JPH0712542B2 - Pipe single-sided welding equipment - Google Patents
Pipe single-sided welding equipmentInfo
- Publication number
- JPH0712542B2 JPH0712542B2 JP33037490A JP33037490A JPH0712542B2 JP H0712542 B2 JPH0712542 B2 JP H0712542B2 JP 33037490 A JP33037490 A JP 33037490A JP 33037490 A JP33037490 A JP 33037490A JP H0712542 B2 JPH0712542 B2 JP H0712542B2
- Authority
- JP
- Japan
- Prior art keywords
- welding
- axis
- torch
- pipe
- slide
- 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 - Lifetime
Links
Landscapes
- Butt Welding And Welding Of Specific Article (AREA)
- Non-Disconnectible Joints And Screw-Threaded Joints (AREA)
Description
【発明の詳細な説明】 ［産業上の利用分野］ 本発明はパイプライン敷設工事においてパイプの突合せ
円周溶接を行うパイプの片面溶接装置に関するものであ
る。Description: TECHNICAL FIELD The present invention relates to a pipe single-sided welding device that performs butt circumferential welding of pipes in pipeline laying work.
［従来の技術］ 従来のパイプ片面溶接装置は第５図に示すような構成に
なっており、溶接トーチ３は開先幅方向のＸ軸スライド
７により反復揺動させながら溶接する方法で、揺動回数
は約5Kz以下、溶接速度はMAX110cm/分に制限されて用い
られている。溶接トーチの開先ならい制御法は用いられ
てなく、オペレータが溶接部を監視しながら、リモコン
ペンダントのスイッチなどを操作することにより行なわ
れる手動操作である。[Prior Art] A conventional pipe single-sided welding device has a structure as shown in Fig. 5, and the welding torch 3 is welded while being repeatedly rocked by an X-axis slide 7 in the groove width direction. The number of movements is about 5 Kz or less, and the welding speed is limited to 110 cm / min. The method of controlling the beveling of the welding torch is not used, and it is a manual operation performed by an operator operating a switch or the like of the remote control pendant while monitoring the welded portion.
［発明が解決しようとする課題］ 従来法で大電流、高速溶接を行うとアーク力が強すぎて
裏ビード形成が不安定になり、揺動回数が5Hz以下であ
るのでたとえば溶接速度が180cm/分、揺動回数10Hzとす
と揺動ピッチは3mmとなるので揺動の反対側の開先部に
溶込不良などの溶接欠陥が発生し、裏ビード形成も不安
定で蛇行ビードになり易い。[Problems to be Solved by the Invention] When high current and high speed welding is performed by the conventional method, the arc force becomes too strong and the back bead formation becomes unstable, and the oscillation frequency is 5 Hz or less. For example, the welding speed is 180 cm / If the rocking frequency is 10 Hz, the rocking pitch will be 3 mm, so welding defects such as poor penetration will occur in the groove on the side opposite to the rocking, and the back bead formation will be unstable, and a meandering bead will easily occur. .
一方、開先ならい制御が用いられていないので熟練され
たオペレータが必要である。On the other hand, a trained operator is required because the bevel control is not used.
本発明はかかる問題点を解決するためになされたもの
で、パイプの片面突合せ溶接を大電流、高速溶接化し、
溶接時間の短縮化と溶接品質の安定確保を図り、かつ開
先ならい制御の採用により大幅な自動化を進めることを
目的とするものである。The present invention has been made to solve the above problems, the single-sided butt welding of pipes with large current, high speed welding,
The purpose is to shorten the welding time and ensure stable welding quality, and to promote drastic automation through the adoption of groove-like control.
［課題を解決する手段］ 本発明にかかわるパイプの片面溶接装置は、パイプの突
合せ部分に装着される円周ガイドレールとパイプの外周
面上をガイドレールに案内されて走行し高速回転アーク
溶接法によって溶接する自動溶接機とからなり、自動溶
接機は円周ガイドレールに案内させてパイプの外周面上
を走行させるＺ軸モータを有する走行装置と、走行装置
に設けられ、溶接トーチを開先幅方向にスライド自在に
するＸ軸モータを有するＸ軸スライドと、Ｘ軸スライド
に設けられ、溶接トーチを高さ方向にスライド自在にす
るＹ軸モータを有するＹ軸スライドと、Ｙ軸スライドに
設けられ、溶接トーチを円周方向に傾斜自在にするβ軸
モータを有するβ軸トーチ角度調整機と、β軸トーチ角
度調整機に設けられ、回転自在でワイヤを偏心させて有
している溶接トーチを回転する回転モータを有する回転
機構と、走行装置に設けられ、溶接トーチに溶接ワイヤ
を送給するワイヤ送給装置とを備えてなるようにしたも
のである。[Means for Solving the Problems] A pipe single-sided welding apparatus according to the present invention is a high-speed rotating arc welding method in which a guide rail is mounted on a circumferential guide rail mounted on a butt portion of a pipe and on an outer peripheral surface of the pipe to be guided. The welding machine comprises an automatic welding machine for welding by means of a traveling device having a Z-axis motor for traveling on the outer peripheral surface of a pipe guided by a circumferential guide rail, and a welding torch provided on the traveling device. Provided on an X-axis slide having an X-axis motor capable of sliding in the width direction, a Y-axis slide having a Y-axis motor provided on the X-axis slide and allowing the welding torch to slide in the height direction, and a Y-axis slide The β-axis torch angle adjuster has a β-axis motor that allows the welding torch to freely tilt in the circumferential direction, and the β-axis torch angle adjuster is provided with a rotatably eccentric wire. The rotating mechanism having a rotating motor for rotating the welding torch that is included therein, and the wire feeding device that is provided in the traveling device and that feeds the welding wire to the welding torch are provided.
第２図は高速回転アークの原理図であり、電極ノズル３
は、軸受部２で回転自在に支持され、４は電極ノズル３
の下部にネジ接合され、偏心したワイヤ通過孔を有する
通電チップ、５は溶接ワイヤで、電極ノズルの中心孔を
通り、通電チップ４の偏心孔から連続送給される。１は
モータで、電極ノズル３と歯車機構を介して１方向に連
続回転させる、つまり電極ノズル３の先端に接合した偏
心孔を有する通電チップ４も、回転されるので通電チッ
プ４の先端から送給される溶接ワイヤ５も円運動し、ア
ークが容易に且つ高速で回転できるものである。FIG. 2 is a principle diagram of a high-speed rotating arc.
Is rotatably supported by the bearing 2, and 4 is the electrode nozzle 3.
Is a welding wire, which is screw-bonded to the lower part of the electric wire and has an eccentric wire passage hole, is a welding wire and is continuously fed from the eccentric hole of the electric current chip 4 through the center hole of the electrode nozzle. Reference numeral 1 denotes a motor, which continuously rotates in one direction via the electrode nozzle 3 and a gear mechanism, that is, the current-carrying tip 4 having an eccentric hole joined to the tip of the electrode nozzle 3 is also rotated, so that it is fed from the tip of the current-carrying tip 4. The supplied welding wire 5 also moves circularly, and the arc can be easily rotated at high speed.
又、高速でアークを回転しながら溶接する自動溶接機の
溶接電流とアーク電圧の波形を用いたアークセンサ開先
ならい制御を備えてなるようにしたものである。Further, an arc sensor groove profile control using the waveforms of welding current and arc voltage of an automatic welding machine for welding while rotating the arc at high speed is provided.
第３図はアークセンサによる開先ならい制御の原理図
で、回転する溶接ワイヤすなわちアークの位置に対応し
て変化するアーク電圧Ｅの波形を示す。図中、（ａ）は
アークの位置を定義したもので、右方向に連続回転する
アークの前方の中央をCf、後方の中央をCr、左：右をL,
Rとした。図において実線で示した波形は図中（ｂ）の
ように回転アークの中心が開先中心よりΔＸだけＲ側に
ずれている場合、破線で示した波形はずれていない場合
を示す。破線のようにずれていない場合は位置Cfに対し
て左右対称であるが、実線のようにΔＸだけずれている
場合は波形は非対称となる。この波形の非対称を検出
し、修正することによりＸ軸方向のずれ量ΔＸを修正す
ることができる。すなわち波形を位置Cf点を中心として
左右、所定角の間だけ取り出し、所定角間で作る波形面
積SL，SRを求めて、この面積SL，SRが等しくなるように
溶接トーチをＸ軸方向に修正することにより、アークの
回転軸心と開先中心を一致させることができる。FIG. 3 is a principle diagram of the groove profile control by the arc sensor, and shows the waveform of the arc voltage E which changes corresponding to the position of the rotating welding wire, that is, the arc. In the figure, (a) defines the position of the arc. The front center of the arc that continuously rotates to the right is C f , the rear center is C r , and the left: right is L,
R. In the figure, the waveform shown by the solid line shows the case where the center of the rotating arc is shifted from the groove center to the R side by ΔX as shown in FIG. The waveform is asymmetric with respect to the position C f when it is not displaced as shown by the broken line, but the waveform is asymmetric when it is displaced by ΔX as shown by the solid line. The deviation amount ΔX in the X-axis direction can be corrected by detecting and correcting the asymmetry of the waveform. That left a waveform around the position C f point, taking out only during the predetermined angle, waveform area made of a predetermined Kakuma S L, seeking S R, the area S L, the welding torch so that S R equals X By correcting in the axial direction, the axis of rotation of the arc and the groove center can be matched.
またトーチの高さ方向、すなわちｙ軸方向の距離制御は
溶接電流波形の回転一周期分の平均値と基準値を比較
し、差が零になるようにｙ軸を移動制御する方式であ
る。Further, distance control in the height direction of the torch, that is, in the y-axis direction is a method of comparing the average value of one cycle of the welding current waveform with a reference value and controlling the movement of the y-axis so that the difference becomes zero.
［作用］ 本発明によれば、高速回転アーク溶接法を使用している
ため、従来の揺動アーク法に比べ1.4〜2.0倍の高速溶接
でもワイヤ径0.8〜1.6mm、溶接電流300A以上の大電流下
で安定した溶込みと良好な溶接ビードが得られる。[Operation] According to the present invention, since the high-speed rotating arc welding method is used, the wire diameter is 0.8-1.6 mm and the welding current is 300 A or more even in high-speed welding 1.4 to 2.0 times faster than the conventional swing arc method. Stable penetration and good weld beads can be obtained under electric current.
又、アークセンサによる開先ならい制御によりリアルタ
イムに高精度のならいができるので、溶接作業が自動化
され安定した裏ビード形状と良好な表ビード形状が実現
される。Further, since the groove profile control by the arc sensor enables highly accurate profile in real time, the welding operation is automated and a stable back bead shape and a good front bead shape are realized.
［実施例］ 第１図は本発明の一実施例の自動溶接機の概略を示す斜
視図である。図において、20は突合されたパイプ10に装
着された円周ガイドレール、21は円周ガイドレール20に
設置された自動溶接機で、この実施例では２台の自動溶
接機21が設置されている。自動溶接機21はパイプ10の外
周面上を円周ガイドレール20に案内されて走行する走行
装置22と、走行装置22上に設けられた開先幅方向にスラ
イド自在なスライドＸ軸23と、スライドＸ軸23に連結さ
れ、トーチ高さ方向にスライド自在なスライドＹ軸24
と、スライドＹ軸24にパイプ周方向に揺動自在に取付け
られたトーチ支持体25と、トーチ支持体25に回転自在に
支持された溶接トーチ26と、走行装置22上に設けられた
ワイヤ送給装置27とから大別構成されている。[Embodiment] FIG. 1 is a perspective view showing an outline of an automatic welding machine according to an embodiment of the present invention. In the figure, 20 is a circumferential guide rail mounted on the butted pipes 10, 21 is an automatic welding machine installed on the circumferential guide rail 20, and in this embodiment, two automatic welding machines 21 are installed. There is. The automatic welding machine 21 travels on the outer peripheral surface of the pipe 10 while being guided by a circumferential guide rail 20, and a slide X-axis 23 provided on the travel device 22 and slidable in the groove width direction. Slide Y-axis 24 connected to slide X-axis 23 and slidable in the torch height direction
A torch support 25 mounted on the slide Y-axis 24 so as to be swingable in the pipe circumferential direction, a welding torch 26 rotatably supported by the torch support 25, and a wire feed provided on the traveling device 22. It is roughly divided into a feeder 27.
各部の構成において、円周ガイドレール20は内面に間隔
保持部材201を有し、外面に外歯202を有して形成されて
いる。In the configuration of each part, the circumferential guide rail 20 is formed with the spacing member 201 on the inner surface and the external teeth 202 on the outer surface.
また、自動溶接機21の走行装置22は走行台車221と、走
行台車221の下部に設けられ、円周ガイドレール20の外
歯202と噛合する走行車輪222と走行台車221の下部に設
けられ、円周ガイドレール20の両端を把持する把持機構
223と、走行台車221上に設けられ、走行台車221と駆動
するＺ軸エンコーダ225付きＺ軸モータ224とから構成さ
れている。The traveling device 22 of the automatic welding machine 21 is provided on the traveling carriage 221, below the traveling carriage 221, and on the traveling wheels 222 that mesh with the outer teeth 202 of the circumferential guide rail 20 and below the traveling carriage 221, A gripping mechanism that grips both ends of the circumferential guide rail 20.
223, and a Z-axis motor 224 with a Z-axis encoder 225 that is provided on the traveling carriage 221 and drives the traveling carriage 221.
231はスライドＸ軸23を開先幅方向に駆動するＸ方向駆
動機構で、241はスライドＹ軸24をトーチ高さ方向に駆
動するＹ方向駆動機構で、251は溶接トーチ26をβ方向
に角度調整するβ方向駆動機構で、261は溶接トーチ内
部の回転駆動溶接機構でＲ軸エンコーダ263付き、回転
モータ262を有している。231 is an X-direction drive mechanism that drives the slide X-axis 23 in the groove width direction, 241 is a Y-direction drive mechanism that drives the slide Y-axis 24 in the torch height direction, and 251 is an angle of the welding torch 26 in the β direction. A β-direction drive mechanism to be adjusted 261 is a rotary drive welding mechanism inside the welding torch, which has an R-axis encoder 263 and a rotary motor 262.
ワイヤ送給装置27はワイヤ送給機構271を駆動するワイ
ヤ送給モータ272とワイヤリール274で構成されている。
30は溶接ワイヤ31を内蔵したコンジットケーブル、29は
走行台車22に設けられた走行位置検出器である。The wire feeding device 27 is composed of a wire feeding motor 272 for driving the wire feeding mechanism 271 and a wire reel 274.
Reference numeral 30 is a conduit cable containing a welding wire 31 therein, and 29 is a traveling position detector provided in the traveling carriage 22.
本実施例の機械的構成は以上である。第４図は本発明の
実施例の全体制御系を示すブロック図である。The mechanical configuration of this embodiment is as described above. FIG. 4 is a block diagram showing the overall control system of the embodiment of the present invention.
100は突合されたパイプ10に装着された円周ガイドレー
ル20の設置された自動溶接機21の制御装置、101は発電
機、102は溶接電源、103はシールドガス供給装置、104
はArガスボンベ、105はCO2ガスボンベ、106はパーソナ
ルコンピュータ、108はメモリーカード、107は溶接制御
装置100のリモコンペンダントである。100 is a control device for the automatic welding machine 21 in which the circumferential guide rails 20 mounted on the butted pipes 10 are installed, 101 is a generator, 102 is a welding power source, 103 is a shield gas supply device, 104
Is an Ar gas cylinder, 105 is a CO 2 gas cylinder, 106 is a personal computer, 108 is a memory card, and 107 is a remote control pendant of the welding control device 100.
本実施例は以上のように構成されているものであり、次
にその動作について説明する。The present embodiment is configured as described above, and its operation will be described next.
溶接の位置別、パス別の溶接条件および溶接シーケンス
上の設定値は予めパーソナルコンピュータ106でオフラ
インプログラムされ、メモリーカード108を介して溶接
制御装置100に記憶させておく。The welding condition for each position and path of welding and the set value on the welding sequence are preliminarily programmed offline in the personal computer 106 and stored in the welding control device 100 via the memory card 108.
リモコンペンダント107の溶接スタートスイッチを押す
と、自動溶接機21は円周ガイドレール20上を走行し、走
行位置検出器29により溶接スタート位置を検出すると、
その位置から溶接が開始される。溶接中、走行位置検出
器29からの溶接位置およびパス数は常に溶接制御装置10
0に入力されると制御装置100からワイヤ送給装置27、走
行装置22、回転トーチ26、β方向駆動機構251、溶接電
源102へオフラインプログラムされた溶接位置およびパ
ス数別溶接条件に相当するに指令値を連続的に変化させ
て送信続け、最適溶接条件で施工することになる。さら
にアークを安定させるために理論式を用いたワイヤ突出
長一定およびアーク長一定制御も行っている。When the welding start switch of the remote control pendant 107 is pressed, the automatic welding machine 21 travels on the circumferential guide rail 20, and when the traveling position detector 29 detects the welding start position,
Welding starts from that position. During welding, the welding position from the running position detector 29 and the number of passes are always kept in the welding control unit 10.
When it is input to 0, it corresponds to the welding position and welding condition according to the number of passes which are offline programmed from the control device 100 to the wire feeding device 27, the traveling device 22, the rotary torch 26, the β-direction drive mechanism 251, and the welding power source 102. The command value is continuously changed and transmitted, and the welding is performed under the optimum welding conditions. Furthermore, in order to stabilize the arc, we also perform constant wire protrusion length and constant arc length control using theoretical formulas.
一方、（回転）溶接トーチ26を開先にならわせるアーク
センサ開先ならい制御（x,y軸）および記憶再生ならい
制御はオフラインプログラムされているので溶接スター
トと同時に制御が開始され、スライドｘ軸23を移動制御
して溶接トーチ26を開先中心に一致させ、スライドｙ軸
24を移動制御してトーチ高さを一定にし続ける。On the other hand, the arc sensor groove profile control (x, y axes) that makes the (rotating) welding torch 26 follow the groove and the memory playback profile control are offline programmed, so control is started at the same time as welding starts, and slide x Control the movement of the shaft 23 to align the welding torch 26 with the groove center and slide y-axis
Control the movement of 24 and keep the torch height constant.
実施例では溶接ワイヤに0.9mmφのソリッドワイヤを使
用し、シールドガスに100％CO2を使用して溶接電流300
〜350A、溶接速度150〜200cm/分、回転直径1.0〜4.0m
m、回転速度50〜100Hzで行っている。In the example, a solid wire of 0.9 mmφ is used as the welding wire, 100% CO 2 is used as the shielding gas, and the welding current is 300
~ 350A, welding speed 150 ~ 200cm / min, rotating diameter 1.0 ~ 4.0m
m, rotation speed is 50-100Hz.
［発明の効果］ 本発明は以上説明したように高速回転アーク溶接法によ
りパイプの片面溶接が高速化でき、溶接トーチの開先な
らいもアークセンサ方式により高精度に行われるので裏
ビード形成も安定し溶接欠陥も発生しない。[Effects of the Invention] As described above, the present invention enables high-speed single-sided welding of pipes by the high-speed rotating arc welding method, and the welding torch groove is also highly accurately performed by the arc sensor method, so that the back bead formation is stable. No welding defects occur.
従来例に比べて溶接時間が約1/10に短縮された。パイプ
の突合せ溶接を高品質、高能率で実施できかつ自動化で
きるという効果を有する。Welding time has been reduced to about 1/10 that of the conventional example. It has an effect that butt welding of pipes can be performed with high quality and high efficiency and can be automated.
第１図は本発明の一実施例の自動溶接機の概略を示す斜
視図、第２図は高速回転アークの原理図、第３図はアー
クセンサ開先ならい制御の原理図、第４図は実施例の全
体制御系図、第５図は従来のパイプの片面溶接装置の概
略を示す構成図である。 10……パイプ、20……円周ガイドレール、21……自動溶
接機、22……走行装置、23……スライドＸ軸、24……ス
ライドＹ軸、25……トーチ支持体、26……溶接トーチ、
27……ワイヤ送給装置、31……溶接ワイヤ、224……Ｚ
軸モータ、231……Ｘ方向駆動機構、232……Ｘ軸モー
タ、241……Ｙ方向駆動機構、242……Ｙ軸モータ、251
……β方向駆動機構、252……β軸モータ、261……回転
駆動機構、262……回転モータ、272……ワイヤ送給モー
タ。FIG. 1 is a perspective view showing an outline of an automatic welding machine according to an embodiment of the present invention, FIG. 2 is a principle diagram of a high-speed rotating arc, FIG. 3 is a principle diagram of arc sensor groove profile control, and FIG. FIG. 5 is an overall control system diagram of the embodiment, and is a block diagram showing the outline of a conventional pipe single-sided welding apparatus. 10 …… Pipe, 20 …… Circular guide rail, 21 …… Automatic welding machine, 22 …… Travel device, 23 …… Slide X axis, 24 …… Slide Y axis, 25 …… Torch support, 26 …… Welding torch,
27 …… Wire feeder, 31 …… Welding wire, 224 …… Z
Axis motor, 231 ... X-direction drive mechanism, 232 ... X-axis motor, 241 ... Y-direction drive mechanism, 242 ... Y-axis motor, 251
...... β direction drive mechanism, 252 …… β axis motor, 261 …… Rotation drive mechanism, 262 …… Rotary motor, 272 …… Wire feed motor.
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.6 識別記号 庁内整理番号 ＦＩ 技術表示箇所 // Ｆ１６Ｌ 13/02 ─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. 6 Identification code Internal reference number FI technical display part // F16L 13/02
Claims (2)
ドレールとパイプの外周面上をガイドレールに案内され
て走行し高速回転アーク溶接法によって溶接する自動溶
接機とからなり、 自動溶接機は円周ガイドレールに案内させてパイプの外
周面上を走行させるＺ軸モータを有する走行装置と、走
行装置に設けられ、溶接トーチを開先幅方向にスライド
自在にするＸ軸モータを有するＸ軸スライドと、Ｘ軸ス
ライドに設けられ、溶接トーチを高さ方向にスライド自
在にするＹ軸モータを有するＹ軸スライドと、Ｙ軸スラ
イドに設けられ、溶接トーチを円周方向に傾斜自在にす
るβ軸モータを有するβ軸トーチ角度調整機と、β軸ト
ーチ角度調整機に設けられ、回転自在でワイヤを偏心さ
せて有している溶接トーチを回転する回転モータを有す
る回転機構と、走行装置に設けられ、溶接トーチに溶接
ワイヤを送給するワイヤ送給モータを有するワイヤ送給
装置とを備えてなることを特徴とするパイプの片面溶接
装置。1. An automatic welding machine comprising: a circumferential guide rail attached to a butt portion of a pipe; and an automatic welding machine which travels on the outer peripheral surface of the pipe while being guided by the guide rail to weld by a high-speed rotary arc welding method. Is a traveling device having a Z-axis motor that is guided by a circumferential guide rail to travel on the outer peripheral surface of the pipe, and an X-axis motor that is provided in the traveling device and has an X-axis motor that allows the welding torch to slide in the groove width direction. A shaft slide and a Y-axis slide provided on the X-axis slide and having a Y-axis motor that makes the welding torch slidable in the height direction, and a Y-axis slide provided on the Y-axis slide, which makes the welding torch tiltable in the circumferential direction. A β-axis torch angle adjuster having a β-axis motor, and a rotation motor provided in the β-axis torch angle adjuster for rotating a welding torch having a wire eccentric and eccentric A single-sided welding device for a pipe, comprising: a rotating mechanism; and a wire feeding device provided in a traveling device and having a wire feeding motor for feeding a welding wire to a welding torch.
溶接する自動溶接機において、溶接電流とアーク電圧の
波形を用いてトーチの開先幅方向と高さ方向のならい制
御を行なうアークセンサ開先ならい制御装置を備えてな
ることを特徴とするパイプの片面溶接装置。2. An automatic welding machine for welding a pipe on one side while rotating an arc at a high speed, and an arc sensor opening for performing a contour control in a groove width direction and a height direction of a torch by using a waveform of a welding current and an arc voltage. A single-sided welding device for pipes, which is equipped with a follow-up control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33037490A JPH0712542B2 (en) | 1990-11-30 | 1990-11-30 | Pipe single-sided welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP33037490A JPH0712542B2 (en) | 1990-11-30 | 1990-11-30 | Pipe single-sided welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04200866A JPH04200866A (en) | 1992-07-21 |
| JPH0712542B2 true JPH0712542B2 (en) | 1995-02-15 |
Family
ID=18231890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP33037490A Expired - Lifetime JPH0712542B2 (en) | 1990-11-30 | 1990-11-30 | Pipe single-sided welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0712542B2 (en) |
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| WO2022139434A1 (en) * | 2020-12-22 | 2022-06-30 | 주식회사 웰드텍 | Automatic welding system for pipe |
| WO2023157988A1 (en) * | 2022-02-17 | 2023-08-24 | 주식회사 태성스틸 | Carriage capable of adjusting diagonal weaving pattern |
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|---|---|---|---|---|
| IT1266840B1 (en) * | 1994-05-26 | 1997-01-21 | P W T S P A | AUTOMATIC CONTROL SYSTEM OF THE METHODS OF DEPOSIT AND ADDING OF THE WELDING MATERIAL IN THE ORBITAL WELDING PROCESSES |
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-
1990
- 1990-11-30 JP JP33037490A patent/JPH0712542B2/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101367818B1 (en) * | 2013-08-09 | 2014-02-27 | 현대파이프(주) | Apparatus for attaching metallic conductor for locating underground polyethylene pipe |
| KR20220056831A (en) * | 2020-10-27 | 2022-05-06 | 주식회사 태성스틸 | Carriage structure that can adjust for diagonal weaving patterns |
| WO2022139434A1 (en) * | 2020-12-22 | 2022-06-30 | 주식회사 웰드텍 | Automatic welding system for pipe |
| WO2023157988A1 (en) * | 2022-02-17 | 2023-08-24 | 주식회사 태성스틸 | Carriage capable of adjusting diagonal weaving pattern |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04200866A (en) | 1992-07-21 |
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