing a peripheral joint welding of a pipe from the inside of the pipe is an automatic welding machine,
The welding head of the automatic welding machine is provided with a rotating device that rotates the automatic welding machine so that the welding head travels along the circumference joint weld portion, and a holding device that supports the automatic welding machine and the rotating device, and the holding device When at least one set of two tensioning shoes that can press and stretch the inner wall surface of the pipe in the mutually opposite directions toward the radial direction outward is provided, and the automatic pipe welding apparatus is installed inside the pipe, It is characterized in that the holding device holds the automatic welding machine and the rotating device by pulling the inner wall surface of the pipe with the pulling shoe.

The automatic pipe welding apparatus according to the present invention is used to weld another straight pipe, a curved pipe, a branched pipe or the like to a straight pipe, or to bend a curved pipe and a curved pipe, or a curved pipe and a branched pipe by hand. Of
Pipes with a relatively large diameter of 28B or more, preferably 30B
It can be used for the above piping. The rotating device may be built in the automatic welding machine, or may be separately provided and connected to the automatic welding machine. Preferably, the entire strut shoe is composed of a plurality of strut shoes which are divided, and each strut shoe is formed adjacent to and continuously in contact with the entire inner circumference of the pipe and conforms to its shape. It is formed by the union. Preferably, the adjacent strut shoes are mutually fittable at their ends, and the circumferential length of the strut shoes can be freely expanded and contracted. The holding device can be used alone as a pipe diameter expanding device.
Further, a groove processing machine can be attached to be used as a groove processing apparatus for piping. It should be noted that wheels or casters may be attached to the holding device for convenience of installation and removal in the pipe.

In a preferred embodiment of the present invention, a tubular welder support having an annular track on its outer circumference is further provided so that an automatic welder can run freely on the track instead of the rotating device, and The holding device is characterized in that it supports the welder support at its ends in the longitudinal direction. As the automatic welding machine used in the present invention, a commercially available orbital self-propelled automatic welding machine that performs peripheral joint welding from the outside of the pipe can be used.

In a preferred embodiment of the present invention, a holding device provided in the automatic pipe welding apparatus extends in the longitudinal direction of the drive device and the welder support, and is driven by the drive device to drive the welder support. Is a shaft that moves forward and backward in the opposite direction, a long leg that is pivotally supported at one end by the tip of the shaft and the other end by a strut, and one end that is freely rotatable on the surface including the shaft A short leg that is pivotally supported and the other end is pivotally supported by the tensioning shoe, and that freely rotates in a plane including the shaft up to an angle of 90 ° with the longitudinal line of the welder support. It is characterized in that it has a triangular combination body in which the long leg and the short leg can be freely opened and closed by the cooperation of.

A fluid pressure cylinder such as a hydraulic cylinder or an electric motor can be used as the drive unit. A guide is preferably provided to guide the linear movement of the shaft so that the shaft can be advanced and retracted without causing deformation such as twisting or bending. More preferably, each guide is provided with a linear motion guide mechanism so as to surely guide the guide linearly and accurately. The above points are the same in the following embodiments. It is desirable to attach wheels such as rollers and casters to the long legs so that the holding device can be conveniently installed in the pipe.

In another preferred embodiment of the present invention, the holding device provided in the automatic pipe welding apparatus comprises a plate member orthogonal to the longitudinal direction of the welder support, through which the welder support is attached. A drive device connected to the plate-shaped member via a frame, a shaft extending in the longitudinal direction of the welder support, and driven by the drive device to move forward and backward toward the plate-shaped member, And a link mechanism including a first arm and a second arm configured to transmit the forward and backward movements of the shaft to the tensioning shoe and to perform the tensioning shoe to tension the tube wall. One end of the first arm is provided. The other end of the shaft is rotatably connected to one end of the second arm, and the other end of the second arm is connected to the strut shoe at the other end and is guided so as to advance and retreat in the radial direction of the pipe. thing It is characterized.

The plate-like member is preferably a disk having a diameter slightly smaller than the inner diameter of the pipe, and preferably at least three or more foldable stoppers are attached to the outer edge thereof to attach the holding device in the pipe. At this time, the disc is inserted from the end face of the tube by about ½ of the plate thickness. The remaining plate thickness of the disk is inserted into the other pipe. In addition, the reason for making it inclinable is to prevent the stopper from interfering with the operation of the holding device after the holding device is attached. Preferably, in order to balance on both sides of the plate-like member, the cowter weight is provided on the side of smaller weight. The above points are the same in the following embodiments.

In yet another preferred embodiment of the present invention,
The holding device provided in the automatic pipe welding apparatus includes a plate-shaped member orthogonal to the longitudinal direction of the welder support, is connected to the welder support via the drive, and is further connected to the plate-shaped drive unit. And a shaft that extends in the longitudinal direction of the welder support and is driven by a drive device to move forward and backward in the direction opposite to the plate-shaped member, and the forward and backward movements of the shaft are transmitted to the tensioning shoe, A combination of a link mechanism and a lever mechanism, which is configured to perform a squeeze to stretch the pipe wall, is provided. The combination has a first lever that rotates around a fixed first fulcrum and a squeeze shoe that is supported at one end. A second lever that is coupled and fixed to rotate around a fixed second fulcrum, a first arm that is rotatably connected to the shaft at one end and one end of the first lever at the other end, and at one end At the other end of the first lever, at the other end, It is characterized by comprising a rotatably second arm connected to the other end of the chromatography.

Further, as in the embodiment described later, the above-mentioned holding device can be attached to both ends of the welder support of the automatic pipe welding apparatus.

Similarly, as in the embodiments described later, the preferred welder supports are two rotatable welders about axes that are orthogonal to each other in the same direction as the longitudinal direction of the tubular body that constitutes the welder supports. The pulleys are provided at both ends in the hollow part of the tubular body, and the shaft of the pulley provided on the holding device side is freely movable in the longitudinal direction of the tubular body and is biased to the holding device side by the tension spring. , The shaft of the other pulley is fixedly supported, and a plurality of idle rollers rotatable around an axis parallel to the longitudinal direction of the cylinder are provided on the outer periphery of the welder support. The cable that connects the welding machine and the welding machine is introduced into the hollow part of the cylindrical body, then reciprocates through two pulleys, then goes out to the outside of the cylindrical body and winds around the outside of the floating roller, and then the welding machine. It is characterized by being connected.

The route of the circular orbit is not limited as long as the automatic welding machine can travel, but it is generally a circular route. The shape of the cylindrical body does not necessarily have to be cylindrical, and may have an elliptical or polygonal cross section as long as a track can be laid.

[0017]

According to the first aspect of the invention, the automatic welding machine rotates and the holding device holds the position by stretching the pipe so that the welding head of the automatic welding machine runs along the peripheral joint weld portion of the pipe. By providing the strut shoe that is used, it is possible to hold and rotate the automatic welding machine at a predetermined position in the pipe, and perform peripheral joint welding. By storing the set welding conditions in the control device of the automatic welding machine and letting the automatic welding machine perform the welding operation as it is, the welder does not have to operate the welding machine in the pipe, Circumferential joint welding can be performed automatically from inside the pipe. It is also possible to change the welding conditions while monitoring the welding operation with a monitoring device (for example, an imaging device such as a camera).

According to the second aspect of the invention, the automatic welding machine travels on the track of the welder support so that the welding head travels along the peripheral joint weld.

According to the third aspect of the present invention, when the shaft advances, the short leg stands up and pushes the inner wall surface by performing a tensioning shoe, so that the triangular combination is deformed into an open leg, and conversely. When the shaft retracts, the short legs fall down, and the triangular combination is deformed into a closed leg so that the short leg is pushed and retracted from the inner wall surface of the pipe. With the above configuration, the triangular combined body can push the pipe wall by thrusting and shouting with a thrust force larger than the output of the driving device. The holding device can support the automatic welding machine by operating the strut shoe by the triangular combination body configured as described above.

In the invention of claim 4, when the shaft advances, the first arm stands up and the second arm advances in the radial direction. As a result, the bracing shoe can press the inner wall surface and bracing. On the contrary, when the shaft retracts, the first arm collapses, the second arm retracts in the radial direction, and the bracing shoe retracts from the inner wall surface of the pipe. When the link mechanism composed of the first arm and the second arm configured as described above operates the bracing shoe,
The holding device can support the automatic welder. According to the present invention, the length of the holding device in the longitudinal direction is shorter than that of the invention of claim 2 by the above configuration. Therefore, it is suitable when the holding device is installed in a piping component such as an elbow.

In the invention of claim 5, when the shaft moves forward, the first arm stands up, the first lever becomes horizontal, and the second arm is pulled inward, so that the other end of the second arm is inwardly moved. Pulled towards you. As a result, the end of the second arm on the strut-shu side moves outward, and as a result, the strut-shu presses against the pipe wall and can be stretched. When the shaft retracts, the parts move in the opposite direction to that described above, and the bracing shoe retracts from the tube wall. The holding device can support the automatic welding machine by the combination of the arm mechanism and the lever mechanism configured as described above operating the strut shouting. Further, since the outer shape of the holding device is oval and the length in the longitudinal direction is short, the pipe automatic welding device of the present invention can be installed at a desired place by penetrating the inside of the pipe with the elbow. .

According to the invention of claim 6, two holding devices are provided at both ends of the welder support, so that each of the holding devices operates individually and the pipes or the like having different inner diameters are firmly fixed to each other. The automatic welding machine can be held in place by stretching and automatically centering and aligning with the axis of the pipe.

According to the invention of claim 7, when the automatic welding machine needs a long cable length in order to perform welding by traveling on the track of the welder support, first, the cable on the idle roller is automatically moved. The welding machine automatically unwinds and then the two pulleys move closer together due to the tension in the cable, which reduces the length of the cable traveling back and forth between the two pulleys. Therefore, the required length of cable is supplied to the automatic welding machine.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in more detail based on embodiments with reference to the accompanying drawings. First Embodiment FIG. 1 is a schematic diagram showing the configuration of a first embodiment of the present automatic pipe welding apparatus, and FIG. 2 is a diagram showing the configuration of a strut shoe and the connection of the strut shoe with short legs and long legs. 3 is a front view seen from the right side I-I in FIG. 1. In FIG. 1, 1A is a pipe, 1B is a pipe connected to 1A, and 1C is an elbow similarly connected to 1A. In this embodiment, the pipe 1A
The pipe 1B or the elbow 1C is connected to. The same applies to the following figures. The automatic pipe welding apparatus 10 includes a welder 12, a welder support 14 that holds the welder 12, and a holding device 16 that holds the welder 12 via the welder support 14. The holding device 16 is removably attached to the welder support 14 by a conventional fastening means such as a buried bolt. As shown in FIG. 1, the holding device 16 includes eight strut shoes 18, and an opening / closing leg mechanism 20 that drives the strut shoes 18 to press the inner surface of the tube or to retract it.

The strut shoes 18 are located opposite to each other in the opposite direction, and are advanced and retracted outward in the radial direction to form the pipe 1.
The inner surface of the tube of B is pressed so that it is stretched against the wall of the tube to maintain its position. The leg opening / closing mechanism 20 includes a hydraulic cylinder 22 as a drive device, and further includes a triangular combination of a shaft 24 of the hydraulic cylinder 22, a short leg 26 and a long leg 28. The triangular combination is formed such that the shaft 24 is driven by the hydraulic cylinder 22 so that the short leg 26 and the long leg 28 open and close. The body of the hydraulic cylinder 22 is constructed so that the welder supports 14 are aligned so that their longitudinal lines coincide.
Is connected to the end of the shaft 24 and advances and retracts the shaft 24 in the longitudinal direction of the welder support 14 and in the opposite direction. The hydraulic cylinder 22 is located at the center of the holding device 16,
That is, the tension shoe 1 is positioned so that the shaft 24 is located at the center line of the pipe 1B and extends along the pipe axis of the pipe A.
It is automatically installed in the pipe 1B by the stretching operation of 8.

In order to attach the short leg 26 to the cylinder body of the hydraulic cylinder 22, a disc-shaped short leg attaching seat 30 extending in a direction orthogonal to the shaft 24 is interposed between the short leg 26 and the welding machine support 14. It is fixed as you do. Further, in order to attach the long leg 28 to the tip of the shaft 24 of the hydraulic cylinder 22, the same shaft 24 is used.
Disc-shaped long leg mounting seat 32 extending in a direction orthogonal to
Is fixed.

The short leg 26 is rotatably supported by a shaft 34 provided at the outer edge of the short leg mounting seat 30 and extends radially outwardly from the short leg mounting seat 30 to form a maximum angle with the longitudinal line of the welder support 14. It freely rotates up to 90 ° on the surface including the shaft 24. On the other hand, the long leg 28 is longer than the short leg 26, one end of which is rotatably supported by a shaft 36 provided on the outer edge of the long leg mounting seat 32, and extends radially outward from the shaft 36. It freely rotates on the surface including the shaft 24.

At the other end of each of the short leg 26 and the long leg 28, as shown in FIG. 2, one short leg 26 is divided into bifurcated end portions 26A and 26B at the tip, and one end is provided therebetween. The long leg 28 is sandwiched between and is rotatably supported by a shaft 38 provided inside the strut shoe 18. In addition, in this embodiment, as shown in FIG. 2, each of the strut shoes 18 is configured such that one end portion thereof is fitted into the end portion of the adjacent strut shoe, so that Eight of the shoes 18 have a fitting structure that absorbs a change in circumferential length due to opening and closing of the opening / closing mechanism 20 and does not come off.

In the holding device 16 of the present embodiment, the eight sets of triangular combinations having the above-described structure extend radially from the center of the device with respect to each of the eight strut shoes 18. Further, when the holding device 16 is attached to the pipe A, as shown in FIG. 1, the short legs 26 are arranged at an angle α of 90 ° or less with respect to the longitudinal line of the welder support 14. In addition, a suitable stopper (not shown) is provided so that α does not exceed 92 °.

Long leg mounting seat 32 at the tip of the shaft 24
Of the guide hole 42 and the guide shaft 4 as shown in FIG. 3, so as to move to the left without rotating and maintaining a parallel relationship with the short leg mounting seat 30.
There is provided a linear motion guide mechanism composed of 4 and 4. Four
The individual guide holes 42 are arranged at an equal angle to the long leg mounting seat 32, and the four guide shafts 44 extend from the short leg mounting seat 30 in parallel with the longitudinal direction of the shaft 24 and penetrate the guide holes 42. is doing.

In this embodiment, the guide hole 42 and the guide shaft 44 are so-called linear ball bearings (linear motion guides), such as those sold by Nippon Seiko Co., Ltd., in order to provide precise guidance without play. It is composed of a linear motion guide bearing. As a result, the long leg mounting seat 32 is guided by the guide hole 42 and the guide shaft 44 while being guided by the hydraulic cylinder 2
Driven by the 2nd shaft, it translates right and left accurately without being twisted. In the short leg mounting seat 30, the long leg mounting seat 32, and the strut shoe 18, the shafts 34, 36, and 38 that pivotally support the short leg 26 and the long leg 28 have no play and ball bearings so as to reduce the rotational resistance. Alternatively, it is attached via a cylindrical roller bearing.

With the above construction, the shaft 24 and the short leg 2
6 and long leg 28 cooperate with short leg mounting seat 30, long leg mounting seat 32 and guides 42, 44 to form a triangular combination. In this triangular combination, when the shaft 24 advances, the short leg 26 stands up in a direction in which the angle α between the short leg 26 and the longitudinal line of the welder support 14 approaches 90 °, and the bracing shoe 18 is attached to the inner surface of the pipe. When the legs are deformed so as to be pressed and the shaft 24 is retracted, the short leg 26 falls down in the direction in which α decreases and the bracing shoe 18 is connected to the pipe 1B.
The legs are deformed to retract from the inner wall surface of. Since the holding device 16 is deformed so that the triangular combination raises the short leg 30, and as a result, the tension shoe 18 presses the pipe, the force required to move the shaft 24 forward is increased. Supports a large pressing force compared to Shu 1
Can act on eight.

The hydraulic cylinder 22 has a hydraulic pipe 46 and a hydraulic pipe 48 each equipped with a one-touch connector.
When the leg opening / closing mechanism 20 is opened, the oil is sent through the hydraulic pipe 48, the oil is drained through the hydraulic pipe 46 to advance the shaft 24, and the leg opening / closing is performed. When the mechanism 20 is closed, oil is taken in and out in the opposite direction to retract the shaft 24. For the convenience of installing the holding device 16, the long legs 28 are provided with casters 52 in front of the strut shoes 18 via mounting members 50, respectively. When the work is finished and the leg opening / closing mechanism 20 is opened, the casters 52 support the holding device 16 by contacting the inner wall surface of the pipe 1B. In this state, if the wire (not shown) attached to the holding device 16 is pulled, the holding device 16 can be pulled out.

A mounting jig 60 is provided in order to install the holding device 16 at a proper position in the end portion of the pipe B. FIG. 4 shows a state in which the attachment jig 60 is attached to the holding device 16, and FIG. 5 is a rear view of the attachment jig 60 seen from the arrow II-II in FIG. As shown in FIG. 4, the attachment jig 60 includes a cross member 62 formed by assembling rod-shaped members in a cross shape,
The cross member 62 includes a connecting member 64 orthogonal to the central portion, and a counterweight 66 provided near the outer end of the connecting member 64. The attachment jig 60 is attached to the hydraulic cylinder 22 of the holding device 16 via a connector 70 such as a clamp or a thumbscrew that can be attached and detached at the end of the pipe of the connecting member with one touch. The cross member 62 is
A member that functions as a kind of ruler or a stopper, and when the attachment jig 60 is attached to the holding device 16 in a predetermined manner and is inserted into the pipe 1B and the cross member 62 comes into contact with the end surface of the pipe 1B, the holding device 16 Is a predetermined position and the shaft 24 is positioned along the pipe axis of the pipe 1B. The counterweight 66 is for balancing with the holding device 16. Further, an eye-shaped lifting lug 68 is provided on the top of the vertical member of the cross member 62.

As shown in FIG. 1, the welder 12 comprises a welder body 80 and a welding head 82. Further, the welding machine 12 connects the welding head 82 to the pipe 1A and the pipe 1A.
A wheel (not shown) that can travel along the track 86 is provided inside the welder body 80 so that the peripheral joint welding is performed from the inside of the pipe along the joint with B. The welder support 14 is
As shown in FIG. 6, it comprises a cylindrical support member 84, a welding machine running rail 86 laid in an annular shape along the outer periphery of the support member 84, and a cable length adjusting device 88. The support member 84 has a holding device 16 at one end 83.
Is removably attached to the hydraulic cylinder main body 22 by a suitable connecting means such as an embedded bolt (not shown), and the other end 85 is a cross-shaped supporting leg 100 (see FIGS. 1 and 7). It is supported by being fixed to. The other end 85 is open.

When the welder 12 runs along the outer periphery of the welder support 14 along the rail 86, the length of the power cable 87 connecting the welder 12 and an external power source (not shown) and the welder 1
Control cable 8 connecting 2 to an external control device (not shown)
The length of 7 requires a length equal to the traveling distance of the welding machine 12. The cable length adjusting device 88 is provided to absorb the variation in the length of the cable. As shown in FIG. 6, the cable length adjusting device 88 includes a cable winding mechanism 90 attached along the outer periphery of the open end portion 85 of the support member 84 and two pieces provided in the hollow portion of the support member 84. And the pulley mechanism of the pulleys 91 and 92.

The pulley 91 rotates together with the shaft 93,
3 is freely movable and rotatable along a guide 94 provided along the longitudinal direction of the support member 84, and is constantly urged toward the holding device 16 by a tension spring 95. On the other hand, the pulley 92 is rotatable around a fixed shaft 96. The cable winding mechanism 90 is composed of a plurality of sets of rollers 98 that rotate around a shaft 97. The cable 87 connected to the external power supply is introduced through the open end portion 85 of the support member 84, and the pulley 91
Back and forth between the pulley and the pulley 92 several times, and then the support member 84
It is connected to the welding machine 12 after passing through the hole 99 provided in the wall of the roller 98, rotating around the outside of the roller 98 a necessary number of times.

Further, to explain, the pulley 91 is initially
The end portion 8 connected to the holding device 16 is biased by the spring 95.
3, the cable 87 reciprocates several times between the pulley 91 and the pulley 92. As the welding machine 12 travels on the track 86, the cable 87 on the roller 98 is first rewound and unreeled. When the welding machine 12 further travels, the cable 87 is pulled and tensioned in order to supply the length of the cable 87 equal to the travel distance, and the pulley 9 is pulled.
1 approaches the pulley 92 against the bias of the spring 95.
In this way, the cable length adjusting device 88 incorporates the cable 87 of the required length and smoothly supplies the cable of the required length according to the traveling of the welding machine 12. On the other hand, when the welding machine 12 travels in the opposite direction, the cable 87 is loosened.
It is moved in a direction away from the pulley 92 by the urging force of 5,
The length of the cable 87 that reciprocates between them is increased, absorbs the relaxed cable 87, and is then wound by the cable winding mechanism 90.

FIG. 7 is a view seen from the arrow III-III in FIG. 1, and shows the cable winding mechanism 90 and the supporting leg 100. As shown in FIG. 7, the support leg 100 is composed of a cross member 102, and a caster 104 is provided at the tip thereof.

Next, a method of using the automatic pipe welding apparatus 10 of the first embodiment will be described below. First, the mounting jig 6
0 is used to mount the holding device 16 in the pipe 1B.
To this end, the attachment jig 60 is attached to the holding device 16 via the connecting member 64 and the connecting device 70, and then the wire is passed through the lifting lug 68 to lift the whole, and the holding device 16 is inserted into the pipe 1B. At this time, the holding device 16
Can balance the weight of the cowter weight 66 and travel by the casters 52 to smoothly enter the pipe 1B. Next, when the holding device 16 is moved forward until the cross member 62 contacts the end surface of the pipe 1B, and then the opening and closing mechanism 20 is gradually operated, the tension shoe 18 of the holding device 16 is moved from the end surface of the pipe 1B. It comes into contact with the pipe 1B over the entire inner wall surface of the pipe 1B at equidistant positions. If necessary, a groove processing device is attached to the holding device 16 to process the groove of the pipe 1B.

Next, the pipe 1A is held from the outside using a conventional pipe centering device (not shown), and then the pipe 1B is butted against the pipe 1B at a predetermined position. Next, automatic welding machine 12
The welder support 14 supporting the pipe 1 by suitable conventional means
Insert in B and connect to holding device 16. With this, the assembly of the automatic pipe welding apparatus 10 is completed, and the automatic welding machine 12
The operation of can be started. After welding, the entire pipe automatic welding apparatus 10 is pulled out from the pipe by a wire or the like and taken out.

8 (a) and 8 (b) are schematic structural views showing another example of the holding device 16, respectively. In the figure, the reference numerals are the same as those in FIG.

Second Embodiment FIG. 9 is a schematic view showing the structure of a second embodiment of the automatic pipe welding apparatus according to the present invention, and FIG. 10 is a schematic view seen from the arrow IV-IV of FIG. Is. The present automatic pipe welding apparatus 110 has the same configuration as the automatic pipe welding apparatus 10 of the first embodiment.
2 and the welder support 14, and has a holding device 112 as a holding device. As shown in FIG. 9, the holding device 112 includes the welding machine support 1 via the disk-shaped member 120.
4 and is connected to eight strut shoes 18 (see FIG. 1).
0) and an opening / closing leg mechanism 20 that drives the strut shoe 18 to press the inner surface of the tube or retract it.

The strut shoes 18 are located opposite to each other in the opposite direction, and are advanced and retracted outward in the radial direction to form the pipe 1.
The inner surface of the tube of B is pressed, so that it is stretched against the tube wall. The leg opening / closing mechanism 20 includes a hydraulic cylinder 22 as a drive device, and further includes a shaft 24 of the hydraulic cylinder 22 and two legs, that is, the first arm 1.
14 and a deformable link mechanism that connects the second arm 116. The body of the hydraulic cylinder 22 is connected to the end of the welder support 14 so that the respective longitudinal lines coincide with each other, and the shaft 24 is mounted in the longitudinal direction of the welder support 14 and toward it. Move forward and backward. The hydraulic cylinder 22 is a holding device 11.
Located at the center of 2, that is, the center line of the pipe 1B, the shaft 24 is automatically installed in the pipe 1B by the tensioning operation of the tensioning shoe 18 so as to extend along the pipe axis of the pipe A.

The hydraulic cylinder 22 is attached to the disk-shaped member 120 via a cylindrical frame. The cylindrical frame is formed into a cylindrical basket shape in which both end surfaces are composed of discs 122 and 124, and the discs 122 and 124 are connected to each other by a plurality of connecting members 126 extending at equal intervals. Has been formed. In order to mount the first arm 114, a disc-shaped mounting seat 128 extending in a direction orthogonal to the shaft 24 is fixed to the tip of the shaft 24. One end of the first arm 114 has a mounting seat 1
It is rotatably supported by a shaft 130 provided at the outer edge of 28 and extends radially outward therefrom. On the other hand, one end of the second arm 116 is connected to the other end of the first arm 114 by the shaft 13
It is rotatably connected by 2 and extends radially outward therefrom, and is rotatably connected to the strut shoe 18 at the other end. Each of the strut shoes 18 has the same structure as that of the first embodiment. In the holding device 112 of the present embodiment, the eight sets of link mechanisms having the above-described structure extend radially from the center of the device with respect to each of the eight strut shoes 18.

Mounting seat 128 at the tip of the shaft 24
Of the first embodiment, which is composed of a guide shaft and a guide hole so that when it moves to the right, it does not rotate and moves while maintaining a parallel relationship with the disk-shaped member 120. A linear motion guide mechanism similar to device 16 is provided. The four guide holes (not shown) are attached to the mounting seat 128.
4 guide shafts 44 are arranged at an equal angle to the disk 12
2 extends parallel to the longitudinal direction of the shaft 24, penetrates through this guide hole, and is fixed to the disc 124. In the mounting seat 128, the first arm 114 and the second arm 116, the shafts 130 and 132 that pivotally support the first arm 114 and the second arm 116 have no play and are ball bearings or cylinders so as to reduce the rotational resistance. It is attached via a roller bearing.

As shown in FIGS. 9 and 10, the disk-shaped member 120 is provided with linear guides radially to guide the second arm 116 in the radial direction. The guide 134 is slidably pierced and connected to the strut shoe 18. Further, auxiliary guides are provided on both sides of the guide 134 in order to guide the strut shoe 18 to smoothly move in the radial direction. The auxiliary guide is composed of a rod 136 extending inward in the radial direction from the strut shoe 18, and a guide member 138 with a blind hole into which the rod 136 slidably penetrates. The guide member 138 is a disc-shaped member 120. It is fixed to. Furthermore, the outer edge of the disk-shaped member 120 has three
There are provided retractable stoppers 139 (shown by dotted lines in FIG. 9). The retractable stopper 139 is a holding device 112.
When inserting the pipe-shaped member 120 into the pipe 1B, the disc-shaped member 120 is inserted so that the plate thickness of exactly half of the disk-shaped member 120 is inserted into the pipe 1B.
It is a stopper provided on the outer edge of, and it is foldable so that it will not disturb after insertion.

With the above structure, the first arm 114, the second arm 116 and the shaft 24 are attached to the mounting seat 128.
And, in cooperation with the guide 44, a link mechanism that can expand and contract toward the strut shoe 18 is formed. In this link mechanism, when the shaft 24 moves forward, the first arm 114 stands up and is stretched via the second arm 116.
Is pressed against the inner surface of the pipe. When the shaft 24 retracts,
The first arm 114 falls, and the strut shoe 18 is retracted from the inner wall surface of the pipe A via the second arm 116.
In the holding device 112, the link mechanism is deformed so as to make the first arm 114 stand up, and as a result, the tension shoe 18 presses the pipe, so that the force required to move the shaft 24 forward is greater than that required. A large pressing force can be exerted on the strut shoe 18.

The casters 52 for inserting the holding device 112 into the pipe and pulling it out are provided in the cylindrical frame 140 formed outside the cylindrical frame. A counterweight 144 is provided behind the hydraulic cylinder 22 via a frame 142. Other configurations are the same as those of the automatic pipe welding apparatus 10 of the first embodiment.

Third Embodiment FIG. 11 is a schematic diagram showing the structure of a third embodiment of the automatic pipe welding apparatus according to the present invention. The automatic pipe welding apparatus 150 shown in FIG. 11 includes a welder 12 and a welder support 14
9, the holding device 112 shown in FIG. 9 is attached via the disc-shaped member 120, and another holding device 112 is attached on the right side of the welder support 14 via the other disc-shaped member 120. . That is, another holding device 112 is attached to the right side of the automatic pipe welding apparatus 110 shown in FIG. In FIG. 11, the holding device 112 on the left side
Shows the state where the pipe 1B is stretched, and the holding device 112 on the right side shows the state where the stretch shoe 18 is retracted. A pipe automatic welding device 150 integrally provided with a holding device 112 on the right side and another holding device 112 on the left side with the welder support 14 at the center is inserted into the pipes 1A and 1B, and the holding devices 112 and 112 on both sides are inserted. By pulling the pipes 1A and 1B respectively, the pipes 1A and 1B can be held at the centered positions.

Since the pipe automatic welding device 150 is provided with the holding devices 112 at both ends, the pipe welding devices 150 operate independently and stretch against the pipes 1A and 1B, so that a pipe holding device (not shown) can be used from the outside. Peripheral joint welding can be performed from the inside of the pipe without holding the pipe.

Fourth Embodiment FIG. 12 is a schematic diagram showing the structure of a fourth embodiment of the automatic pipe welding apparatus according to the present invention. In the automatic pipe welding apparatus 160 shown in FIG. 11, the welder 12 and the welder support 14 are the same as those of the automatic pipe welding apparatuses 10 and 110, but the holding device 162 has a different configuration.
In this embodiment, the two holding devices 162 are the welding machine support 1
4 are provided symmetrically on both sides of the pin. The holding device 162, as shown in FIG.
3 is connected to the welder support 14 and a plurality of strut shoes 18 and an opening / closing leg mechanism 20 for driving the strut shoes 18 to press or retreat the inner surface of the pipe.
Have and.

The open / close mechanism 20 comprises a hydraulic cylinder 2
2 and a combined body 166 of a lever mechanism and a link mechanism that interlock with the shaft 24 of the hydraulic cylinder 22. The combined body 166 includes a first arm 170, a first lever 172, a second arm 174, and a second lever 176. One end of the first arm 170 is pivotally supported by the shaft 169 on the outer edge of the mounting seat 168 attached to the tip of the shaft 24, and the other end thereof is rotated by one end of the first lever 172 and the shaft 173. It is movably connected. The first lever 172 rotates about a fulcrum 171 supported by the cylindrical frame 164, and the other end is rotatably connected to one end of the second arm 174 by a shaft 175. . The other end of the second arm 174 is rotatably connected to one end of the second lever 176 by a shaft 177. The second lever 176 is a member having a substantially "<" shape, is rotatable about a fulcrum 179 fixed to the disc-shaped member 163, and has a free end at which the tension shoe is attached. 18 is attached. In the figure, reference numeral 52 is a caster provided on the second lever 179 for convenience of installation and removal of the automatic pipe welding apparatus 160.

The hydraulic cylinder 22, the shaft 24, the guide hole 42, the guide 44, etc. have the same structure as in the above-described embodiment, and the mounting seat 168 is driven by the shaft 24 while being guided by the guide 44 and is moved to the left and right. Moving. When the mounting seat 168 on the right side moves from left to right, the link mechanism 166 causes the first arm 170 to stand up, which causes the first lever 172 to fall substantially parallel to the shaft 24 and move the second arm 174 inward. By pulling, the second lever 176 is operated so that the tensioning shoe 18 pulls the pipe A. When the mounting seat 168 on the right side moves from right to left, the mounting shoe 18 moves backward from the pipe A by performing a movement opposite to the above-described movement.

The automatic pipe welding apparatus 160 of this embodiment is formed in the shape of a rugby ball, as shown in the figure, because the holding devices 162 at both ends operate the strut shoe 18 by a link mechanism. Therefore, it is possible to introduce not only a straight pipe but also a curved pipe portion such as an elbow.

Fifth Embodiment In the above-described embodiments, the welder 12 is configured to run on the track on the welder support 14, but the welder 12 itself may be configured to rotate. . Such an automatic pipe welding apparatus 190 has a first
A rotating device 192 is provided between the holding device 16 and the supporting leg 100 shown in the embodiment, so that the welding head 82 of the welding machine 12 runs along the peripheral joint weld portion of the pipe.
Welder 12 rotates about axis of rotation 194. The holding device is not limited to the one shown in FIG. 1, and the holding device shown in FIGS.
The holding devices 16, 112 and 162 shown in can be used.
Further, the above-mentioned cable length adjusting device 8 is attached to the welding machine main body 80.
8 may be incorporated.

Another usage example of the holding device The holding device 112 of the automatic pipe welding apparatus 110 of the second embodiment.
Example 1 in which discs 120 are provided on both sides of the disc-shaped member 120
80 is shown in FIG. In this example 180, the pipe 1A and the pipe 1
This is an example in which B or the elbow 1C is stretched from the inside to maintain the pipe 1A and the pipe 1B or the elbow 1C in a butted state. In this example, radially slidable mating means 182 may be used to engage the opposing strut shoes 18 of both devices to form a rigid combination that is translatable relative to each other. FIG. 14 shows an example of the fitting means. 14
FIG. 14 is a configuration diagram of the fitting means 182 when the strut shoe 18 of FIG. 13 is viewed from the arrow V-V.

[0058]

According to the first aspect of the present invention, the automatic welding machine, the rotating device for rotating the automatic welding machine, and the holding device having the bracing shoe are provided. We have realized a device that automatically welds the circumference joint from the inside. The invention of claim 2 realizes an apparatus for automatically performing week joint welding from the inside of a pipe by causing an automatic welding machine to travel on a track on a welder support. In the invention of claim 3, the holding device is provided with a triangular combination of the shaft, the long leg, and the short leg, which is driven by the drive device to open and close the legs. It can be converted into a large thrust and the automatic welder can be firmly supported via the welder support. According to the invention of claim 4, the holding device transmits the forward and backward movements of the shaft driven by the drive device and the forward and backward movements of the shaft to the bracing shoe so that the bracing shoe is used to braze the pipe wall. By being configured with the link mechanism, the length of the holding device in the longitudinal direction is shortened. Therefore,
Since the automatic welding machine can be held at a pipe part with a short straight part, for example, a curved pipe part such as an elbow, a branch part such as a tee, it is possible to automate welding inside the pipe at the curved pipe part or the branch part. You can In the invention of claim 5, the holding device is a shaft that is driven by a drive device to move forward and backward,
It transmits the forward and backward movements of the shaft to the tension shoe,
By the combination of the link mechanism and the lever mechanism in which the pipe wall is stretched by the strut shoe, the outer shape of the holding device becomes oval and the length in the longitudinal direction becomes short. Therefore, it is possible to install the holding device, and thus the automatic pipe welding device, at a desired location by penetrating a pipe having a bent portion such as a pipe with an elbow. In the invention of claim 6, since the holding devices are attached to both sides of the welder support, welding can be automatically performed from the inside of the pipe without the need to hold the pipe from the outside.
In the invention of claim 7, the automatic welding machine can be smoothly run by incorporating the cable length adjusting device in the welding machine support.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing the configuration of a first embodiment of an automatic pipe welding apparatus according to the present invention.

FIG. 2 is a view showing a connection between a bracing shoe and short legs and long legs.

FIG. 3 is a diagram of FIG. 1 viewed from the right side I-I.

FIG. 4 is a schematic view showing a configuration of a mounting jig.

FIG. 5 is a view of the mounting jig of FIG. 4 viewed from an arrow II-II.

FIG. 6 is a partial cross-sectional view showing the structure of a welder support.

FIG. 7 is a schematic diagram showing a configuration of a support leg as seen from an arrow III-III in FIG. 1 in the first embodiment.

FIG. 8A and FIG. 8B are schematic views showing modified examples of the holding device.

FIG. 9 is a schematic view showing the configuration of a second embodiment of the automatic pipe welding apparatus according to the present invention.

10 is a view of the automatic pipe welding apparatus of FIG. 9 as seen from an arrow IV-IV.

FIG. 11 is a schematic diagram showing the configuration of a third embodiment of the automatic pipe welding apparatus according to the present invention.

FIG. 12 is a schematic diagram showing the configuration of a fourth embodiment of the automatic pipe welding apparatus according to the present invention.

FIG. 13 is a schematic view showing another usage example of the holding device of the automatic pipe welding apparatus according to the present invention.

FIG. 14 is a view of the engaging means of the holding device shown in FIG.
It is the figure seen from -V.

FIG. 15 is a schematic diagram showing the configuration of a sixth embodiment of an automatic pipe welding apparatus according to the present invention.

[Explanation of symbols]

 10 1st Example of the piping automatic welding apparatus which concerns on this invention 12 Welding machine 14 Welding machine support 16 Holding device 18 Struts Shu 20 Opening / closing mechanism 22 Hydraulic cylinder 24 Shaft 26 Short leg 28 Long leg 30 Short leg mounting seat 32 long leg mounting seat 34, 36, 38 shaft 42 guide hole 44 guide shaft 46, 48 hydraulic piping 52 caster 60 mounting jig 62 cross member 64 connecting member 66 counterweight 70 connecting tool 80 welding machine body 82 welding head 84 supporting member 86 rail 87 cable 88 cable length adjusting device 90 cable winding mechanism 91, 92 pulleys 93, 96, 97 shaft 94 guide 95 tension spring 98 roller 99 hole 100 support leg 110 second execution of the automatic pipe welding apparatus according to the present invention Example 112 Holding device 114 First arm 116 2nd arm 120 Disc-shaped member 128 Attachment seat 130, 132 Shaft 134 Guide 136 Rod 138 Guide member 150 Third embodiment of automatic pipe welding apparatus according to the present invention 160 Fourth embodiment of automatic pipe welding apparatus according to the present invention 162 Holding device 163 Disc-shaped member 166 Combined body 168 Mounting seat 170 First arm 171, 179 Support point 172 First lever 174 Second arm 176 Second lever 190 Fifth embodiment of automatic pipe welding apparatus according to the present invention 192 Rotating device 194 rotation axis

Claims (7)

[Claims] 1. A pipe automatic welding device for automatically welding a peripheral joint of a pipe from the inside of the pipe, wherein an automatic welding machine and a welding head of the automatic welder travel along the peripheral joint weld portion. Rotating device for rotating the automatic welding machine, and a holding device for supporting the automatic welding machine and the rotating device, the holding device, in the radial direction outward of the pipe toward the mutually opposite directions of the pipe 2 which can press the inner wall surface to stretch it
When at least one set of individual strut shoes is installed, and the pipe automatic welding device is installed inside the pipe, the holding device stretches the inner wall surface of the pipe by the strut shoe to connect the automatic welding machine and the rotating device. A pipe automatic welding device characterized by being held. 2. A tubular welder support having an annular track on its outer circumference, wherein the automatic welder is allowed to travel freely on the track instead of the rotating device, and the holding device. 3. The automatic pipe welding apparatus according to claim 1, wherein said welding machine support is supported at its end portion in the longitudinal direction. 3. The holding device, a drive device, and a shaft extending in the longitudinal direction of the welder support and being driven by the drive device to advance and retract in the opposite direction to the welder support. One end is a tip of the shaft, the other end is pivotally supported by the strut, and long legs that freely rotate in a plane including the shaft, and one end is pivotally supported by the drive unit and the other end is the strut shoe. Each of which is pivotally supported and has a short leg that freely rotates in a plane including the shaft up to an angle of 90 ° with the longitudinal line of the welder support, and in cooperation with the shaft, the long leg and the short leg are formed. The pipe alignment device according to claim 1 or 2, further comprising: a triangular combination body in which the space between the legs is freely opened and closed. 4. The holding device comprises a plate-shaped member orthogonal to the longitudinal direction of the welder support, is connected to the welder support via the plate-shaped member, and is further connected to the plate-shaped member via a frame. And a shaft that extends in the longitudinal direction of the welder support and that is driven by the drive device to move forward and backward toward the plate-shaped member,
And a link mechanism composed of a first arm and a second arm for transmitting the forward and backward movements of the shaft to the strut shouting so that the strut shouting is performed to stretch the pipe wall. The first arm has one end thereof. Is rotatably connected to the tip of the shaft and the other end to one end of the second arm.
The automatic pipe welding apparatus according to claim 1 or 2, wherein the arm is connected to the strut at the other end and is guided so as to advance and retreat in the radial direction of the pipe. 5. The drive device, wherein the holding device includes a plate-shaped member orthogonal to a longitudinal direction of the welder support, is connected to the welder support via the plate-shaped member, and is further connected to the plate-shaped member. And a shaft extending in the longitudinal direction of the welder support and being driven by the drive device to advance and retract in the opposite direction to the plate member, and to transmit the forward and backward movements of the shaft to the bracing shoe. A combination of a link mechanism and a lever mechanism, which is configured to be stretched so that the pipe wall is stretched, is provided. The combination has a first lever that rotates around a fixed first fulcrum, and a strut at one end. A second lever that is connected to the shoe and that rotates around a fixed second fulcrum, and a first arm that is rotatably connected to the shaft at one end and one end of the first lever at the other end. And one end to the other end of the first lever 3. The automatic pipe welding apparatus according to claim 1, further comprising a second arm rotatably connected to the other end of the second lever at the other end. 6. An automatic pipe welding apparatus, characterized in that the holding device according to any one of claims 3 to 5 is attached to each end of the traveling cylinder according to claim 1. 7. The welder support includes two pulleys, which are rotatable about axes orthogonal to each other in the same direction as the longitudinal direction of the cylinder forming the welder support, in a hollow portion of the cylinder. The shaft of the pulley provided at both ends, provided on the holding device side, is freely movable in the longitudinal direction of the tubular body, and is urged toward the holding device side by a tension spring, and the shaft of the other pulley is A plurality of floating rollers that are fixedly supported and are rotatable around an axis parallel to the longitudinal direction of the tubular body are provided on the outer periphery of the welder support to connect an external power source and the welder. The cable, after being introduced into the hollow portion of the tubular body, reciprocates through the two pulleys, then goes out to the outside of the tubular body and winds around the outside of the floating roller, and then is connected to the welding machine. 3. The method according to claim 2,
6. The automatic pipe welding apparatus according to any one of 1 to 6.