KR100899373B1 - Pipe partial compensation apparatus - Google Patents

Abstract

The present invention provides a pipe local correction device having a main body portion, a guide portion, and a traveling portion to enter a pipe, and then correct the origin of the pipe by local correction means of the main body portion, so that the pipe arrangement or mounting work can be performed quickly. do.

Pipe local correction apparatus according to the present invention is inserted into the pipe is controlled by the control unit 400, the traveling unit 200 having a motor-driven traveling wheel for traveling along the inside, the outside of the pipe; The idler 130 for rotating the idler frame 102 based on the traveling part 200, and the pressure tool 119 is installed on the upper and lower portions of the idler frame 102 rotated by the idler 130, respectively. A main body portion 100 having a local correction means 110 for moving); It is installed in front of the body portion 100, the guide portion 300 to implement a wheel structure such as a tricycle together with the traveling portion 200; includes.

Pipe, Round, Body, Guide, Traveling, Local Compensation, Static

Description

Pipe partial compensation apparatus

1 is a perspective view for explaining a pipe local correction method using a hydraulic jack according to the prior art.

2 is a front reference cross-sectional view for explaining a pipe local correcting apparatus according to an embodiment of the present invention.

3 is a perspective view of a main body of the pipe local compensator shown in FIG. 2.

4 is an enlarged perspective view of the main body illustrated in FIG. 3.

FIG. 5 is a plane reference cross-sectional view of a traveling part of the pipe local compensator shown in FIG. 2.

6 is a left side reference cross-sectional view of the guide part of the pipe local compensator shown in FIG. 2.

FIG. 7 is a left side view for explaining tool replacement of the pipe local compensator shown in FIG. 2.

                <Explanation of symbols for main parts of the drawings>

100: main body 101: base frame

102: idle frame 110: local correction means

111: up and down feed module 130: idle means

115: transfer module before and after tool 200: running part

300: guide unit 400: control unit

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe localization device, and more particularly, to localize pipes for precisely and rapidly pressurizing a portion (hereinafter, referred to as 'local') where a roundness correction operation is required in a pipe when the pipes are aligned or mounted. It relates to a correction device.

In general, a plurality of pipes require alignment to be fitted together before butt joint welding. Prior to welding the two pipe butt welds according to the prior art is as follows. The mounting work is to fit a predetermined pipe clearance and step within the tolerance to weld two pipes (eg TIG). At this time, the two pipes should be rounded to correct the roundness of the fitting.

Here, the circle means a circle in which all diameters or radii are constant along the circumference, and in a pipe, a circle in which a roundness and circularity corresponding to a difference between the maximum and minimum diameters is included within an allowable range. Means.

As shown in FIG. 1, the worker places both pipes 2a and 2b in a mutually opposed manner on the surface plate or jig 1.

Afterwards, the worker inserts the hydraulic jack 3 and the ram 4 into the pipes 2a and 2b to work for grabbing the source.

Here, the hydraulic jack 3 and the ram 4 are used to match the step between both pipes 2a and 2b for pipe butt joint TIG welding.

That is, the operator pushes in the radial direction or the correction direction of the pipe 2a by using the hydraulic jack 3 and the ram 4 in the state of the naked eye so that local deformation occurs in the pipes 2a and 2b. do. This local deformation is used to match the steps of both pipes 2a and 2b.

However, the pipe local correction method according to the prior art has a problem that the operator has to move the hydraulic jack and the ram frequently in order to operate the hydraulic pressure, and depending on the manual operation, there is a problem that the quality of the work varies widely. However, there is a disadvantage in that the pipe mounting work is not performed smoothly and also affects the welding work of the pipe.

The present invention is to overcome the above-mentioned conventional problems, the present invention is provided with a main body portion, a guide portion and a running portion to enter the inside of the pipe and correct the origin of the pipe by the local correction means of the body portion, pipe arrangement or mounting It is a technical control to provide a pipe local compensator which can perform the work quickly.

The above object is a pipe local correction device which is introduced into the pipe and controlled by the controller, comprising: a traveling unit having a motor-driven traveling wheel traveling along the inside and the outside of the pipe; A main body portion having an orbital means for rotating the idle frame based on the traveling portion, and a local correction means installed at upper and lower portions of the orbital frame rotated by the idle means to move the pressure tool; A guide part installed in front of the main body to implement a wheel structure such as a tricycle together with the driving part, wherein the driving part includes a driving part case connected to the main body; A wheel support unit installed at the lower portion of the driving unit case, a wheel support hingeably coupled to the wheel support unit, a plurality of driving wheels installed in pairs left and right at the front and rear of the wheel support, and the driving wheel A driving means having a driving motor connected to the pulley and a timing belt to transmit power to the vehicle; Level adjusting means provided between the traveling means and the traveling part case to move the entire traveling means in the vertical direction; And a tilting means for transferring the rear end of the wheel support upward and downward by using a tilting motor, a pulley, a timing belt, and a ball screw assembly installed based on the wheel support to implement tilting of the traveling wheel. Is achieved by a pipe local correction device.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings such that those skilled in the art may easily implement the present invention.

2 is a front reference cross-sectional view for describing a pipe localization device according to an embodiment of the present invention, and FIG. 3 is a perspective view of a main body of the pipe localization device shown in FIG. 2. 4 is an enlarged perspective view of the main body part shown in FIG. 3, and FIG. 5 is a planar reference cross-sectional view of the traveling part of the pipe local compensator shown in FIG. 2. FIG. 6 is a left side reference cross-sectional view of the guide part of the pipe local compensator shown in FIG. 2, and FIG. 7 is a left side view for explaining tool replacement of the pipe local compensator shown in FIG. 2.

As shown in FIG. 2, this embodiment has a main body portion 100, a traveling portion 200, and a guide portion 300 of a layout that can be introduced into a pipe.

In the present embodiment, the driving unit 200 is coupled to one side of the main body unit 100 (for example, the right side based on FIG. 2), and the guide unit 300 is the other side of the main body unit 100 (for example, FIG. It is coupled to the left side 2, the control unit 400 is built-in type mounted on any one of the driving unit 200 or the guide unit 300, or can be installed outside the embodiment of the external type.

As described in detail below, the main body portion 100 serves to facilitate pipe arrangement or mounting work with other pipes by substantially pressing the local portions of the pipes to correct the roundness.

To this end, the main body 100 is provided with a revolving means 130 and a local correction means 110, so as to implement a tool forward and backward, tool up and down feed, revolving function.

Here, the tool forward and backward transfer function is a function of advancing or reversing the entire module frame 118 on which the pressing tool 119 is mounted in a device traveling direction (for example, in a horizontal direction in FIG. 2).

Tool up and down feed function is to raise or lower the pressure tool 119 in a vertical direction (eg, up and down direction in Figure 2) with respect to the device travel direction.

The revolving function rotates (rotates) the entire revolving frame 102 relative to the base frame 101 on which the driving unit 200 is installed, and thus, a plurality of pressurizing tools 119 installed on the revolving frame 102 and corresponding parts thereof. The module frame 118 is idle.

The revolving frame 102 has a ring shape, and forms a cross-section of the Hangeul needle that is symmetrical with each other.

The traveling part 200 plays a role of moving the present embodiment to the place where local correction is required from inside and outside the pipe. The driving unit 200 is configured to implement driving, tilting, and level adjustment functions.

The traveling function is realized by the motor-driven traveling means 210, and is a function of moving the entirety of the present embodiment by driving at least the plurality of traveling wheels 201 and 202.

The tilting function connects a pair of the front driving wheel 201 and the rear driving wheel 202 to the wheel support 203, but the front portion of the wheel support 203 to which the front driving wheel 201 is coupled is a wheel support unit. When a reference such as a hinge or pivot at the front portion of the 240 is used, the rear end of the wheel support 203 to which the rear driving wheel 202 is coupled is within the range of the first stroke S1. The tilting of the finite angle (T1) is made by conveying in the end, and eventually the function of tilting or horizontally arranging the front driving wheel 201 and the rear driving wheel 202.

The level adjustment function is a function of moving the entire wheel support part 240 in which the driving wheels 201 and 202 are installed in the vertical direction within the range of the second stroke S2, thereby increasing or decreasing the height of the present embodiment.

In addition, the driving unit 200 couples the driving unit case 250 to one side of the base frame 101.

The base frame 101 has a lightweight metal material having a disk shape.

The revolving means 130 is installed between the base frame 101 and the revolving frame 102.

At this time, the revolving motor 131 of the revolving means 130 is installed at one end of the base frame 101 in the radial direction of the base frame 101. Here, the first shaft 132, such as a pinion gear is coupled to the rotation shaft of the idle motor 131, wherein the first gear 132 is like a crown gear arranged along the edge of the idle frame 102 It is meshed with the 2nd gear 133.

At the other end of the base frame 101, there is also an idle gear 134 is provided to support the idle frame 102 in the radial direction of the base frame 101.

Here, the idle gear 134 is also meshed with the crown gear 133.

The bearing support bracket 135 is installed to be supported by the base frame 101, and has an end portion which covers the edge of the idle frame 102 in a non-contact manner.

A ring bearing 136 is installed between the inner circumferential surface of the end portion of the bearing support bracket 135 and the edge of the idle frame 102.

In this case, in response to the control signal of the controller 400, the rotational force generated from the idle motor 131 of the idle means 130 drives the first gear 132, which is a pinion gear, such a first gear 132 The driving force of) is transmitted to the second gear 133, which is a crown gear, but the idle frame 102 is rotatably coupled by the ring bearing 136, thereby eventually rotating the idle frame 102, In other words, it rotates.

By the rotation of the idle frame 102, the tool before and after the transfer module 115, the tool up and down feed module 111 and the pressing tool 119 is idle.

On the other hand, one end of the plurality of connecting bars 140 is fixed to the other side of the base frame 101. Since the idle frame 102 has a ring shape, the connecting bar 140 extends through the hollow of the idle frame 102. Thereafter, the other end of the connection bar 140 is connected to the guide part 300.

According to the use of the connection bar 140, the guide unit 300 and the traveling unit 200 can be operated simultaneously, in particular, the function of the guide unit 300 is not affected by the idle function of the main body unit 100 .

The guide part 300 plays a role in helping the driving part 200 travel. The guide unit 300 forms a guide wheel assembly 310 to implement a wheel structure such as a tricycle or a tricycle together with the driving wheels 201 and 202 of the driving unit 200, and the omnidirectional direction. Depending on the characteristics of the wheel, it can be driven forward, backward, left and right.

The wheel assembly transfer means 330 is disposed below the guide part 300. The wheel assembly mounting table 320 is mounted on the transport block of the wheel assembly transport means 330.

The guide part 300 may be detached from or attached to, that is, attached to any one of a plurality of other guide wheel assemblies (not shown), which are separately prepared in addition to the basic guide wheel assembly 310 and having different heights. It is possibly configured in a plunger manner.

The plunger method means a method in which a lever-type plunger 322 using a spring is installed at a position perpendicular to the mounting hole 321 of the wheel assembly mounting stand 320, to easily mount the guide wheel assembly 310.

In this way, the guide unit 300 may match different heights according to the pipe diameter type.

In addition, the guide unit 300 is configured to perform a wheel assembly left and right transfer function.

Here, the wheel assembly left and right transfer function is a wheel assembly mounting base for mounting the guide wheel assembly 310 by using the corresponding servo motor, pulley, timing belt, ball screw assembly (for example, ball screw shaft and ball screw nut block) ( 320 is a function of transferring in the width direction (for example, the direction passing through the ground in Figure 2) perpendicular to the left and right with respect to the device travel direction.

The control unit 400 is a general operation for traveling, tilting, level adjustment, wheel assembly left and right transfer, tool back and forth, tool up and down feed, idle function with respect to the main body 100, the travel part 200 and the guide part 300. Engage in control.

The control unit 400 controls the corresponding servo motor or idle motor, front and rear motor, upper and lower motors installed according to the functions, and various timing belts, pulleys, ball screw assemblies, links, bearing blocks, and bushes mechanically installed on the motor. , LM guides (eg linear rails and sliding blocks), or gears, such as gears, etc., are electronically configured to control the movement of objects (eg travel wheels, guide wheel assemblies, pressurized tools, adapters, etc.). have.

3 illustrates a main body 100 from which the traveling part 200 or the guide part 300 is removed.

Referring to FIG. 3, ring supports 103 and 104 having a cross section of a Hangul needle are formed on the outer surface of the ring-shaped revolving frame 102.

Support ring 105 is connected to each end of the ring support 103.

The support ring 105 rotates together with the idle frame 102 to support a pair of local correction means 110 disposed on the upper and lower portions of the idle frame 102, thereby making it more robust and stable local correction means. Ensure pressurization of the 110. In particular, as shown in Figure 2 or 7, between the support ring 105 and the local correction means 110, a plurality of cam followers 120 (cam follower) is further installed, each of the cam followers 120 ) Itself is installed in the module frame 118, and supports the module frame 118 based on the support ring 105.

Meanwhile, referring back to FIG. 3, the local correction means 110 includes a tool before and after the transfer module 115 installed in the idle frame 102; A module frame 118 moved forward and backward by the tool before and after the transfer module 115; A tool up / down feed module 111 installed in the module frame 118; It includes a pressure tool 119 which is moved in the vertical direction by the tool up and down transport module 111.

As shown in Figure 4, the tool before and after the transfer module 115 of the local correction means 110 is responsible for the tool before and after, supported by the motor mounting stand 102a protruding from the idle frame 102 Has a motor 116.

The main shaft pulley 115a is coupled to the rotation shaft of the front and rear motor 116.

The main pulley 115a is directly connected to the first driven pulley 115b through the timing belt.

As shown in FIG. 3, the first driven pulley 115b and the second driven pulley 115d are coupled to and interlocked at both ends of the first ball screw assembly 115c.

At this time, the first ball screw assembly 115c is installed between one side of the module frame 118 and the first ball screw mounting table 102b to provide power required for forward and backward movement of the module frame 118.

The second driven pulley 115d is directly synchronized with the third driven pulley 115f disposed on the opposite side of the module frame 118 through the timing belt 115e.

The third driven pulley 115f and the bearing block 115h are coupled to both ends of the second ball screw assembly 115g.

In this case, the second ball screw assembly 115g is installed between the other side of the module frame 118 and the second ball screw mounting stand 102c, together with the first ball screw assembly 115c and the module frame 118. Provides the power required for forward and backward movements of the wire simultaneously or in parallel.

Due to the coupling relationship, the main pulley 115a and the first to third driven pulleys 115b, 115d, and 115f are mechanically synchronized in the tool forward and backward transfer module 115 according to the operation of the front and rear motor 116. , The first and second ball screw assembly (115c, 115g) to operate each, and the forward of the entire module frame 118 coupled to receive a linear transfer force from the first and second ball screw assembly (115c, 115g) Or conveying (a) such as reversing is implemented.

On the other hand, referring to Figure 4, the tool up and down feed module 111 of the local correction means 110 is responsible for the tool up and down feed function, the lifting or lowering operation of the pressure tool 119 based on the module frame 118 (b) is implemented to substantially generate the pressing force necessary for local correction of the pipe.

In more detail, the tool vertical feed module 111 has a vertical motor 112 installed in the motor mounting stand 118a of the module frame 118.

The movable pulley 113 is coupled to the rotation shaft of the upper and lower motors 112.

The movable pulley 113 is directly connected to the driven pulley 114 through the timing belt.

The driven pulley 114 is supported to rotate on one side of the module frame 118 and is coupled to one end of the release screw shaft 114a in which the left side thread and the right side thread are formed to face each other.

The other end of the release screw shaft 114a is coupled to a bearing block 114b disposed on the other side of the module frame 118.

This release screw shaft 114a is coupled to a pair of ball screw nut blocks 114c and 114d in the same manner as a conventional ball screw fastening structure or ball thread structure.

Here, the plurality of links 114e and 114f and the sliding rollers 114g and 114h are well-known link types so as to implement the lifting or lowering operation (b) of the pressure tool 119 by using the rotational force of the upper and lower motors 112. It is coupled to the ball screw nut blocks 114c and 114d in a ram-like structure.

At this time, the sliding rollers 114g and 114h are fastened to the sliding grooves 118b and 118c of the module frame 118, respectively. In addition, the pressure tool 119 is fastened to the ends of the links 114e and 114f.

Due to such a coupling relationship, the movable pulley 113, the driven pulley 114, and the release screw shaft 114a simultaneously rotate according to the operation of the upper and lower motors 112 in the tool up / down feed module 111. The pair of ball screw nut blocks 114c and 114d are conveyed in a direction close to each other or in a direction away from each other, and are eventually pushed by the links 114e and 114f and the sliding rollers 114g and 114h related to this conveyance. Operation (b) such as raising or lowering of) is implemented.

As illustrated in FIG. 5, the driving unit 200 includes a driving unit 210, a level adjusting unit 220, and a tilting unit 230 to perform driving, level adjustment, and tilting functions.

The traveling means 210 is mounted on the wheel support 240 to travel in and out of the pipe.

The driving means 210 simultaneously rotates the front driving wheel 201a and the rear driving wheel 202a for the driving direction 211 based on the traveling direction of the driving part 200 with the driving motor 211. The pulley, timing belt, and bearing associated with the traveling motor 211 are coupled to each other.

In the same manner, the driving means 210 separates the front driving wheel 201 and the rear driving wheel 202 for the left side (for example, the lower side in FIG. 5) based on the traveling direction of the driving part 200. The pulley, timing belt, and bearing associated with the other traveling motor 212 are coupled to rotate at the same time.

The level adjusting means 220 means a device for correcting the level of the main body 100 after the height of the center of the present embodiment, that is, the level is different according to the pipe diameter.

The level adjusting means 220 is to install the level adjustment motor 221 based on the driving unit case 250, to adjust the level by transporting the wheel support 240 in the vertical direction based on the driving unit case 250. And a pulley, a timing belt, a ball screw assembly, a bearing block, and a plurality of LM guides associated with the level adjustment motor 221 are coupled.

The tilting means 230 is provided with a tilting motor 231 based on the wheel support 240, the wheel support 203 is hingedly coupled to the wheel support 240, the front driving wheel 201 When the front part of the combined wheel support 203 is used as a hinge, the rear driving wheel 202 transfers the rear end of the combined wheel support 203 in the vertical direction to implement tilting. The pulley, timing belt, and ball screw assembly related to the tilting motor 231 are coupled.

As shown in FIG. 6, the guide part 300 has a wheel assembly transfer means 330 which performs the wheel assembly left and right transfer function mentioned above.

The wheel assembly transfer means 330 is installed between the mounting bracket 340 of the guide unit 300 and the wheel assembly mounting stand 320.

The wheel assembly transfer means 330 is installed on the wheel transfer motor 331 based on the mounting bracket 340, the pulley, timing belt, ball screw assembly, transfer block, bearing block associated with the wheel transfer motor 331 The LM guide is used to convert the motor rotation into linear feed.

As the wheel assembly transfer means 330 transfers its transfer block, the wheel assembly mounting bracket 320 and the guide wheel assembly 310 to be mounted therein are left and right with respect to the direction of the device travel. In the vertical direction (eg, left and right in Fig. 6).

The guide wheel assembly 310 includes a pair of wheel shafts 312 in which a plurality of wheels 311 or four omnidirectional wheels 311 and a plurality of omnidirectional wheels 311 are rotatably coupled, respectively, A pair of wheel shafts 312 are coupled to both sides in an English V-shape on a frontal basis and are equipped with a ball caster 314 at a lower portion of the center, and the wheel mount 313. It is provided with an insertion protrusion 315 protruding upward.

Since the wheel shaft 312 is disposed on both sides to form an English V-shape based on the wheel mounting bracket 313, the rolling operation can be stabilized in response to the curved surface of the pipe.

In addition, referring to Figure 2 in parallel, it is preferable that the fixing groove 316 is further formed on the circumferential surface of the insertion protrusion 315.

After the insertion protrusion 315 is inserted into the mounting hole 321 of the wheel assembly mounting bracket 320, when the plunger 322 is fastened, the fixing groove 316 temporarily fixes the end of the plunger 322. Do it.

As shown in FIG. 7, the pressure tool 119 presses the local part of the pipe while being transported in the vertical direction by the tool up / down transport module 111 in the range of the third stroke S3.

At this time, there is a local part of the pipe which is out of the third stroke S3 due to the pipe diameter difference, or in order to facilitate tool replacement, a plurality of adapter parts 119a and 119b set to have different lengths are added. In addition, the pressure tool 119 is used in further connection.

On the bottom face of the adapter parts 119a and 119b, the fastening hole in which the semicircular-shaped pressurization processus | protrusion of the upper surface of the pressurizing tool 119 is inserted by the interference fitting method is formed.

Below, it looks at the operating relationship according to an embodiment of the present invention.

As shown in FIG. 2, the control unit 400 operates the level adjusting means 220 of the driving unit 200 described above on the basis of information about a pipe previously input, so that the level of the present embodiment corresponds to the pipe diameter. Adjust it.

In addition, the control unit 400 operates the tilting means 230 to tilt the front traveling wheel 201 to a higher position than the rear traveling wheel 202 so as to easily cross the step or protrusion between the pipe and the jig in which the pipe is placed. Adjust (T1).

Thereafter, the controller 400 controls the driving unit 200 to allow the present embodiment to travel from the outside of the pipe to the inside of the pipe, and then to stop at the place where the pressure is desired.

The controller 400 operates the revolving means 130 so that the pressing tool 119 is disposed corresponding to the local position to be pressed.

In addition, the control unit 400 operates the tool before and after the transfer module 115, and controls the module frame 118 and the tool up and down transfer module 111 to be precisely positioned to the vertical lower space of the position to be pressed.

Finally, the control unit 400 operates the tool up / down feed module 111 to correct the shape of the pressure tool 119 by pressing the local part of the pipe at the position to be pressurized, butt welding the pipe.

In the course of repeatedly performing such a correction, the controller 400 travels about the main body 100, the driving unit 200, and the guide unit 300, tilting, level adjustment, left and right wheel assembly movement, and front and rear movement of the tool. Control tool up / down, idle function.

The pipe local correction device according to the present invention as described above deforms the pipe by using the idle means of the local correction means, the tool before and after the transfer module, the tool up and down feed module, the pressurizing tool after traveling inside the pipe And correction has the advantage that can be easier and faster to butt welding.

In addition, the pipe local correction device according to the present invention has the advantage that can perform the operation corresponding to the pipe diameter using the set adapter unit.

In addition, the pipe local correction device according to the present invention is provided with a guide unit and a running unit, there is an advantage that can be moved quickly to the place where local correction is required.

In addition, the pipe local correction device according to the present invention is configured to remove and attach the wheel assembly in accordance with the pipe diameter, and can adjust the level of the running part is convenient to use, and to perform the local correction work to respond to various pipe diameters There is an advantage to this.

In addition, the pipe local correction device according to the present invention has the advantage that it is possible to easily travel beyond the step or protrusion by mounting the tilting means to the running portion.

Claims (10)

delete In the pipe local correction device that is introduced into the pipe and controlled by the control unit, A driving unit having motor-driven driving means for traveling along the inside and the outside of the pipe; A main body portion having an orbital means for rotating the idle frame based on the traveling portion, and a local correction means installed at upper and lower portions of the orbital frame rotated by the idle means to move the pressure tool; It is installed in front of the main body portion and the guide portion for implementing a wheel structure such as a tricycle together with the traveling portion; The running part A driving part case connected to the main body; A wheel support unit installed at the lower portion of the driving unit case, a wheel support hingeably coupled to the wheel support unit, a plurality of driving wheels installed in pairs left and right at the front and rear of the wheel support, and the driving wheel A driving means having a driving motor connected to the pulley and a timing belt to transmit power to the vehicle; Level adjusting means provided between the traveling means and the traveling part case to move the entire traveling means in the vertical direction; Tilting means for tilting the driving wheel by transferring the rear end of the wheel support in the vertical direction by using a tilting motor and a pulley, a timing belt, a ball screw assembly installed based on the wheel support; Pipe local correction device comprising a. The method of claim 2, The idle means includes a base frame connected to the driving unit; An idle motor installed on the base frame; A first gear installed on the rotation shaft of the idle motor; A second gear meshed with the first gear; An idle frame in which the second gear is arranged along an edge; A ring bearing installed between the base frame and the idle frame to rotate the idle frame based on the base frame; Pipe local correction device comprising a. The method of claim 2, The local correction means A tool front and rear transfer module mounted on the upper and lower portions of the idle frame and related to the transfer of the pressurizing tool; A tool up-and-down transport module mounted on a module frame which is transported before and after by the tool forward and backward transport module and associated with the lifting and lowering of the pressure tool; Pipe local correction device comprising a. The method of claim 4, wherein The tool before and after the transfer module Front and rear servo motors supported by the motor mount of the idle frame; A main pulley coupled to a rotation shaft of the front and rear servo motors; A plurality of driven pulleys installed on the basis of the module frame and coupled to the main pulleys to be rotated simultaneously; A plurality of ball screw assembly for receiving a rotational force through the driven pulley; And the module frame is coupled to the ball screw assembly so that the entire module frame is advanced or retracted. The method of claim 4, wherein The tool up and down feed module Upper and lower motors installed on the motor mounting stand of the module frame; A movable pulley coupled to the rotary shaft of the upper and lower motors; A driven pulley installed based on the module frame and directly connected to the movable pulley; A release screw shaft which receives a rotational force through the driven pulley and is rotatably installed based on the module frame; A ball screw nut block coupled to a left side thread and a right side thread of the release screw shaft; A plurality of links and sliding rollers respectively coupled to the ball screw nut blocks and having a structure such as a linked ram; The pressure tool is fastened to the end of the link; Pipe local correction device comprising a. The method of claim 2, The guide unit is provided in the lower portion of the wheel assembly transfer means for the left and right wheel assembly transfer; A wheel assembly mounting mount mounted on the wheel assembly transport means; A guide wheel assembly coupled to the wheel assembly mounting base using a plunger; Pipe local correction device comprising a. The method of claim 7, wherein The guide wheel assembly includes a plurality of omni directional wheels; A pair of wheel shafts to which the plurality of omnidirectional wheels are rotatably coupled, respectively; A pair of wheel mounts coupled to both sides in an English V-shape of the pair of wheel shafts and equipped with a ball caster at a center lower portion thereof; An insertion protrusion protruding upward from the wheel mount; Fixing groove for inserting the plunger end formed on the circumferential surface of the insertion protrusion; Pipe local correction device comprising a. The method of claim 2, A plurality of ring supports formed on an outer surface of the idle frame; A support ring connected to each end of the ring support; A plurality of cam followers installed on the module frame of the local correction means to support the local correction means based on the support ring. Pipe local correction device, characterized in that it further comprises. The method of claim 2, It further comprises a plurality of adapters set to different lengths to be used in addition to the pressing tool, the fastening hole is inserted into the bottom of the adapter portion is inserted into the semi-circular pressing protrusion formed on the upper surface of the pressing tool The pipe local correction apparatus characterized by the above-mentioned.

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