KR100937752B1 - A robot for self travelling and welding steel pipes - Google Patents

Abstract

PURPOSE: A self-operating robot apparatus for welding a steel pipe is provided to improve the welding quality by automatically executing the preset welding work in a steel piping construction field or plant construction field. CONSTITUTION: A self-operating robot apparatus for welding a steel pipe is composed of a body(10), a traveling unit(30), an adhesive force generator(50), and a controller. A torch clamp is loaded on the body to be movable. The traveling unit has a traveling wheel(32) and supplies the driving force to a motor(36). The adhesive force generator has a magnet(52) and controls the adhesive force about the steel pipe by using a lever(62). The controller travels in the condition spaced from a pipe connection and executes the welding work, and generates display data by photographing the welded portion with a camera.

Description

A robot for self traveling and welding steel pipes}

The present invention relates to a self-propelled steel pipe welding robot device, and more particularly to a self-propelled steel pipe welding robot device for performing a set welding operation while automatically driving the outer surface and the inner surface of the steel pipe at the steel pipe piping construction site or plant construction site.

Normally, in the construction of water supply and sewage, plant, road, etc., as a new technology of steel pipe construction, steel pipe shaping device (aka "WELTECH") is used to form or maintain the steel pipe in the form of a circle, and automatically install it with butt joints or overlapping joints before piping. The technique of welding the inner and outer surfaces of the joint with an automatic welding device is utilized. In recent years, the lack of skilled welders due to the 3D evasion phenomenon, the introduction of such a method can reduce the air park by automating welding while saving the city park because there is no need for a professional welder. However, it is necessary to rely on the orthopedic device for welding of steel pipes, so it is necessary to have equipment for steel pipes of various specifications and additional work time for installation and dismantling.

For example, according to the "butt welding device of steel pipes" of Korean Patent No. 0739101, "the driving drive unit moving along the welding driving unit, and the vertical horizontal adjusting unit installed in the traveling driving unit to adjust the position in the horizontal and vertical direction of the welding robot And a hanger base connected to the vertical horizontal adjustment unit to support a welding torch, a sensor mounting adjustment unit connected to the hanger base to support a sensor, and a torch mounting adjustment connected to the hanger base to support the welding torch. And a spacing mechanism provided between the hanger base and the torch mounting control unit to maintain and maintain a constant distance.

In addition, the "automatic driving device of the steel pipe outer surface welding robot" of Korea Patent No. 0788275 and the "welding device of the outer surface joint of the steel pipe" of Korea Patent No. 0829993 exist in a somewhat different purpose and configuration.

However, the prior art is to install a rail to the traveling device for welding work to the outside of the steel pipe to be welded, which is attached to the detachable during welding work because the rail of a larger diameter than the outer diameter of the steel pipe must be installed on the outside of the steel pipe. It takes a lot of time. For example, if the outer diameter of the steel pipe is 2200㎜ takes 2 hours, the larger the outer diameter of the steel pipe, the more time and personnel are required. Therefore, this method requires a problem that at least two people are needed and that there is a large amount of additional cost.

An object of the present invention for improving the conventional problems as described above, to provide a self-propelled steel pipe welding robot device for performing a set welding operation while automatically driving the outer surface and the inner surface of the steel pipe at the pipe construction site or plant construction site. have.

In order to achieve the above object, the present invention is a robot for performing welding on the pipe connection of the steel pipe: a body for mounting the torch clamp multi-axial movement; A travel device having a driving wheel on the bottom of the body and providing a driving force to the motor; An attachment force generator having a magnet on a bottom surface of the body and intermittent an attachment force to the steel pipe by a lever; And a controller that travels while maintaining a constant distance from the pipe connection and welds, and generates display data by photographing the welding state with a camera.
The rider 30 is based on a method of independently driving the driving wheel 32 on one side and the driving wheel 32 on the other side with the respective motors 36 in the driving direction, and the front and rear driving wheels 32. It includes a drive shaft 34 for supporting the drive shaft, a chain 42 for connecting the front and rear drive shaft 34, and a bevel gear 44 for connecting each motor 36 and the drive shaft 34 on one side,
The attachment force generator 50 has a magnet 52 rotatably installed via a hinge shaft 53, a link 56 connected to interlock with a lower end of the lever 62, and the other end of the link 56. It characterized in that it comprises a working pin (54) for connecting the magnet (52).

In addition, according to the present invention, the traveling wheel of the rider is characterized in that it uses a polyurethane resin and rubber together to increase the sliding friction and wear resistance.

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In addition, according to the present invention is characterized in that the motor of the rider uses a plurality of servo motors capable of forward and reverse rotation at constant speed, and is connected to one driving wheel and the other driving wheel in the driving direction, respectively.

Further, according to the present invention, the controller controls the distance between the pipe and the body by using the laser sensor on the front side during the forward movement, and controls the distance between the pipe and the body by the laser sensor on the rear side during the backward movement. It is characterized by controlling to maintain.

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According to the present invention as described above, there is an effect of improving the productivity and welding quality by performing a set welding operation while automatically traveling the outer surface and the inner surface of the steel pipe at the pipe construction site or plant construction site.

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

1 is a perspective view showing a robot for welding the outer surface of the steel pipe according to the present invention, Figure 2 is a perspective view showing an exploded view of the main part of Figure 1, Figure 3 is a perspective view showing a robot for welding the inner surface of the steel pipe according to the invention, Figure 4 It is a perspective view which decomposes and shows the principal part of.

The present invention relates to a robot that performs welding on the pipe connection (P) on the outer surface and the inner surface of the steel pipe. In general, a method of welding a pipe connection part P formed on an outer surface and an inner surface of the steel pipe by expanding and inserting one end thereof.

According to the present invention, the torch clamp 22 is mounted on the body 10 in a multi-axial motion. The torch clamp 22 constituting the work machine 20 is installed to perform at least three-axis movement via the X-axis movement part 24, the Y-axis movement part 26, and the weaving movement part 28. In the external welding, the torch clamp 22 is mounted close to the body 10, while in the internal welding, the torch clamp 22 is mounted apart from the body 10 by adding a separate bracket. One side of the body 10 is attached to the handle 12 for transporting the robot.

According to the present invention, the travel device 30, the attachment force generator 50, and the controller 70 are mounted on the body 10.

FIG. 5 is a perspective view showing the traveling unit and the attachment force generator of the present invention separately, FIG. 6 is an exploded perspective view showing the main parts of FIG. 5, FIG. 7 is a perspective view showing an assembled state of the adhesion force generator of FIG. 5, and FIG. This is a block diagram showing the operation state of the adhesion force generator.

The travel device 30 according to the present invention is provided with a travel wheel 32 on the bottom surface of the body 10 and provides a driving force to the travel wheel 32 by the motor 36. The driving wheels 32 are provided at four places so as to be in close contact with the inner and outer surfaces of the steel pipe, and a four-wheel driving method of transmitting power to the four driving wheels 32 using the motor 36 is preferable.

In this case, the traveling device 30 may be based on a method of independently driving the driving wheel 32 on one side and the driving wheel 32 on the other side in the driving direction. This is to change the speed on the left and right sides so as to prevent the driving error occurs depending on the dimensional error or the floor surface condition of the steel pipe during the driving process. In the detailed configuration, the travel device 30 includes a drive shaft 34 supporting the front and rear travel wheels 32, a chain 42 connecting the front and rear drive shafts 34, a motor 36 and a drive shaft on one side. And a bevel gear 44 connecting the 34. This configuration applies equally to the left and right sides. The drive shaft 34 is installed parallel to the bottom of the body 10 via a bearing, and the driving wheels 32 are mounted at both ends of the drive shaft 34. A bevel gear 44 is installed on the drive shaft 34 on one side, and the motor 36 is connected to the one bevel gear 44. Sprockets are mounted on the drive shafts 34 on both sides, and a chain 42 is mounted. A tensioner 46 for adjusting tension is provided in the middle of the chain 42.

Of course, as a modification of the present invention, the traveling device 30 simultaneously drives four wheels without distinguishing the driving wheel 32 on one side (left side) and the driving wheel 32 on the other side (right side) in the traveling direction. It is possible.

The traveling wheel 32 of the traveling device 30 of the present invention is preferably used in combination with a polyurethane resin and rubber in order to increase the sliding friction and wear resistance. The base body is made of polyurethane resin or resin having strength equal to or greater than that of abrasion, and a number of grooves are formed in the form of 1 to 2 annular grooves or small disks in contact with the ground to attach rubber. Considering that the resin or the like is coated on the outer surface of the steel pipe, it is necessary to maintain a certain sliding friction force at a constant speed to enable constant speed driving.

In the present invention, the motor 36 of the rider 30 uses a plurality of servo motors capable of forward and reverse rotation at a constant speed, and connects the driving wheel 32 on one side and the driving wheel 32 on the other side in the traveling direction, respectively. The way is good. Servo motor generates high torque at low speed, increasing the reliability of constant speed travel. From the welding progress direction, the driving wheel 32 on the left side and the driving wheel 32 on the right side can be driven independently.

On the other hand, when driving four wheels at the same time, the motor 36 on one side may be set as the main, and the motor 36 on the other side may be set as a sub, and the motor 36 on one side may be forward-only and the other side motor 36 may be reverse-rotated. It can also be set.

In addition, according to the present invention, the adhesion force generator 50 having the magnet 52 is mounted on the bottom of the body 10. The magnet 52 of the adhesion force generator 50 is preferably installed at the center of the bottom of the body 10 so as not to interfere with the outer surface and the inner surface of the steel pipe. The magnet 52 of the adhesion force generator 50 may be detachable by intermittent attachment force to the steel pipe using one lever 62.

At this time, the attachment force generator 50 is a magnet 52 that is rotatably installed via the hinge shaft 53, the link 56 is connected to the lower end of the lever 62, and the link 56 It includes an actuating pin 54 for connecting the other end and the magnet (52). The hinge shaft 53 and the operation pin 54 are installed in parallel on the upper surface of the magnet 52, and the magnet 52 is rotatably mounted on the bottom surface of the body 10 via the hinge shaft 53. The lower end of the lever 62 is rotatably connected to the bottom of the body 10 together with the link 56. The other end of the link 56 and the magnet 52 are connected via an actuating pin 54.

As shown in FIG. 7, when the lever 62 is rotated to one side, the link 56 is interlocked and rotated so that the other end of the link 56 is raised, and the operation pin 54 connected to the other end of the link 56 is the magnet 52. Lift the other end of). While the magnet 52 is in a horizontal state, it acts an attachment force to the steel pipe in a state in which rocking is prevented by the stopper 64 installed in the body 10, but the other end is raised by the operation of the lever 62, the inclined state At the moment, it is released from the stopper 64 and the adhesion to the steel pipe is rapidly weakened.

On the other hand, the body 10 is a cover 14 for the impact protection of the rider 30 and the adhesion force generator 50 and to prevent foreign matter adhesion, and a cover 15 to prevent the welding sparks from splashing on the traveling wheel 32 ) And a cover 16 for preventing foreign matter from adhering to the link 56 of the lever 62.

In addition, the controller 70 according to the present invention travels and welds while maintaining a constant distance from the pipe connecting portion P, and photographs the welding state by the camera 76 to generate display data. The controller 70 outputs to the motor 36 by a signal of a wired / wireless manipulator (not shown) and performs driving of the driving wheel 32, while the X-axis movement unit 24, the Y-axis movement unit 26, and the weaving movement unit ( 28) and carry out welding. Image information captured by the camera 76 may be converted into digital data by the controller 70. The converted data may be displayed on an external LCD monitor (not shown), but may also be used to check the bead state of the weld. In the steel tube inner surface welding, the illumination is provided 74 so that the camera 76 acquires a clear image.

At this time, the controller 70 of the present invention controls the distance between the pipe connection portion P and the body 10 by using the laser sensor 72 of the front side during the forward movement, and the rear side of the laser during the backward movement By using the sensor 72 is characterized in that the operation to control to maintain the distance between the pipe (P) and the body (10). The laser sensor 72 is provided in close contact with the front and rear of the body 10 in the outer surface welding robot, and the laser sensor 72 is provided in the inner surface welding robot and spaced apart from the front and rear of the body 10, respectively. In any case, the laser sensor 72 measures the distance by irradiating light to the joint surface of the pipe connection part P and receiving reflected light. The laser sensors 72 on both sides are used separately in the forward motion and the backward motion. However, the signals of the laser sensors 72 on both sides may be used simultaneously regardless of the forward and backward motion.

In operation, when the worker picks up the robot in the state of FIG. 8 (b) and lowers the pipe portion P of the steel pipe, and lowers the lever 62 as shown in FIG. 8 (a), the magnet 52 becomes horizontal. Adhesion is maintained. Subsequently, after initializing the position and attitude of the torch on the torch clamp 22 and starting work with the wire / wireless manipulator, welding is performed with the torch while driving at a constant speed by the motor 36. In general, it is preferable to perform one pass or two pass welding using two robots on the outer surface and the inner surface, and in this process, the robot may repeat the forward motion and the backward motion. After the welding is completed, as shown in FIG. 8 (b), the lever 62 is raised to incline the magnet 52 and the robot is removed.

Meanwhile, the present invention is illustrated and described with respect to the pipe joint P of the overlap welding, but the same applies to the butt welding. In this case, the laser sensor 72 adjusts the angle of the bracket to direct the butt.

It is apparent to those skilled in the art that the present invention is not limited to the described embodiments, and that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, such modifications or variations will have to belong to the claims of the present invention.

1 is a perspective view showing a robot for welding the steel pipe outer surface according to the present invention,

2 is an exploded perspective view showing the main part of FIG. 1;

3 is a perspective view showing a robot for welding the inner surface of the steel pipe according to the present invention;

4 is a perspective view showing an exploded view of the main part of FIG.

5 is a perspective view separately showing the rider and the adhesion force generator of the present invention,

6 is an exploded perspective view showing the main part of FIG. 5;

7 is a perspective view showing an assembled state of the adhesion force generator of FIG.

8 is a configuration diagram showing an operating state of the adhesion force generator of FIG.

* Description of the symbols for the main parts of the drawings *

10: body 12: handle

20: work machine 22: torch clamp

30: rider 32: driving wheel

34: drive shaft 36: motor

42: chain 44: bevel gear

50: adhesion force generator 52: magnet

53: hinge shaft 54: operating pin

56: link 62: lever

70: controller 72: laser sensor

74: illumination 76: camera

Claims (6)

In the robot which performs welding on the pipe connection (P) of the steel pipe: A body 10 for mounting the torch clamp 22 in a multi-axial motion; A travel device having a driving wheel 32 on the bottom of the body 10 and providing a driving force to the motor 36; An attachment force generator (50) having a magnet (52) on the bottom of the body (10) and intermittently fixing the attachment force to the steel pipe with a lever (62); And The controller 70 for driving and welding while maintaining a constant distance from the pipe connection part P, and photographing the welding state with the camera 76 to generate display data. The rider 30 is based on a method of independently driving the driving wheel 32 on one side and the driving wheel 32 on the other side with the respective motors 36 in the driving direction, and the front and rear driving wheels 32. It includes a drive shaft 34 for supporting the drive shaft, a chain 42 for connecting the front and rear drive shaft 34, and a bevel gear 44 for connecting each motor 36 and the drive shaft 34 on one side, The attachment force generator 50 has a magnet 52 rotatably installed via a hinge shaft 53, a link 56 connected to interlock with a lower end of the lever 62, and the other end of the link 56. Self-propelled steel pipe welding robot device characterized in that it comprises an operation pin (54) for connecting the magnet (52). delete The method of claim 1, The traveling wheel 32 of the traveling device 30 is a self-propelled steel pipe welding robot device, characterized in that in combination with polyurethane resin and rubber to increase the sliding friction and wear resistance. The method of claim 1, The motor 36 of the rider 30 uses a plurality of servo motors capable of forward and reverse rotation at a constant speed, and is connected to the driving wheel 32 on one side and the driving wheel 32 on the other side in the traveling direction, respectively. Self-propelled steel pipe welding robot device. delete The method of claim 1, The controller 70 controls to maintain the distance between the pipe portion P and the body 10 by using the laser sensor 72 of the front side during the forward movement, and to control the laser sensor 72 of the rear side during the backward movement. Self-propelled steel pipe welding robot device, characterized in that for controlling to maintain the distance between the pipe connection (P) and the body (10) by using.

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