KR101050815B1 - Connection method of steel pipe site construction using intelligent automatic welding robot - Google Patents

Abstract

Steel pipe construction method using the intelligent automatic welding robot according to the present invention, by using an automatic welding robot having an intelligent articulated robot arm structure configured to automatically weld the outer surface and the inner surface of the steel pipe, welding precision of the steel pipe connection In addition, the welding work can be performed more easily in a narrow construction space, and the angle of the equipment can be set appropriately according to the arrangement inclination of the steel pipe so that it can be mounted around the steel pipe. Of course, it also provides an effect that can be easily performed in the pipeline installation section inclined pipe installation section.

Articulated Robot, Slope, Grasp, Orthopedic, Jointed, Welded, Lifted

Description

Pipe line connecting method in construction site using intelligent robot}

The present invention relates to a steel pipe field construction connection method for forming a large steel pipe in a state arranged in series and welding the steel pipe connection.

Applicant has developed and applied for a patent for 'Steel Pipe Construction Method' to improve the workability, economy and safety by automatically conducting piping and welding when constructing large steel pipes of 600mm or more. It was patented under the registration number 10-0440555.

Then, the Applicant separates the outer welder from the steel pipe forming machine, and proceeds with the construction of the steel pipe by using the forming machine and the outer welder separately, thereby greatly shortening the preparation time as well as the construction time and cleanup time, and independent mechanisms. He also applied for a separate construction and secured the expertise of construction and developed a 'steel pipe construction method' that can achieve better construction performance, and applied for a patent, and was patented by the Korean Patent Office under the registration number 10-0847547. .

The applicant's patented inventions, such as the pipe installation work and welding connection work automatically performed during the construction of large steel pipes, which greatly improves the workability, economical efficiency, safety, etc., but a considerable load is applied in the inclined pipe construction section. The installation of steel pipes in an inclined state is not easy, so workability is low and there is a risk of safety accidents.

In addition, the above patented inventions are constructed so that welding devices can be welded using a robot structure combining a three-axis linear motion method of X, Y, and Z and a θ-axis rotational motion method, so that steel pipe welding must be welded in the circumferential direction. Considering this, there is a limit in realizing more precise and superior pipe welding work, and because the volume of welding devices is large, there is a limit in reducing the turning radius of the welding device in the actual construction section. There is a demand for technology development that can be performed more smoothly.

The present invention has been made to solve the above problems, by using an intelligent multi-joint automatic welding robot to automatically weld the outer surface and the inner surface of the steel pipe, improve the welding precision of the steel pipe connection and narrow construction space It is an object of the present invention to provide a method for connecting a steel pipe in the field construction using an intelligent automatic welding robot that can contribute to the improvement of welding quality and welding workability by enabling the welding operation easily.

In addition, the present invention, by setting the angle of the equipment according to the inclination of the steel pipes can be set appropriately, the intelligent automatic to make it easier to perform the pipe connection construction work in the horizontal pipeline installation section as well as inclined pipeline installation section It is an object of the present invention to provide a connection method for steel pipe construction using a welding robot.

In addition, the present invention, by mounting the second joint pipe to the first steel pipe after the connection to the second joint pipe to form the joint after forming and connecting both steel pipes by diversifying the steel pipe field construction connection method, steel pipe construction It is an object of the present invention to provide a method for connecting a steel pipe in the field construction using an intelligent automatic welding robot, which enables the steel pipe connecting construction to be performed more easily even in a changed condition.

Steel pipe construction site connection method using an intelligent automatic welding robot according to the present invention for realizing the above object, the alignment step of aligning the steel pipe in a line so as to connect the steel pipes to be constructed at the construction site; An angle adjusting step of adjusting a holding angle of the orthopedic joint to hold the steel pipe according to the inclination of the steel pipe aligned in the alignment step; A gripping step of transferring the orthopedic device at the gripping angle set through the angle adjusting step to mount the orthopedic device on the ends of both steel pipes aligned in the alignment step to hold the ends of both steel pipes; A shaping step of shaping the steel pipe so that both steel pipes can be aligned with each other by using the shaping device of the shaping device when the gripping step is completed; A steel pipe connecting step of connecting the two steel pipes formed in the shaping step by inserting or facing each other into the other steel pipe by using a traction device of the orthopedic joint; A step of separating the orthopedic device for separating the orthopedic device from the steel pipe after the step of connecting the steel pipe; After the step of separating the orthopedic device, the outer surface welding device for mounting a steel pipe outer surface automatic welding device having a six-joint robot operating structure around the steel pipe and automatically welding the outer surface of the steel pipe connection part in the circumferential direction by using the steel pipe outer surface automatic welding device. Steps; Before or after the outer welding step or at the same time, the inner surface of the steel pipe automatic welding device having a seven-joint robot operating structure is put into the steel pipe, the inner surface welding to automatically weld the inner surface of the steel pipe connection portion in the circumferential direction by using the steel pipe inner automatic welding device Characterized in that it comprises a step.

In addition, the steel pipe field construction connection method using an intelligent automatic welding robot according to the present invention for realizing the above object, the first steel pipe arrangement step of arranging the first steel pipe to be constructed at the construction site; A first gripping step of transporting the steel pipe shaping device and holding and holding one circular body of the shaping device on the steel pipe arranged in the first steel pipe arranging step; A second steel pipe input step of putting a second steel pipe to be connected to the first steel pipe in a line with the first steel pipe after the first gripping step; A second gripping step of mounting and holding the other circular body of the orthopedic joint on the second steel pipe inserted in the second steel pipe input step; A shaping step of shaping the steel pipes so that both steel pipes can be aligned with each other by using the shaping device of the shaping device when the second gripping step is completed; A steel pipe connecting step of connecting the two steel pipes formed in the shaping step by inserting or facing each other into the other steel pipe by using a traction device of the orthopedic joint; A step of separating the orthopedic device for separating the orthopedic device from the steel pipe after the step of connecting the steel pipe; After the step of separating the orthopedic device, the outer surface welding device for mounting a steel pipe outer surface automatic welding device having a six-joint robot operating structure around the steel pipe and automatically welding the outer surface of the steel pipe connection part in the circumferential direction by using the steel pipe outer surface automatic welding device. Steps; Before or after the outer welding step or at the same time, the inner surface of the steel pipe automatic welding device having a seven-joint robot operating structure is put into the steel pipe, the inner surface welding to automatically weld the inner surface of the steel pipe connection portion in the circumferential direction by using the steel pipe inner automatic welding device Characterized in that it comprises a step.

In the above, in the angle adjustment step, the grip angle of the orthopedic device is adjusted, by adjusting the connection position of the connection member connected to the lifting equipment, the connection device provided on the upper part of the orthopedic device, the center of gravity of the orthopedic device It is desirable to adjust the gripping angle by changing it.

In the outer surface welding step, when welding the outer surface of the steel pipe using the steel pipe outer surface automatic welding device, it is preferable to weld the steel pipe outer surface connecting portion while moving 180 ° section in the left and right direction from the lowest point of the steel pipe connecting portion.

At this time, the steel pipe outer surface automatic welding device used in the outer surface welding step, the holding device mounted on the circumference of the steel pipe, the traveling rail provided in the holding device, the automatic circumferential welding on the outer surface of the steel pipe connecting portion while moving along the traveling rail It is made of a multi-joint automatic welding robot, and when welding the steel pipe joint into 180 ° sections on both left and right sides, it is also possible to mount two articulated auto welding robots on the traveling rail to weld 180 ° sections on both sides. Do.

In the above inner surface welding step, when welding the inner surface of the steel pipe by using the automatic inner surface of the steel pipe, it is preferable to weld the steel and the inner surface connection part while moving the section 180 ° in the left and right directions from the lowest point of the steel pipe connection.

The main problem solving means of the present invention as described above, will be described in more detail and clearly through examples such as 'details for the implementation of the invention', or the accompanying 'drawings' to be described below, wherein In addition to the main problem solving means as described above, various problem solving means according to the present invention will be further presented and described.

Steel pipe construction site connection method using the intelligent automatic welding robot according to the present invention has the following effects.

The present invention is configured to automatically weld the outer surface and the inner surface of the steel pipe by using an automatic welding robot having an intelligent articulated robot arm structure, thereby improving the welding precision of the steel pipe connection and more easily in a narrow construction space Since it is possible to perform a welding operation, there is an effect that can contribute to improving the reliability and welding workability of the steel pipe connection portion.

The present invention is configured to be mounted around the steel pipe by properly setting the angle of the equipment according to the arrangement of the steel pipe, the horizontal (flat) pipeline installation section, as well as the inclined pipeline installation section more easily pipe connection construction work There is an effect that can be performed.

In another aspect, the present invention, after mounting the orthopedic fitting to the first steel pipe, the second steel pipe is input to connect to the orthopedic device, after which both steel pipes can be configured and then connected, the steel pipe field construction connection method It can be diversified, and thus, there is an effect of easily connecting the steel pipe construction work even in a state in which steel pipe construction conditions such as replacement of some steel pipes or input of some steel pipes are changed.

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

Steel pipe field construction connection method in the present invention, a large-scale steel pipe orthopedic device (Fig. 1 to 3b), a six-joint robot arm operation structure, largely easy to construct the inclined pipe construction intelligent robot device for implementing the circumferential welding operation on the outer surface of the steel pipe Steel pipe outer surface automatic welding device (Figs. 4 to 8h), 7-joint robot arm operating structure of the steel pipe inner surface automatic welding device (Fig. 9 to 16b) using an intelligent robot device for implementing the circumferential welding operation on the inner surface of the steel pipe Construct by using.

This will be described first with reference to the drawings attached to the apparatus used in the steel pipe construction method according to the present invention, and the steel pipe construction method (Fig. 17 to 27) using these devices will be described.

First, the steel pipe shaping device 100 easy to install the inclined pipe according to the present invention will be described.

1 to 3b is a view showing an orthopedic device easy to install inclined pipe according to the present invention, Figure 1 is a side configuration, Figure 2 is a mounting state in the inclined construction section, Figures 3a and 3b It is a front configuration diagram.

In the orthopedic device 100 according to the present invention, two circular bodies 111 and 112 are arranged side by side as shown in FIG. 1. Each of the circular bodies 111 and 112 is a semi-circular upper body 113 as shown in FIGS. 3A and 3B, and a quarter-shaped body 114 coupled to both sides of the upper body 113 to open and close. And 115) are assembled together.

That is, the upper body 113 is divided into a size of 1/2 in a circular structure, the quarter-shaped body (114, 115) is divided into a size of 1/4, and interassembled to dig around the steel pipe (P) It is a circular structure to help.

In addition, as shown in the drawings of the present embodiment it is also possible to divide the quarter-shaped body (114, 115) to configure a three-stage gripping structure from the upper center of the orthopedic joint (100).

In this case, each of the quarter-shaped bodies 114 and 115 is connected to the upper body 113, and the first quarter-shaped bodies 114a and 115a, and the second quarter-shaped bodies 114a and 115a are connected to each other. 114b, 115b). Of course, the second opening and closing device 150 including the hinge shaft 152 and the opening / closing cylinder 151 is installed between the first quarter-shaped bodies 114a and 115a and the second quarter-shaped bodies 114b and 115b.

The first and second quarter-shaped bodies (114a, 115a) (114b, 115b) is preferably formed of 1/8 size in the overall circular structure, respectively, mutual coupling of both second quarter-shaped bodies (114b, 115b) The locking device 155 to be described below is installed in the portion.

The upper portion of the circular body (111, 112) is provided with a connecting device 120, the connecting device 120 is configured in a sliding manner so that it can flexibly respond to the change in the gap between the two circular body (111, 112) and In addition, the inclination of the orthopedic device 100 is configured to be adjustable.

That is, the connecting device 120 is a support plate 121 connected vertically in both circular bodies, a fixed plate 123 fixed in the horizontal direction to the support 121 on the side of one circular body 112, the other circular Sliding plate 124 is connected to the body 111 and slidably coupled to the fixed plate 123 and the connection plate 125 is installed on the top of the fixed plate 123 is connected to the lifting equipment such as a crane Is done. In this case, the fixing plate 123, the sliding plate 124, and the connecting plate 125 may be additionally installed by reinforcing plates or structures, depending on the implementation conditions.

Therefore, when the distance between the two circular bodies 111 and 112 is adjusted, the sliding plate 124 moves linearly in the arrangement direction of the steel pipe with respect to the fixing plate 123 in a state in which both circular bodies 111 and 112 are connected to each other. It is possible to adjust the spacing.

In particular, the connection plate 125 is a portion to which the connecting member 128 of the lifting device is connected when the orthopedic device 100 is transferred using a lifting device such as a crane, and is a center of gravity of the orthopedic device 100. Based on the plurality of connection holes 126 has a structure arranged in a line in the horizontal direction.

This is in order to be mounted in the inclined state around the steel pipe by lifting and transporting the orthopedic device 100 according to the inclination arrangement angle of the steel pipe in the state that the steel pipe is inclined at the time of construction of the inclined section.

In the embodiment of the present invention, the connection plate 125 having a substantially '-' shaped structure is illustrated, but the structure that can adjust the inclination (tilt) of the orthopedic joint by changing to the total center of gravity of the orthopedic joint 100 Of course, the shape and structure of the back connection plate 125 can be changed in various ways.

The connecting plate 125 illustrated in the drawing is formed in a fixing part 125a for fixing the bolt to the fixing plate 123 by a method such as a '-' shape and installed in a vertical direction to the fixing part 125a. It consists of a connecting portion 125b. In this case, a plurality of connection holes 126 are formed in a line at predetermined intervals so as to connect a connection member such as a rope connected to a lifting equipment such as a crane. However, the structure is not necessarily limited to the hole structure, and a structure using a plurality of protruding rings or the like may be used as long as the structure can be mounted with a member connected from the lifting equipment.

In addition, it is also possible to configure the direction of the connecting plate 125 in the opposite direction (dashed line in Fig. 1), in this case, by loosening the bolts for fixing the connecting plate 125 to the fixing plate 123 connecting plate ( 125) can be arranged in the opposite direction and then bolted again.

Next, each of the circular bodies 111 and 112 includes a plurality of main shaping devices 130 for adjusting the roundness of the steel pipe and stably fixing the apparatus of the present invention around the steel pipe.

Referring to FIG. 3A, a plurality of main shaping devices 130 are installed in each of the circular bodies 111 and 112 at regular intervals. The shaping cylinders 131 operated by hydraulic pressure and the pads 132 at the ends of the cylinders are hydraulically operated. ) Is attached and configured to be in close contact with the outer surface of the steel pipe. On the other hand, the solenoid valve 133 for regulating the hydraulic pressure is formed on the side of the shaped cylinder 131.

Along with this, manual shaping devices 135 may be installed to manually form the main shaping device. The main shaping device 130 may be configured to operate the solenoid valve 133 to form a steel pipe in a centrally controlled manner. 135) is configured so that the operator can manually form the steel pipe after grasping the fixed state of the steel pipe.

This manual shaping device 135 may be provided between the main shaping devices 130, as shown in the figure, the configuration of the shaping cylinder 136, the pad 137 connected to the rod of the cylinder, and the cylinder It may be composed of a manual valve 138 for intermittent hydraulic pressure provided.

In addition, the manual shaping device 135 may be configured to finely shape the steel pipe by applying pressure to the pad by a ball screw method without using hydraulic pressure as described above.

In addition, the manual shaping device 135 is configured only on the upper body 113, it is also possible to configure the quarter-shaped body (114, 115) by placing a support plate. In addition, it is also possible to omit the main shaping device 130 installed in the quarter-shaped body, it can be configured in a structure that installs only the support plate. Since the structure of the support plate is known from the applicant's patent 0739106, specific drawing examples and descriptions are omitted.

As described above, when the main shaping device 130 and the manual shaping device 135 are used together, the steel shaping is primarily formed by using the main shaping device 130, and the shaping state of the steel pipe is secondarily determined after the manual shaping. The steel pipe can be finely shaped while the operator directly controls the amount of hydraulic pressure provided to the device 135. Therefore, before combining both steel pipes, the main shaping device 130 and the manual shaping device 135 can be used together to more precisely shape the shaping state of both steel pipes, so that the steel pipe connection work can be performed more conveniently. It becomes possible.

Next, a traction device 140 is provided between the both circular bodies 111 and 112, which is a steel pipe facing one steel pipe P formed by forming a traction cylinder 141 to operate. It is configured to allow insertion or abutment. In the vicinity of the traction cylinder 141, it is preferable that a traction guide rod 142 connecting both circular bodies 111 and 112 to each other is provided.

Next, when the coupling between the connecting portion of the upper body 113, the first quarter-shaped body (114a, 115a), the second quarter-shaped body (114b, 115b) around the steel pipe (P), the first and First and second including opening and closing cylinders 146 and 151 for allowing the second quarter-shaped bodies 114a, 115a, 114b, 115b to be gathered again as shown in FIG. 3A while being opened as shown in FIG. 3B. Opening and closing devices 145 and 150 are provided. Of course, hinge shafts 147 and 147 are connected to the upper body 113, the first quarter-shaped bodies 114a and 115a, the first quarter-shaped bodies 114a and 115a and the second quarter-shaped bodies 114b and 115b, respectively. 152 are connected.

Next, the locking device 155 is configured at the mutually opposite ends of the second quarter-shaped bodies 114b and 115b to prevent it from being opened when it is coupled to the circumference of the steel pipe. Since the locking device 155 is variously known in the applicant's patent inventions, a detailed description thereof will be omitted.

As described above, the orthopedic device 100 according to the present invention is composed of two circular bodies 111 and 112, and thus, the main orthopedic device 130 and the manual orthopedic device are formed on both circular bodies 111 and 112. The 135, the opening-closing device 145 and 150, the locking device 155, etc. are comprised, respectively.

A steel pipe outer surface automatic welding device using the intelligent robot device according to the present invention (hereinafter referred to as "steel pipe outer surface automatic welding device") will be described.

4 to 6 is a view showing a steel pipe outer surface automatic welding apparatus using an intelligent robot device according to the present invention, Figure 4 is a side view of the horizontal lifting and mounting state, Figure 5 is a side view of the inclined lifting and mounting state, Figure 6 Is a front view.

7 is a view showing the auxiliary equipment of the steel pipe outer surface automatic welding device, Figure 8a to 8h is a view showing a steel pipe outer surface welding method.

The steel pipe outer surface automatic welding device 200 using the intelligent robot device according to the present invention, the holding device 210 having a circular structure when closing so that it can be mounted around the steel pipe (P), and the holding device 210 It consists of a traveling rail 240 provided on one side, and a multi-joint automatic welding robot 250 for performing automatic circumferential welding on the outer surface of the steel pipe connecting portion while moving along the traveling rail 240.

The main components of such a steel pipe automatic welding device 200 will be described in detail.

First, the holding device 210 will be described.

When viewed from the side, the holding device 210 is composed of a plurality of mechanism devices such as a locking device 230, a fixing device 233 is installed between the two ring-shaped plate 212 as a whole. Several instrument devices are described in detail below.

The gripping apparatus 210 is configured to be rotatably connected to both upper ends of the upper body 216 having a semi-circular structure, and to both ends of the upper body 216 as shown in FIG. It consists of quarter-shaped bodies 216 and 217.

That is, the upper body 216 is divided into a size of 1/2 in a circular structure, the quarter-shaped body (216, 217) is divided into a size of 1/4, so as to be assembled together to hold the circumference of the steel pipe It will form a circular structure as a whole.

Referring to FIG. 4, an upper side of the upper body 216 is provided with a connection device 220 to lift or move the steel pipe outer surface automatic welding device 200 by using lifting equipment such as a crane.

The connection device 220 is mounted on the circumference of the steel pipe in a state in which the steel pipe outer surface automatic welding device 200 is inclined at the time of inclined section construction similar to the connection device 120 of the orthopedic device 100 described above. 4 and 5, the fixing plate 221 provided on the upper portion of the holding device 210, and the vertical direction on the upper portion of the fixing plate 221 and the longitudinal direction of the steel pipe Consisting of the connecting plate 223 is disposed as a whole 'b' shaped structure.

In particular, the connecting plate 223 is formed in a plurality of connecting holes 224 are arranged in a row to properly select the connection portion with the lifting equipment by the lifting of the steel pipe outer surface automatic welding device 200 and the slope of the steel pipe when mounting the steel pipe It is possible to adjust the inclined feed state according to.

In the drawings for referring to the present embodiment, the configuration of the connection hole 224 is illustrated, but the present invention is not limited thereto. If the structure can be connected to the lifting equipment, the structure may be changed to another structure such as a protruding ring.

4 and 5, reference numeral 225 denotes a connecting member such as a lifting rope connected from the lifting equipment.

If necessary, the connection device 220 may be configured to be assembled by rotating in a direction opposite to the direction illustrated in the drawing (the hidden line direction of FIG. 4). This is to loosen the bolt fastened between the fixing plate 221 or the connecting plate 223 with the structure of the holding device 210 connected thereto to rotate the connecting device 220 in the opposite direction, and then tighten the bolts again. Can be configured. Therefore, by changing the assembly direction of the connecting device 220 according to the inclination direction (left or right), it is possible to more easily work to mount or detach the steel pipe in the state in which the steel pipe outer surface automatic welding device 200 of the present invention is inclined. You lose.

The left and right positions of the connecting device 220 are not limited to the bolt assembly structure, and may be configured in a manner of being fixed again after the connecting device is rotated from the upper body 215.

Between the upper body 216 and the connection portion of the quarter-shaped body (216, 217) when the holding device 210 is coupled to the circumference of the steel pipe (P), the quarter-shaped body (216, 217) again in the open state An opening and closing device 226 is provided to collect.

The opening and closing device 226 is composed of a hydraulic cylinder 227, is provided to be connected between the upper body 216 and both quarter-shaped body (216, 217). Of course, the hinge 228 is provided at the connection portions of the upper body 216 and the quarter-shaped bodies 216 and 217 so that the quarter-shaped bodies 216 and 217 can be rotated by the opening and closing device 226.

The mutually opposite ends of both quarter-shaped bodies 216 and 217 are provided with a locking device 230 to prevent opening when coupled to the steel pipe around. The locking pin 231 constituting the locking device 230 in the state in which the coupling portions of both quarter-shaped bodies 216 and 217 are coupled to each other engages the two quarter-shaped bodies 216 and 217 by the operation of the locking cylinder 232. It is configured so that the locking operation can be realized by engaging together in the part.

A plurality of fixing devices 233 for stably mounting the steel pipe outer surface automatic welding device 200 around the steel pipe P between the ring-shaped plates 212 in the gripping device 210 are configured.

It is preferable that a plurality of fixing devices 233 are installed at regular intervals in the holding device 210, and the drawing illustrates a structure in which eight devices are installed. The fixing device 233 is provided with a fixed cylinder 234 which is operated by hydraulic pressure, the contact pad 235 is attached to the end of the cylinder 234 is configured to be in close contact with the outer surface of the steel pipe.

Next, the traveling rail 240 provided in the side surface of the holding device 210 is demonstrated.

The traveling rail 240 consists of the rail plate 241 which protrudes cylindrically from the side surface of the holding device 210, and the rail part 243 provided around this rail plate 241. As shown in FIG.

Here, the rail plate 241 and the rail portion 243 are divided into the upper body 216 and the quarter-shaped body 216, 217 in the gripping device 210 is configured, the rail portion 243 is It is preferable that the multi-joint automatic welding robot is composed of a plate member having a gear structure for smooth movement.

The running rail 240 may be implemented in various ways according to the implementation conditions.

Next, a multi-joint automatic welding robot 250 which realizes automatic welding on the outer surface of the steel pipe while moving along the traveling rail 240 will be described.

Multi-joint automatic welding robot 250 is configured to be welded to the outer surface of the steel pipe while driving freely using a continuous six-joint robot arm, the driving body 251, the driving unit 253, the articulated robot 255, Welding torch 260.

The travel body 251 is coupled to the rail portion 243 in a state of supporting the articulated robot 255 so as to travel in the circumferential direction along the rail portion 243. The traveling body 251 may be configured with a guide coupling portion which is movable along the traveling rail 240 and is not separated from the traveling rail 240. In addition, it is also possible to configure the driving body 251 to be able to travel in a state in which the driving body 251 is in close contact with the driving rail 240 using a magnetic material instead of the guide coupling portion.

The driving unit 253 is provided in the driving body 251 so that the driving body 251 can move along the rail portion 243, and the driving gear coupled to the rail portion 243 and rotated by the driving motor. It may be made of. Although not specifically illustrated in the drawings, the traveling gear is configured to move the multi-joint automatic folding robot 250 along the traveling rail 240 by being engaged with the gear teeth formed in the rail portion 243.

The traveling body 251 and the driving unit 253 are a traveling device disclosed in patent application No. 0778275 (automatic driving device for steel pipe outer surface welding robot) or patent 0829993 (traveling device for steel pipe automatic welding machine) developed and patented by the present applicant. It can be configured by applying any one of these. At this time, the configuration of the traveling rail 240 is also applied in the same manner as the configuration of the patent invention. Therefore, detailed description of the structure of the traveling body 251, the driving unit 253, the traveling rail 240, and the like will be omitted.

The articulated robot 255 is configured to enable welding of the steel pipe outer surface connecting portion while freely moving the welding torch 260 in the circumferential direction around the steel pipe outer surface using the robot arm connected in the articulated structure. The articulated robot 255 is made of a manipulator method. In the drawing of this embodiment, a six-joint robot arm structure connected to the robot base 257 is illustrated. Between the robot base 257 and each of the robot arms A1 to A6, axes X1 to X6 are provided for implementing degrees of freedom in the rotational direction of each robot arm, thereby implementing a total of six degrees of freedom (six axes). This illustrates a possible articulated robot 255 structure.

Such a six-joint robot structure is only one preferred example, and is not necessarily limited thereto. It is, of course, possible to configure a six-joint robot structure or less.

The articulated robot 255 includes a base plate 256 perpendicular to the traveling body 251, a robot base 257 supported on the front of the base plate 256, and a front of the robot base 257. A first arm A1 connected in a substantially horizontal direction to the first axis X1, a second arm A2 connected to a second axis X2 at a side of the first arm A1, and a second arm ( A third arm A3 connected to the end of A2 in the lateral direction with a third axis X3, and a fourth arm A4 rotatably connected to the third arm A3 with a fourth axis X4; The fifth arm A5 connected to the fifth axis X5 at the end of the fourth arm A4 and the sixth arm rotatably connected to the sixth axis X6 at the end of the fifth arm A5. It consists of (A6).

Here, each of the shafts (A1 ~ A6) is provided with a motor is configured so that each of the arms (A1 ~ A6) can be rotated, the end of the sixth arm (A6) to be equipped with a welding torch 260 Torch clamp 262 is provided.

The torch clamp 262 is preferably configured to be detachable from the articulated robot 255, and is preferably configured to connect a supply wire, a welding gas, a cooling fluid, a welding power source, and the like.

The multi-joint automatic welding robot 250 configured as described above is a steel pipe while being controlled by a welding control unit, that is, a control program (JOB) input to the robot control control box 273 to be described later, while being supported by the traveling body 251. It is configured to automatically use the outer connection of the.

A detailed welding control method of the articulated automatic welding robot 250 will be described in detail below.

Next, apart from the steel pipe outer surface automatic welding apparatus 200 as described above, various additional equipment 270 for supporting the equipment is further provided.

Additional equipment of the steel pipe outer surface automatic welding device 200 according to the present invention, as shown in Figure 7, the robot control control box 273 for implementing the control operation of the multi-joint automatic welding robot 250, and welding A welding control controller 274 for controlling the torch 260 and the supply wire, welding gas, cooling fluid, welding power supply, and the like installed around the welding torch, a cooling unit 275 for providing cooling water to the welding torch 260, Hydraulic device 276 for providing hydraulic pressure to the hydraulic actuating element provided in the holding device 210, and the main power drive unit for controlling the power supplied to the articulated automatic welding robot 250 and the like and various control elements ( 272) and the like.

The robot control control box 273, the welding control controller 274, the cooling unit 275, the hydraulic unit 276, the main power drive unit 272, etc. are mounted on a separate auxiliary equipment mounting mechanism to be configured together. desirable.

In addition, it is preferable that a wireless remote controller is provided to control all components controlling the apparatus of the present invention, such as the robot control control box 273, the welding control controller 274, the main power drive unit 272, and the like by a wireless system. Do. Of course, the present invention is not limited to a wireless system but may be implemented using a wired remote controller. Hereinafter, the wireless remote controller or the wired remote controller will be integrated into the operation terminal 279.

Now, an automatic welding method using the steel pipe outer surface automatic welding device 200 using the intelligent robot device configured as described above will be described.

First, the steel pipe outer surface automatic welding device 200 is transported and mounted around the steel pipes P connected to each other by using the above-described shaped joint device 100.

At this time, in the section where the pipeline is horizontally connected, as shown in Figure 4, the connection member 225 of the lifting equipment such as a crane is connected so that the steel pipe outer surface automatic welding device 200 is positioned approximately vertically, 5, the steel pipe outer surface automatic welding device 200 of the present invention is inclined by being connected to a position away from the center of the steel pipe outer surface automatic welding device 200, as shown in FIG. 5. It is lifted and transported in a photographic state so that it can be mounted around a steel pipe arranged obliquely.

Next, when the steel pipe outer surface automatic welding device 200 is mounted on the circumference of one steel pipe in the same manner as above, the holding device 210 using the locking device 230 in a state in which the hydraulic pipe is connected from the hydraulic device 276. ) Is fixed to the circumferential surface of the steel pipe, and the fixing cylinder 234 of the fixing device 233 is operated to completely fix the steel pipe outer surface automatic welding device 200 to the outer surface of the steel pipe.

Next, as described above, when the holding device 210 is completely fixed around one steel pipe and the setting of the equipment is completed, the power cable, the welding related line, and the like are connected to the articulated automatic welding robot 250, and the main Connect power to the power drive unit 272.

Next, the power is supplied to the main power drive unit 272 by operating a power switch of the operation terminal 279 for controlling the articulated automatic welding robot 250 or the like.

Next, power is also supplied to the robot control control box 273, the welding control controller 274, and the like to select a desired welding job program (JOB) according to the steel pipe welding condition. That is, as shown in FIGS. 8A, 8B, and 8C, when the servo on button is pressed on the operation button or the touch screen of the operation terminal 279, the servo power becomes valid, and when the servo power is applied. Servo on ready lights up. Then, one of the programs (JOB) already registered (programmed) is selected according to the welding work conditions of the steel pipe to be welded, such as the diameter and thickness of the steel pipe, the number of welding, and the like on the button or the touch screen of the terminal.

FIG. 8D shows a state in which the current A, voltage V, weaving condition, etc. are displayed in the selected program JOB, for example, 2600 mm-right-1 pass welding.

Next, by driving the multi-joint automatic welding robot 250 to perform a teaching operation to the welding point of the outer surface of the steel pipe to be welded to the welding torch 260 to input the welding position accurately. Since the roundness of the steel pipe already entered in the selected program JOB and the roundness of the outer surface of the actual steel pipe connection cannot be necessarily matched, welding point teaching is performed to properly set (register) the welding reference point. In this case, the teaching point is preferably teaching the upper, lower, left, right points of the steel pipe welded portion as shown in FIG.

In the point teaching method, when the arc is generated while the welding torch 260 is close to the outer surface of the steel pipe, the arc generating state is measured by an arc sensor included in the welding torch 260, and at this time, a multi-joint automatic welding robot ( A method of recognizing a welding point may be used through the position recognition of 250.

Next, when the teaching operation is completed at the plurality of welding points as described above, a pre master is executed to recognize the teaching position as a welding reference point.

In FIG. 8F, four points (UP, DOWN, LEFT, and RIGHT) of up, down, left, and right are recognized as reference points by premaster execution.

Next, when the play button is pressed on the operation terminal 279, the multi-joint automatic welding robot 250 and the welding torch 260 move 180 degrees left and right by the control operation of the robot control control box and the welding control controller. Automatic welding is performed on the external connection of the steel pipe.

In this case, as shown in FIG. 8G, the 180 ° sections are welded sequentially in the left and right directions with respect to the lower position (DOWN POSITION), which is the lowest point of the steel pipe. FIG. 8G illustrates a welding state of a steel pipe of the 2600A * 19T standard, and illustrates a welding sequence and a direction when a 3-pass welding is performed in the order of left 1pass, right 1pass, left 2pass, right 2pass, left 3pass, and right 3pass.

In the drawings, the welding direction has been described based on the upstream welding method. However, depending on the implementation conditions, the welding direction may be performed by the downstream welding method. In the case of downward welding, 180 ° sections are welded in order to both sides in the left and right direction around the top of the steel pipe.

In this case, it is preferable to use FCAW (Flux Cored Arc Welding) welding method for upstream welding as illustrated in FIG. 8G to improve welding quality, and GMAW (Gas Metal Arc Welding) welding for lower welding for faster welding. It is preferable to use a method. Since the present invention is to use a multi-joint automatic welding robot, it is possible to ensure the welding quality superior to the conventional welding method used even in the lower welding.

Next, after the automatic welding is performed in the above-described process, when the welding operation is completed, the welding operation is automatically stopped by the welding program.

Subsequently, when the welding operation of one steel pipe connection part is completed through the above process, the vehicle body is moved to the welding position of the next steel pipe connection part, and then the position is fixed, and the operation terminal 279 is immediately performed without teaching as shown in FIG. 8H. ), When the auto master is executed, the welding position is automatically calculated by calculating the position with all the welding points based on the four points recognized as the pre-master execution, and automatically welding in the order shown in FIG. 8G. Is carried out.

The reason why the teaching work is omitted is that the welding reference point of the actual steel pipe is set by the teaching work performed above, so that the teaching work is omitted in the continuous steel pipe of the same standard, and the welding is performed based on the recognized welding point by the initial teaching work. It is. Of course, it is also possible to reconfirm or reset the welding reference point after the additional teaching operation and to proceed with the welding operation in the order described above.

A steel pipe inner surface automatic welding device (hereinafter, also referred to as 'steel pipe inner surface automatic welding device') using the intelligent robot device according to the present invention will be described.

9 to 14 is a view showing a steel pipe inner surface automatic welding apparatus using an intelligent robot device according to the present invention, Figure 9 is a side view, Figure 10 is a plan view, Figure 11 is a plan view of the vehicle body configuration, Figure 12 is a front view, 13 is a front view of the accessory equipment side, Figure 14 is a back view of the accessory equipment side.

15 is an overall configuration diagram of a steel pipe inner surface automatic welding device using an intelligent robot device according to the present invention.

The steel pipe inner surface automatic welding device 300 using the intelligent robot device according to the present invention is provided with a car body 310 made to move the inside of the steel pipe, and the front of the car body 310 to weld the inner surface of the steel pipe. Joint automatic welding robot 370 and the welding torch 380, and is mounted on the rear upper portion of the vehicle body 310 is composed of a variety of auxiliary equipment 390 to support the automatic welding device 300 inner surface of the steel pipe.

Each configuration of the steel pipe inner surface automatic welding device 300 using the intelligent robot device according to the present invention will be described in detail.

First, the vehicle body 310 will be described.

Referring to FIG. 11, the vehicle body 310 includes a frame 311 that is elongated in the front-rear direction, a front wheel support 315 that is rotatably connected to the frame 311 in front of the frame 311, and a frame. A rear wheel support 320 rotatably connected to the frame 311 at the rear of the 311, and both wheels 317 and 330 provided on both of the front and rear wheel supports 315 and 320, respectively. And a driving mechanism 340 for driving rotation of both wheels 330 of the rear wheel support 320, and a holding device 360 for fixing the position of the vehicle body 310.

The front wheel support 315 may be configured as one support, unlike the rear wheel support 320, it is made of a configuration in which the wheels are installed one by one on both sides of the support. In particular, the front wheel support 315 is configured to enable the steering operation with respect to the frame 311, the steering operation mechanism 316 is installed between one side of the front wheel support 315 and the rear vehicle 310.

The steering actuator 316 is configured to rotate the front wheel support 315 through a change in length in a state supported by the rear vehicle 310, and employs a ball screw method for converting rotational force into linear motion by a motor. It can use, or it can comprise using a hydraulic cylinder system.

The rear wheel support 320 may be configured such that a pair of wheels 330 are installed at both sides thereof, and two pairs of wheels may be installed at both sides of one wheel support 320. At this time, the wheel support 320 is installed on the main support 321 rotatably connected to the frame 311, and in the direction orthogonal to the main support 321 on both sides of the main support 321, respectively Wheel brackets 323 to which the two pairs of wheels 330 are supported, and wheel connecting shafts that are positioned in parallel with the main support 321 at the front and rear of the main support 321 to connect both wheels 330 ( 325).

The main support 321 may have a substantially rectangular cylindrical structure.

The wheel bracket 323 is formed in a plate structure which is formed long in the front-rear direction and is erected in the vertical direction. Both wheels 330 and the wheel connecting shaft are fixed to the main support 321 by welding or fastening means. 325, the driving mechanism 340, and the like can be supported.

The wheel connecting shaft 325 is arranged side by side in front and rear around the main support 321, the front and rear wheel connecting shaft 325 is the center bracket 327 passing through the bottom of the center of the main support. It is preferable to be configured to interconnect through.

Here, the wheel connecting shaft 325 is configured to rotatably support the shaft of the wheel, it does not rotate itself, it may be installed to be fixed to the wheel bracket 323. Therefore, the center bracket 327 is configured to interconnect the front and rear wheel connecting shaft 325. In addition, the wheel connecting shaft 325 may be provided with a magnetic force generating mechanism 327 for generating a magnetic force to bring the vehicle body 310 in close contact with the inside of the tube.

The front and rear both wheels 317 and 330 are preferably formed in a structure in which the outer diameter gradually decreases from the inside of the wheel toward the outside so as to increase the contact area in contact with the inner surface of the pipe, and the wheel made of metal or the like. The outer ring, such as a synthetic resin or rubber material can be configured to increase the frictional force on the circumferential surface of the body and at the same time have a certain elastic force.

Next, the driving mechanism 340 may be configured to separately drive the rear both wheels 330, for which the electric motor 341 is installed on both wheel brackets 323, respectively.

Each wheel bracket 323 has a plurality of gear sets 343 are connected to each other so as to transmit power to the pair of wheels in each of the electric motors 341 is configured to transmit power to the wheels 330. The plurality of gear sets 343 serve to reduce the rotational force of the electric motors 341 and also transmit the driving force of the front wheels of the pair of wheels provided on one side to the rear wheels.

On the other hand, the vehicle body 310 has a horizontal sensor 350 for detecting the tilt of the vehicle body 310, the steering angle sensor 355 for detecting the steering angle state of the rear wheel support 315, 320 with respect to the frame 311, horizontal A steering control mechanism may be configured to receive signals from the sensor 350 and the steering angle sensor 355 and output a control signal to the driving mechanism 340.

In FIG. 11, the horizontal sensor 350 is installed at one upper portion of the rear main support 321, and the steering angle sensor 355 is connected to the frame 311 at an upper portion of the rear main support 321.

Horizontal sensor 350 is preferably installed on one side of the main support 321, but is not necessarily limited to this, if the position can detect the tilt of the vehicle body 310, by varying the installation position Of course it can be installed. Since the horizontal sensor 350 may be configured by selecting one of various known sensors capable of detecting the inclination of the vehicle body 310, a detailed description of the horizontal sensor 350 will be omitted. However, the horizontal sensor 350 provided in the present invention is preferably composed of a horizontal sensor 350 capable of measuring the left and right inclination of the vehicle body 310, respectively.

The steering angle sensor 355 is connected between the frame 311 and the main support 321 in a link structure to detect a movement state of the link to detect a rotation state of the main support 321 with respect to the frame 311 to adjust the steering angle. It is configured to be judged.

The steering control mechanism may be configured together with the main power driving unit 392 to be described later, and outputs a control signal by receiving signals from the horizontal sensor 350 and the steering angle sensor 355, but the vehicle is in a horizontal state inside the pipe. If not, the respective electric motors 341 are controlled so that the steering mechanism 316 of the front wheels can be controlled so that the horizontal state can be maintained, and the rotation speeds of the rear both wheels 330 are different. It is configured to be controlled.

That is, when the vehicle body 310 maintains the straight state as it travels through the curved portion, one wheel is raised upward along the inner surface of the tube, while the body 310 is generally lowered down the tube on the other side. It will tilt. At this time, the horizontal sensor 350 detects the inclination of the vehicle body 310, inputs a detection signal to the steering control mechanism, and the steering control mechanism determines the direction and angle of the inclination, and controls the steering actuator 316 of the front wheel. By controlling the number of rotations of the rear left and right wheels at the same time, the vehicle body 310 is controlled to travel while maintaining a horizontal state.

In the vehicle body 310 as described above, the middle portion of the frame 311 is provided with a gripping device 360 for fixing the car body 310 to a desired position, the gripping device 360 is the front wheel support 315 And the rear wheel support 320 is configured to be installed on the frame 311.

The holding device 360 is installed on the frame 311 in the left and right direction in the grip support 361 and, respectively, in the vertical direction on both ends of the grip support 361 is in close contact with the bottom surface through the change in length of the vehicle body 310 And a gripping actuator 363 for fixing the position of

Here, the holding actuator 363 can select and configure various well-known linear exercise mechanisms, if it is a structure which produces linear motion force. In the figure illustrates a configuration consisting of a hydraulic cylinder and a gripping pad 365 connected to or spaced from the bottom of the hydraulic cylinder is connected to the piston rod. Here, the gripping pad 365 is preferably configured to be connected to the end of the gripping actuator 363 by a UV joint to a certain degree of free movement.

Therefore, even when the vehicle body 310 travels, such as a curved pipe, the vehicle body 310 can stably run even in a curved section while maintaining the overall horizontal state. When the vehicle 310 enters the normal section, that is, the straight section again, the steering angle sensor 355 By using), the front wheel support 315 and the rear main support 321 is 90 ° to the frame 311 so that the vehicle body 310 can be stably traveled, and thus the pipeline of the straight section Of course, even in the pipeline of the curved section can always move in a horizontal state, when reaching the position to proceed the welding operation by operating the holding device 360 to fix the position of the vehicle body 310 in a horizontal position welding in a stable position fixed state You can work on it.

Next, the multi-joint automatic welding robot 370 provided at the front of the vehicle body 310 as described above will be described.

Multi-joint automatic welding robot 370 is configured to be welded to the inner surface of the steel pipe while freely moving the welding torch 380 in the circumferential direction by using the articulated robot arm 373, as a whole manipulator (Manipulator) method In the drawing of the present embodiment, a seven-joint robot arm structure connected to the robot base 372 is illustrated. Of course, axes are provided between the robot base 372 and the respective robot arms for implementing degrees of freedom in the direction of rotation of each robot arm. Therefore, the drawings illustrate a multi-joint robot structure capable of implementing a total of 7 degrees of freedom (7 axes). The 7-joint robot arm structure is just one preferred example, and is not necessarily limited thereto. It may be configured with a 7-joint or less robot arm structure.

The articulated automatic welding robot 370 includes a base plate 371 installed in front of the frame 311, a robot base 372 supported on the upper portion of the base plate 371, and an upper portion of the robot base 372. Of the first arm A1 vertically connected to the first axis X1, the second arm A2 connected to the second axis X2 at the side of the first arm A1, and the second arm A2. The third arm A3 connected to the third axis X3 at the upper portion, the fourth arm A4 connected to the fourth axis X4 at the upper portion of the third arm A3, and the fourth arm A4. The fifth arm A5 connected to the fifth axis X5 from the front, the sixth arm A6 connected to the sixth axis X6 at the end of the fifth arm A5, and the sixth arm A6. It consists of a seventh arm (A7) rotatably connected to the seventh axis (X7) to the end of the.

Here, each shaft (X1 ~ X7) is installed so that the motor is installed so that each arm (A1 ~ A7) is rotated, the end of the seventh arm (A7) to be equipped with a welding torch 380 Torch clamp 382 is provided.

The torch clamp 382 is preferably configured to be detachable from the articulated robot, and is preferably configured to connect a supply wire, a welding gas, a cooling fluid, a welding power source, and the like.

The multi-joint automatic welding robot 370 configured as described above is a control program (JOB) input to a welding control unit, that is, a robot control control box 393 to be described later, while being supported by the frame 311 through the robot base 372. Is controlled to control the inner surface of the steel pipe.

A detailed welding control method of the articulated joint welding robot 370 will be described in detail below.

Next, various auxiliary equipment 390 mounted on the rear of the vehicle body 310 will be described.

The base plate 391 is installed on the upper part of the rear frame 311 of the vehicle body 310 so that various accessory equipment 390 may be mounted.

On the upper part of the base plate 391, a robot control control box 393 which implements the control operation of the articulated automatic welding robot 370, a welding torch 380 and a feed wire installed around the welding torch, welding gas, cooling A welding control controller 394 for controlling fluid, welding power, and the like, a cooling unit 395 for providing cooling water to the welding torch 380, and a hydraulic oil supply element for supplying hydraulic pressure to the hydraulic actuating element of the steel pipe inner surface automatic welding device 300. The hydraulic device 396, a main power drive unit 392 for controlling the driving of the vehicle body 310, a control for driving a power source and various control elements provided to the steel pipe inner surface automatic welding device 300, and the like are provided.

The robot control control box 393, the welding control controller 394, the cooling unit 395, the hydraulic device 396, the main power drive unit 392, and the like are disposed on the base plate 391. It can be implemented by setting appropriately according to conditions. In the drawing of this embodiment, the robot control controller 393 and the welding control controller 394 are arranged side by side, the cooling unit 395 is disposed on the upper part of the welding control controller 394, and the main power driving unit (behind). 392 and the hydraulic device 396 are shown.

In addition, a wire supply reel may be provided to provide a feeding wire provided to the welding torch 380. The wire supply reel may be provided at the upper portion of the robot control control box 393 or the cooling unit 395. In the drawings of the embodiment shows a support bracket 397 is installed on the upper portion of the robot base 372, the wire supply reel 398 is installed on the support bracket 397. And the feeder 400 is installed to the rear of the fourth arm (A4) of the articulated robot arm 373 is configured to provide a wire provided from the wire supply reel (398) to the welding torch 380 side.

In addition, it is preferable that a wireless remote controller is provided to control all components controlling the apparatus of the present invention, such as the robot control control box 393, the welding control controller 394, the main power drive unit 392, and the like by a wireless system. Do. Of course, the present invention is not limited to a wireless system but may be implemented using a wired remote controller. Hereinafter, the wireless remote controller or the wired remote controller will be integrated into the operation terminal 399.

Now, the automatic welding method of the present invention using the steel pipe inner surface automatic welding device 300 using the intelligent robot device configured as described above will be described.

First, the steel pipe inner surface automatic welding device 300 of the present invention is introduced into a plurality of steel pipes connected to each other, and a power is connected to the main power driving unit 392.

Next, the power switch of the operation terminal 399 is operated to supply power to the steel pipe inner surface automatic welding device 300 of the present invention, and the operation terminal 399 is operated to move the vehicle body 310 to the welding position inside the steel pipe. Move it.

At this time, the vehicle body 310 may be moved forward or backward by the drive mechanism 340 installed on the rear wheel support 320 side, and the vehicle body 310 is kept horizontal by the horizontal sensor 350 and the steering angle sensor 355 or the like. You can move from the state. The driving of the vehicle body 310 may be controlled by the operation of the operation terminal 399, and the curved conduit section may be configured to be capable of traveling up to approximately 45 ° section and the inclined conduit section about 30 ° section.

Next, the vehicle body 310 of the steel pipe inner surface automatic welding device 300 of the present invention is fixed to the vehicle body 310 by using the holding device 360 at a distance away from the welding point position, for example, about 500 mm. . In this case, the distance 500 mm may be set to a distance from a welding point of the steel pipe connection part and the front end of the frame 311 to the vehicle body 310. In addition, the holding device 360 controls the front and rear movement of the vehicle body 310 by being held in close contact with the bottom of the steel pipe by the operation of the holding actuator 363, and uses a jointed-arm welding robot 370. This is to prevent the shaking of the entire automatic welding device when welding work.

Next, when setting of the vehicle body or the like to the welding position is completed, power is also supplied to the robot control control box 393, the welding control controller 394, and the like, and the desired welding job program (JOB) is selected according to the steel pipe welding conditions.

That is, the steel pipe can be implemented in the same manner as in the automatic pipe outer surface automatic welding method using the steel pipe outer surface automatic welding device 200 of the present invention, referring to Figures 8a, 8b, 8c in sequence, the operation terminal 399 Press the Servo on button on the control button or touch screen to activate the servo power, and Servo on ready turns on when the servo power is applied. Then, one of the programs (JOB) already registered (programmed) is selected according to the welding work conditions of the steel pipe to be welded, such as the diameter and thickness of the steel pipe, the number of welding, and the like on the button or the touch screen of the terminal.

Next, by driving the multi-joint automatic welding robot 370 to perform a teaching operation to the welding point of the inner surface of the steel pipe to be welded to the welding torch 380 to accurately input the welding position. Since the roundness of the steel pipe already input to the selected program (JOB) and the roundness of the inner surface of the steel pipe are not necessarily identical, the welding point teaching is performed to properly set (register) the welding reference point. At this time, it is preferable that the teaching point teaches the upper, lower, left and right points of the steel pipe welded portion as shown in FIG. 16A.

In the point teaching method, when the arc is generated while the welding torch 380 is close to the inner surface of the steel pipe, the arc generating state is measured by an arc sensor included in the welding torch 380. A method of recognizing a welding point may be used through position recognition of 370.

Next, when the teaching operation is completed at the plurality of welding points as described above, a pre master is executed to recognize the teaching position as a welding reference point.

Next, when the play button is pressed on the operation terminal 399, the articulated automatic welding robot 370 and the welding torch 380 are left and right by the control operation of the robot control control box 393 and the welding control controller 394. Automatically weld to the inner surface of the steel pipe by moving it 180 ° in sequence.

In this case, as shown in FIG. 16B, 180 ° sections are welded sequentially in the left and right directions with respect to the down position. FIG. 16B illustrates a welding state of a steel pipe of the 2600A * 19T standard, and illustrates a welding sequence and a direction when a 3-pass welding is performed in order of left 1pass, right 1pass, left 2pass, right 2pass, left 3pass, and right 3pass.

Similarly to the above-described automatic welding device for outer surface of a steel pipe, the automatic welding device for inner surface of a steel pipe may be carried out by a lower welding method depending on the conditions. In the case of downward welding, 180 ° sections are welded in order to the left and right sides of the innermost top of the steel pipe in order.

Here, it is preferable to use FCAW (Flux Cored Arc Welding) welding method for upstream welding as illustrated in FIG. 16B, and to use Gas Metal Arc Welding (GMAW) welding method for downstream welding.

Next, after the automatic welding is performed in the above-described process, when the welding operation is completed, the welding operation is automatically stopped by the welding program.

Subsequently, when the welding operation of one steel pipe connection is completed through the above process, the vehicle body 310 is moved to the welding position of the next steel pipe connection, and then the position is fixed and immediately operated without teaching as shown in FIG. 8H. When the auto master is executed in the terminal 399, the welding point is automatically calculated by calculating the position with all the welding points based on the four points recognized as the premaster execution, as shown in FIG. 16B. Perform automatic welding in sequence.

The reason for omitting the teaching operation is the same as in the automatic steel pipe outer surface welding method using the steel pipe outer surface automatic welding device 200 described above.

Referring to the steel pipe construction method according to the invention as follows.

The present invention, the steel pipe orthopedic device 100, the steel pipe outer surface automatic welding device 200 using an intelligent robot device, the steel pipe inner surface automatic welding device 300 using an intelligent robot device as described above, Install in order.

17 to 25 are sequence diagrams schematically showing a method for connecting a steel pipe site construction.

With reference to these drawings will be described in the field construction automatic welding method according to the present invention.

Steel pipe orthopedic fitting 100, steel pipe outer surface automatic welding device 200, steel pipe inner surface automatic welding device 300 and the like.

First, referring to FIG. 17, the steel pipes P are aligned so that the steel pipes to be constructed at the construction site are approximately straight.

Next, referring to FIG. 18, the steel pipe orthopedic fitting 100 is lifted by connecting the connection member 128 to the lifting equipment such as a crane (C).

Next, as shown in FIG. 19, the steel pipe shaping device 100 is introduced into the pipe construction section, and the steel pipe shaping device 100 is mounted on the ends of the aligned steel pipes P. Holding the ends of both steel pipes

That is, as shown in FIGS. 18 and 19, the steel pipe shaping device 100 is moved toward the steel pipe P connecting portion by using lifting equipment such as a crane C, and the opening and closing device 145 of the shaping device 100 is used. 150 and a locking device 155, etc., to be mounted on both steel pipes of both circular bodies 111 and 112 (see FIG. 20), and the main shaping device 130 and the manual shaping device (see FIG. 19). 135) and radially pressurize the outer surface of the steel pipe while shaping the ends of both steel pipes into a circle.

At this time, the main shaping device 130 is the primary shaping by providing the hydraulic pressure at the same time, the manual shaping device 135, after grasping the primary shaping state, the operator provides the hydraulic pressure while precisely shaping the steel pipe.

Next, as shown in FIGS. 20 and 21, the two steel pipes P are inserted into or joined to the other steel pipe P by using the traction device 140 of the orthopedic joint 100. That is, as shown in FIG. 20, the ends of both steel pipes operate the traction cylinder 141 of the traction device in a state where the end of each steel pipe is maintained by the steel pipe shaping device 100 so as to change one steel pipe as shown in FIG. Insert into side steel pipe (P) and connect.

At this time, both steel pipes are concentric in the state formed by the round pipe forming apparatus 100, so that the concentricity can be smoothly inserted and combined without any resistance.

Next, when the two steel pipes are coupled to each other as described above, the steel pipe shaping device 100 is separated from the steel pipe by using lifting equipment as shown in FIG. 22. At this time, the locking device is released in reverse, and the opening / closing cylinder is operated to open the quarter-shaped bodies 114 and 115, and then lifted and moved by lifting equipment such as a crane (C). Thereafter, the separated steel pipe shaping device 100 is moved to the next steel pipe connecting section, or stored in the construction site.

Next, before or after the separation of the steel pipe shaping device 100 (preferably before separation), the welding welding is performed at several places by manual welding to the connecting portions of the steel pipes connected to each other. At this time, the welding is performed before the full-scale welding by using the steel pipe outer surface automatic welding device 200 and the steel pipe inner surface automatic welding device 300, and the worker performs the welding welding where appropriate along the circumference of the pipe. .

Next, as shown in Figure 23, the steel pipe orthopedic fitting 100 is equipped with a steel pipe outer surface automatic welding device 200 to the connection portion of the separated steel pipe and performs the welding of the outer surface of the steel pipe. The steel pipe outer surface automatic welding device 200 is also transported using a crane lifting equipment similar to the steel pipe orthopedic device 100, and operated by the opening and closing device 226, the locking device 230, the fixing device 233, etc. It is mounted around one of the steel pipes.

Thereafter, the multi-joint automatic welding robot 250 is operated to perform automatic circumference welding on the outer surface of the steel pipe connection while moving along the travel rail 240.

Specific welding method using the steel pipe outer surface automatic welding device 200 is described in detail above with reference to the drawings shown in FIG.

On the other hand, in order to proceed more quickly using the steel pipe automatic welding device 200, as shown in Figure 24, two articulated automatic welding on one holding device 210 and the running rail 240 as shown in FIG. Robots 250A and 250B can be mounted and welded at the same time. That is, in the state where two multi-joint automatic welding robots 250A and 250B are mounted on the traveling rail 240, one semi-circular section of the steel pipe connection part is welded with one multi-joint automatic welding robot 250A, and the other Multi-joint automatic welding robot (250B) is to weld the other semi-circular section of the steel pipe connection at the same time. At this time, in order to prevent interference between the two articulated automatic welding robots 250A and 250B, one side of the steel pipe using one articulated automatic welding robot 250A is used to prevent interference of the two joint articulated robots 250A and 250B. At the left) and then start welding in the upward direction (①) and then move to a certain degree. Then, from the lowest point of the steel pipe to the other side (right in the drawing) and upward (②) using the other articulated robot 250B. Weld while moving.

At the end, the parts which are welded and met in both sections are processed by finishing welding using one multi-joint automatic welding robot 250.

As described above, the welding using two multi-joint automatic welding robots 250A and 250B can be performed by dividing the two sides in the above-described manner so that not only 1-pass welding but also 2-pass and 3-pass welding can be continuously performed. Welding work on steel pipe connections can be completed more quickly.

Next, as shown in FIG. 25, after the steel pipe outer surface welding, the steel pipe inner surface automatic welding device 300 is injected into the inside of the steel pipe, and after the vehicle body 310 is transferred to the welding portion, the multi-joint automatic welding robot 370. ) To perform automatic circumferential welding on the inner surface of the steel pipe connection.

The specific welding method using the steel pipe automatic welding device 300 is described in detail above with reference to the drawings shown in FIGS. 8 and 16, and thus, repeated description thereof will be omitted.

Such steel pipe inner surface connection welding can also proceed simultaneously with steel pipe outer surface welding.

On the other hand, in the steel pipe field construction connection method according to the present invention in the state in which both steel pipes are placed in close proximity as shown in Figure 17, as shown in Figure 20 by mounting the circular body of the orthopedic joint 100 to both steel pipes at the same time Although the construction method has been described, it may be constructed by mounting the orthopedic device on one steel pipe as illustrated in FIGS. 26 and 27, and then inserting the other steel pipe on the orthopedic device.

That is, as shown in Figure 26, using one circular body 112 of the orthopedic joint 100 is mounted on the steel pipe (P2) already arranged in the pipeline construction section, as shown in Figure 27 After the steel pipe (P1) is put into the other circular body 111 of the other side of the orthopedic joint 100, and then operating the opening and closing device, locking device, orthopedic device, traction device, etc. Both steel pipes may be shaped, towed and interconnected.

Subsequently, the construction process after FIG. 22 may be performed in the same manner as the steel pipe construction method of the present invention described above.

In addition, the steel pipe construction site connection method according to the present invention described above, the steel pipe construction section was described with a focus on the construction method of the horizontal pipe construction pipe, but in the inclined pipe construction section, as illustrated in FIG. After the joint device 100 is inclinedly transported, it is mounted on both steel pipes which are inclinedly arranged to perform steel pipe connection construction.

In addition, as illustrated in FIG. 5, the steel pipe outer surface automatic welding device 200 is also inclined to be inclined according to the inclination of the steel pipe disposed in the inclined pipe time section, and then mounted on the steel pipe to perform welding on the outer surface of the steel pipe connection.

Since the other steel pipe construction method is the same as the steel pipe construction method described above, repeated description is omitted.

On the other hand, in the embodiment of the present invention described above, the description was made with respect to the manner in which one steel pipe is inserted into the other steel pipe, but not limited to the construction method and apparatus according to the present invention even when the construction of both steel pipes in a butt joint method The same can be applied.

As described above, the technical ideas described in the embodiments of the present invention can be performed independently of each other, and can be implemented in combination with each other. While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is evident that many alternatives, modifications, and variations will be apparent to those skilled in the art. It is possible. Therefore, the technical protection scope of the present invention will be defined by the appended claims.

1 is a side configuration view showing an orthopedic device easy to install inclined pipe according to the present invention,

Figure 2 is a state of mounting in the inclined construction section of the orthopedic joint easy construction of the inclined pipe according to the present invention,

Figure 3a and Figure 3b is a front configuration diagram of the holding state and the open state of the orthopedic device easy to install inclined pipe according to the present invention.

Figure 4 is a side view showing a steel pipe outer surface automatic welding device using an intelligent robot device according to the present invention,

Figure 5 is a side view of the inclined lifting and mounting state of the steel pipe outer surface automatic welding apparatus using an intelligent robot device according to the present invention,

6 is a front view of a steel pipe outer surface automatic welding device using an intelligent robot device according to the present invention,

7 is an overall configuration diagram including the auxiliary equipment of the steel pipe outer surface automatic welding apparatus using the intelligent robot device according to the present invention,

8A to 8H are views for explaining a steel pipe outer surface welding method using a steel pipe outer surface automatic welding apparatus using an intelligent robot device according to the present invention,

9 is a side view of a steel pipe inner surface automatic welding device using an intelligent robot device according to the present invention,

10 is a plan view of the inner surface of the steel pipe automatic welding device using an intelligent robot device according to the present invention,

11 is a plan view showing a vehicle body configuration of the automatic welding device inside the steel pipe using an intelligent robot device according to the present invention;

12 is a front view of a steel pipe inner surface automatic welding device using an intelligent robot device according to the present invention,

13 is a front view of the auxiliary equipment side of the steel pipe automatic welding device using the intelligent robot device according to the present invention,

14 is a rear view of the auxiliary equipment side of the steel pipe inner surface automatic welding apparatus using the intelligent robot device according to the present invention,

15 is an overall configuration diagram of a steel pipe inner surface automatic welding device using an intelligent robot device according to the present invention,

16A to 16B are views for explaining a steel pipe inner surface welding method using a steel pipe inner surface automatic welding apparatus using an intelligent robot device according to the present invention,

17 to 25 is a flow chart schematically showing a method for connecting the steel pipe construction site according to the present invention,

26 and 27 are views of some processes showing another embodiment of the steel pipe construction method according to the present invention.

Claims (6)

An alignment step of aligning the steel pipes in a line so as to connect the steel pipes to be constructed at the construction site with each other; An angle adjusting step of adjusting a holding angle of the orthopedic joint to hold the steel pipe according to the inclination of the steel pipe aligned in the alignment step; A gripping step of transferring the orthopedic device at the gripping angle set through the angle adjusting step to mount the orthopedic device on the ends of both steel pipes aligned in the alignment step to hold the ends of both steel pipes; A shaping step of shaping the steel pipe so that both steel pipes can be aligned with each other by using the shaping device of the shaping device when the gripping step is completed; A steel pipe connecting step of connecting the two steel pipes formed in the shaping step by inserting or facing each other into the other steel pipe by using a traction device of the orthopedic joint; A step of separating the orthopedic device for separating the orthopedic device from the steel pipe after the step of connecting the steel pipe; After the step of separating the orthopedic device, the outer surface welding device for mounting a steel pipe outer surface automatic welding device having a six-joint robot operating structure around the steel pipe and automatically welding the outer surface of the steel pipe connection part in the circumferential direction by using the steel pipe outer surface automatic welding device. Steps; Before or after the external welding step or at the same time, the inner surface of the steel pipe automatic welding device having a seven-joint robot operating structure to the inside of the steel pipe, and the inner surface of the steel pipe connecting portion automatic welding in the circumferential direction by using the steel pipe automatic welding device Steel pipe construction site connection method using an intelligent automatic welding robot, characterized in that it comprises a step. A first steel pipe arrangement step of arranging the first steel pipe to be constructed at the construction site; A first gripping step of transporting the steel pipe shaping device and holding and holding one circular body of the shaping device on the steel pipe arranged in the first steel pipe arranging step; A second steel pipe input step of putting a second steel pipe to be connected to the first steel pipe in a line with the first steel pipe after the first gripping step; A second gripping step of mounting and holding the other circular body of the orthopedic joint on the second steel pipe inserted in the second steel pipe input step; A shaping step of shaping the steel pipes so that both steel pipes can be aligned with each other by using the shaping device of the shaping device when the second gripping step is completed; A steel pipe connecting step of connecting the two steel pipes formed in the shaping step by inserting or facing each other into the other steel pipe by using a traction device of the orthopedic joint; A step of separating the orthopedic device for separating the orthopedic device from the steel pipe after the step of connecting the steel pipe; After the step of separating the orthopedic device, the outer surface welding device for mounting a steel pipe outer surface automatic welding device having a six-joint robot operating structure around the steel pipe and automatically welding the outer surface of the steel pipe connection part in the circumferential direction by using the steel pipe outer surface automatic welding device. Steps; Before or after the outer welding step or at the same time, the inner surface of the steel pipe automatic welding device having a seven-joint robot operating structure is put into the steel pipe, the inner surface welding to automatically weld the inner surface of the steel pipe connection portion in the circumferential direction by using the steel pipe inner automatic welding device Steel pipe construction site connection method using an intelligent automatic welding robot, characterized in that it comprises a step. The method according to claim 1 or 2, In the angle adjustment step, the grip angle of the orthopedic device is adjusted by adjusting the connection position of the connection member connected to the lifting equipment and the connection device provided on the upper part of the orthopedic device, by changing the center of gravity of the orthopedic device Steel pipe construction site connection method using an intelligent automatic welding robot, characterized in that the gripping angle is adjusted. The method according to claim 1 or 2, In the outer surface welding step, when welding the outer surface of the steel pipe using the automatic steel pipe outer surface welding device, the steel pipe outer surface connecting portion is welded while moving in sequence 180 ° in the left and right direction from the lowest point of the steel pipe connection portion Steel pipe site construction connection method using automatic welding robot. The method according to claim 4, The steel pipe outer surface automatic welding device used in the outer surface welding step, the holding device mounted on the circumference of the steel pipe, the traveling rail provided in the holding device, the automatic circumferential welding to the outer surface of the steel pipe connection portion while moving along the traveling rail Made of multi-joint automatic welding robot, When welding the steel pipe joints into 180 ° sections on both left and right sides, two multi-joint automatic welding robots are mounted on the traveling rails to weld the left and right sides 180 ° sections, respectively. How to connect. The method according to claim 1 or 2, In the inner surface welding step, when welding the inner surface of the steel pipe using the automatic pipe inner surface welding device, the steel and the inner surface connecting portion while welding in sequence by moving the 180 ° section in the left and right directions from the lowest point of the steel pipe connection portion Steel pipe site construction connection method using automatic welding robot.

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