KR100823551B1 - Apparatus and method for pipe automatic welding - Google Patents

Abstract

An apparatus and a method for automatic pipe welding are provided to carry out a welding operation in a continuous and efficient manner by dividing the circumference of a pipe into a plurality of sections and completely welding the pipe along the circumference of the pipe in one direction from a welding starting point according to welding conditions of the respective sections. As an automatic pipe welding apparatus comprising an LVS(Laser Vision System) and an LVS controller, the apparatus comprises: a program control part(130ca) for dividing the circumference of a pipe into first to third sections based on the center of pipe cross-section, setting up welding starting points and welding finishing points of the respective sections, and inputting welding condition data values on welding speeds, welding peak currents, welding base currents, peak duty ratios, weaving widths, dwell times, wire feedings, and wire feeding ratios corresponding to the first to third sections into the welding condition database; a welding condition database(130cd) in which the welding condition data values inputted by the program control part are stored; and an automatic welding equipment for receiving the welding condition data values stored in the welding condition database from the program control part, and completely welding the pipe along the circumference of the pipe in one direction from a welding starting point of the first section to a welding finishing point of the third section.

Description

Pipe automatic welding device and its welding method {Apparatus and method for pipe automatic welding}

1 is a view showing a welding method of a conventional LNGC pipe electric field welding equipment.

2 is a block diagram of a pipe automatic welding apparatus according to the present invention.

3 is a block diagram of an automatic welding equipment controller according to the present invention.

4 is a cross-sectional view showing each section of the pipe according to the present invention.

5A is a welding state diagram of the upstream welding of the present invention.

5B is a welding state diagram in the lower welding process of the present invention.

6 is a waveform diagram showing the relationship between the welding pulse and the wire supply speed of the present invention.

             <Explanation of symbols for main parts of the drawings>

100: monitor 110: router

120: LVS controller 130: automatic welding equipment controller

130a: motion controller 130b: D / A converter

130c: main control computer 130ca: program control unit

130cb: welding condition database 130d: I / O module

140: coolant circulator 150: welding machine

160: automatic welding equipment 160a: body driving unit

160b: welding torch 170: LVS

180: pipe 180a: rail

180b: Groove 190: Drive Motor

200: pendant 210: limit sensor

300: pipe 400: welding torch

500: welding pulse 600: wire feeding rate

The present invention relates to an automatic pipe welding device and a welding method thereof, and more particularly, to an automatic pipe welding device and a welding method thereof, in which the welding efficiency is increased while performing welding in one direction, when the welding is performed using the pipe automatic welding device. It is about a method.

1 is a view showing a welding method of a conventional LNGC pipe electric field welding equipment. Referring to FIG. 1, the LNGC pipe electric field welding equipment performs the lower welding while the welding torch 20 starts from the starting point of the groove 10a of the pipe 10 and proceeds in the a direction. If the return point is reached while the bottom welding is in progress, the bottom welding is terminated, and the welding is returned to the starting point without performing the welding work. After returning to the starting point, proceed to the b direction and perform lower welding, and when the return point is reached, the lower welding is finished. Therefore, only the bottom welding is performed without performing the up welding.

In order to weld while completing the circumference of the pipe 10 in one direction, the upstream welding must be performed after the bottom welding. Therefore, the welding condition data value must be changed during the welding operation. However, until now, the conditions for upstream welding have not been clearly defined, and since there is no arrangement for the section in which the welding condition data value should be changed during the welding operation, the entire pipe is welded using only the conditions for downstream welding using this method.

Therefore, since it is necessary to return from the return point to the starting point without performing any welding work, there is a problem that not only the time is lost but the work efficiency is lowered. In addition, since two welding joints generate one welding seam, there is a problem in that a welding defect occurrence rate is increased.

The present invention is to solve the above problems, in particular, the pipe periphery divided into a plurality of sections, according to the welding conditions of each section to complete the pipe circumference in one direction from the starting point of welding to perform welding continuously and efficiently An object of the present invention is to provide an automatic pipe welding device and a welding method thereof.

The present invention provides an automatic pipe welding device including an LVS and an LVS controller, wherein the pipe periphery is divided into a first section, a second section, and a third section on the basis of the center of the pipe cross section, and the welding start point and the welding end point of each section are provided. Welding condition data values for welding speed, welding peak current, welding base current, peak duty rate, weaving width, dwell time, wire feeding and wire feeding rate corresponding to the first, second and third sections. A program control unit for inputting the welding condition database; A welding condition database in which the welding condition data value input by the program controller is stored; And an automatic welding device which receives the welding condition data value stored in the welding condition database by the program controller, completes the pipe circumference in one direction from the welding start point of the first section, and performs welding to the welding end point of the third section. It proposes a pipe automatic welding device comprising a.

In addition, the present invention comprises a first step of setting the welding start point and the welding end point of each section by dividing the pipe circumference into a first section, a second section and a third section based on the center of the pipe cross section; A welding condition data value corresponding to the welding speed, the welding peak current, the welding base current, the peak duty ratio, the weaving width, the dwell time, the wire feeding, and the wire feeding rate corresponding to the first, second, and third sections. Step 2; Performing a welding according to a welding condition data value corresponding to a first section from a welding start point of the first section to a welding start point of the second section; Performing a welding according to a welding condition data value corresponding to a second section from a welding start point of the second section to a welding start point of the third section; And a fifth step of performing welding according to a welding condition data value corresponding to a third section from a welding start point of the third section to a welding start point of the first section. The present invention proposes a welding method for a pipe automatic welding device, comprising: performing a circumference around a pipe to perform welding up to a welding end point of a third section.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

2 is a block diagram of a pipe automatic welding apparatus according to the present invention. 2, the pipe automatic welding device of the present invention includes an LVS controller 120, automatic welding equipment 160 and automatic welding equipment controller 130.

The operator controls the LVS controller 120 and the automatic welding equipment controller 130 through the router 110 in the monitor 100 to perform a welding operation.

The LVS controller 120 controls the LVS 170, and controls the LVS 170 to measure shape information such as a gap change, a step change, or a depth change of the groove 180b of the pipe 180 at a predetermined time interval. .

The automatic welding equipment controller 130 controls the automatic welding equipment 160, as shown in Figure 3 below, the automatic welding equipment controller 130 is an operation controller, D / A (Digital / Analog) converter, the main control computer And an input / output module.

The automatic welding device 160 receives the welding condition data values stored in the welding condition database by the program control unit, and performs welding to the welding end point of the third section by completing the circumference of the pipe in one direction from the welding start point of the first section. . Looking at the structure of the automatic welding equipment 160, the body drive unit (160a) and the welding torch (160b) includes, the body drive unit (160a) is a driving device axis (X axis), weaving axis (Y axis) And a torch vertical movement axis (Z axis), a torch vertical drive axis (AVC axis), and a wire feeder drive shaft (not shown). The body driving unit 160a is controlled by the automatic welding equipment controller 130 and moves along a rail 180a installed in the pipe 180. The welding torch 160b is connected to the coolant circulator 140 and the welder 150. Here, the coolant circulator 140 cools the welding torch 160b to prevent the welding torch 160b from melting when heat is generated around the welding torch 160b. In addition, the welder 150 provides a welding power source to the welding torch 160b to weld the pipe 180 and the groove 180b.

The LVS 170 measures the shape information of the groove 180b of the pipe 180 at a predetermined time interval, and the body driving unit 160a receives the shape information of the groove 180b measured by the LVS 170 and performs automatic welding. The equipment 160 is driven to move along the rail 180a installed in the pipe 180. And, the welding torch 160b performs welding while weaving along the groove 180b of the pipe 180 according to the body driving of the automatic welding equipment 160.

3 is a block diagram of an automatic welding equipment controller according to the present invention. Referring to FIG. 3, the automatic welding equipment controller 130 of the present invention includes an operation controller 130a, a D / A converter 130b, a main control computer 130c, and an input / output module 130d.

The operation controller 130a controls the operation of the automatic welding equipment 160 by the drive motor 190.

The D / A converter 130b converts the welding current command digital signal generated by the operation controller 130a into an analog signal (DC voltage) and sends it to the welder 150.

The main control computer 130c includes a program controller 130ca and a welding condition database 130cb. The program controller 130ca sets a welding start point and a welding end point of each section by dividing the pipe circumference into a first section, a second section, and a third section by a worker based on the center of the pipe section. The welding condition data values for welding speed, welding peak current, welding base current, peak duty ratio, weaving width, dwell time, wire feeding and wire feeding rate corresponding to the second section and the third section are input to the welding condition database. Here, the program controller 130ca may set a constant offset value from a welding condition data value predefined in the welding condition database 130cb according to shape information such as a gap change, a step change, or a depth change of the groove 180b measured in the LVS. Add or subtract In addition, the welding condition database 130cb stores the welding condition data value input by the program controller 130ca.

The input / output module 130d controls input / output of a welding condition data value, and a pendant 200 and a limit sensor 210 are connected. The pendant 200, which is a welding parameter input device, controls the operation of the input / output module 130d by ON / OFF control by a switching operation of an operator, and the limit sensor 210 contacts the automatic welding equipment 160. Detects and controls the input and output of the welding condition data value input and output to the input and output module (130d).

4 is a cross-sectional view showing each section of the pipe according to the present invention. Referring to Figure 4, the welding method of the automatic pipe welding device is as follows.

First, the welding start point and the welding end point of each section are set by dividing the pipe circumference into a first section, a second section, and a third section based on the center of the pipe cross section. The setting of each section of the pipe circumference may be variously set by the design change. However, in the present invention, when the vertical upward of the pipe circumference is 0 °, the range of the first, second, and third sections of the pipe circumference is zero. Were set to -5˚ ~ 230˚, 230˚ ~ 330˚, 330˚ ~ 355˚ based on the center of the pipe cross section, respectively.

Then, the welding condition data values for the welding speed, the welding peak current, the welding base current, the peak duty ratio, the weaving width, the dwell time, the wire feeding, and the wire feeding rate corresponding to the first, second, and third sections are inputted. do.

Thereafter, welding is performed according to a welding condition data value corresponding to the first section from the welding start point of the first section to the welding start point of the second section. In FIG. 5, when the vertical upward direction of the pipe circumference was 0 °, welding was performed in a counterclockwise direction from -5 ° to 230 °. Here, the -5 DEG point is a welding start point of the first section, and the 230 DEG point is a welding end point of the first section. The welding end point of the first section is the same as the welding start point of the second section.

Thereafter, welding is performed according to a welding condition data value corresponding to the second section from the welding start point of the second section to the welding start point of the third section. In FIG. 5, when the vertical upper circumference of the pipe was 0 °, welding was performed in a counterclockwise direction from 230 ° to 330 °. Here, the 230 ° point is a welding start point of the second section, the 330 ° point is a welding end point of the second section. The welding end point of the second section is the same as the welding start point of the third section.

Thereafter, welding is performed according to a welding condition data value corresponding to the third section from the welding start point of the third section to the welding start point of the first section. In FIG. 5, when the vertical upward direction of the pipe circumference was 0 °, welding was performed in a counterclockwise direction from the point of 330 ° to the point of 355 °. Here, point 330 ° is a welding start point of the third section, and point 355 ° is a welding end point of the third section. The welding end point of the third section is the same as the welding start point of the first section.

When the welding is performed in the same manner as described above, the welding is performed from the start point of the first section to the end point of the third section by completing a pipe circumference in one direction.

FIG. 5A is a welding state diagram of the upstream welding of the present invention, and FIG. 5B is a welding state diagram of the upsetting welding of the present invention.

As shown in Figure 5a, during the upstream welding of the pipe 300, the wire is supplied under the welding torch 400, so that the wire is easily hardened by gravity in the opposite direction to the welding progress direction, so it does not spread well on the base material. However, as shown in FIG. 5B, since the wire is supplied on the welding torch 400 during the lower welding of the pipe 300, the wire is pushed and melted in the same direction as the welding progress direction by gravity to spread widely on the base metal. Therefore, even in the upstream welding, it is possible to stabilize the welding quality of the entire pipe section by making the appropriate welding bead by changing the wire feed rate and traveling speed.

6 is a waveform diagram showing the relationship between the welding pulse and the wire supply speed of the present invention. Referring to FIG. 6, it can be seen that the wire supply when the welding pulse 500 has a low pulse output is reduced by the wire feeding rate 600. This prevents excessive beads from forming at the low pulse output.

Although the technical idea of the automatic pipe welding device and the welding method thereof as described above has been described with the accompanying drawings, this is intended to illustrate the best embodiment of the present invention by way of example and not limit the present invention. In addition, it will be apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit of the present invention.

Pipe automatic welding device of the present invention and the welding method according to the welding conditions of each section of the pipe around the pipe from the start of the first section to the end of the pipe to complete the welding to the end of the third section of welding continuously and efficiently Make it work.

Claims (4)

In the automatic pipe welding device including LVS and LVS controller, The welding start point and the welding end point of each section are set by dividing the circumference of the pipe into a first section, a second section, and a third section based on the center of the pipe section, and the first section, the second section, and the third section A program controller for inputting welding condition data values corresponding to welding speed, welding peak current, welding base current, peak duty ratio, weaving width, dwell time, wire feeding, and wire feeding rate into a welding condition database; A welding condition database in which the welding condition data value input by the program controller is stored; And The welding controller receives the welding condition data value stored in the welding condition database by the program controller, and welds from the welding start point to the welding end point of the first section in correspondence with the welding condition data value of the first section. When the welding is completed, the welding from the start point of the second section to the welding end point in accordance with the welding condition data value of the second section, and when the welding of the second section is completed, the welding condition data value of the third section An automatic welding device for performing welding from a welding start point to a welding end point of the third section; Pipe automatic welding device comprising a. The method of claim 1, When the vertical upward direction of the pipe circumference is 0 °, the ranges of the first, second and third sections of the pipe circumference are -5 ° to 230 ° and 230 ° to 330 based on the center of the pipe cross section, respectively. Pipe automatic welding device, characterized in that the °, 330˚ ~ 355˚. A first step of setting a welding start point and a welding end point of each section by dividing the pipe circumference into a first section, a second section, and a third section based on the center of the pipe section; A welding condition data value corresponding to the welding speed, the welding peak current, the welding base current, the peak duty ratio, the weaving width, the dwell time, the wire feeding, and the wire feeding rate corresponding to the first, second, and third sections. Step 2; Performing a welding according to a welding condition data value corresponding to a first section from a welding start point of the first section to a welding start point of the second section; Performing a welding according to a welding condition data value corresponding to a second section from a welding start point of the second section to a welding start point of the third section; And Performing a welding according to a welding condition data value corresponding to a third section from a welding start point of the third section to a welding start point of the first section; The welding method of the automatic pipe welding device, characterized in that the welding to the welding end point of the third section by completing the pipe circumference in one direction from the starting point of welding of the first section. The method of claim 3, When the vertical upward direction of the pipe circumference is 0 °, the ranges of the first, second and third sections of the pipe circumference are -5 ° to 230 ° and 230 ° to 330 based on the center of the pipe cross section, respectively. Welding method of automatic pipe welding device, characterized in that the °, 330˚ ~ 355˚.

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