KR101108933B1 - Device for automatically welding inside-joint portion of steel pipes using intelligent robot and method for automatically welding thereof - Google Patents

Abstract

Steel pipe automatic welding device using the intelligent robot device according to the present invention, the vehicle body made to move the inside of the steel pipe; A multi-joint automatic welding robot provided at the front of the vehicle body and continuously connecting the robot arms having a multi-joint structure to circumferentially weld the inner surface of the steel pipe connection part; Mounted at the rear of the vehicle body to drive the vehicle body, to control the multi-joint automatic welding robot, and to support the welding operation by the auxiliary equipment to improve the welding quality of the steel pipe inner surface weld portion and improve the welding workability It can be effective.

Steel pipe, robot, articulated, robot arm, grip, body

Description

Device for automatically welding inside-joint portion of steel pipes using intelligent robot and method for automatically welding approximately}

The present invention relates to a steel pipe inner surface automatic welding device using an intelligent robot device for welding the inner surface of the steel pipe connection in a state in which a large steel pipe connected in series, and an automatic welding method using the same.

Applicant has applied for a number of invention patents based on the results of continuous research and development for the automatic welding of the inner surface of the steel pipe used in the construction of the steel pipe connection, the welding robot of the inner surface of the steel pipe (Patent No. 0490228), the inner surface of the steel pipe We have patented a welding device (Patent No. 0831994), an inner surface joining part welding device for large diameter steel pipes (Patent 00808916), an inner surface joining part welding device for small diameter steel pipes (Patent 0765861), and the like.

The steel pipe inner surface automatic welding device of the present invention is configured to travel inside the steel pipe, and the welding torch circumferentially welds the inner surface of the steel pipe connecting portion by combining a linear motion in the X, Y, and Z directions and a rotational motion in the θ direction. Consists of the configuration.

However, the above patented invention, automatic welding device inside the steel pipe, contributed to the improvement of the workability of the steel pipe welding and the improvement of welding quality. Rather than the circumferential direction of welding, there is a problem in that there is a limit in realizing higher welding workability and improving welding precision.

The present invention has been made to solve the above problems, by using an intelligent multi-joint automatic welding robot configured to weld the inner surface of the steel pipe to improve the welding quality and to improve the workability of the intelligent robot device It is an object of the present invention to provide an automatic welding device using an inner surface of a steel pipe and an automatic welding method using the same.

Steel pipe inner surface automatic welding device using an intelligent robot device according to the present invention for realizing the above object, the vehicle body made to move the inside of the steel pipe; A multi-joint automatic welding robot provided at the front of the vehicle body and continuously connecting the robot arms having a multi-joint structure to circumferentially weld the inner surface of the steel pipe connection part; It is mounted to the rear of the vehicle body, characterized in that it includes additional equipment for controlling the multi-joint automatic welding robot while driving the vehicle body, and supports the welding operation.

The vehicle body includes a frame elongated in the front-rear direction, a front wheel support rotatably connected to the frame at the front of the frame, a rear wheel support rotatably connected to the frame at the rear of the frame, and front and rear wheels. It is preferable to include both wheels provided on both sides of the support, a drive mechanism for rotating the wheels on both sides of the rear wheel support, and a gripping device provided on the frame to fix the position of the vehicle body inside the steel pipe.

A steering actuator may be installed between one side of the front wheel support and the rear frame to adjust a steering state of the front wheel support with respect to the frame.

The rear wheel support may include a main support rotatably connected to the frame, wheel brackets installed on both sides of the main support in a direction orthogonal to the main support, and supporting the two pairs of wheels; It is preferable to include a plurality of wheel connecting shaft which is located in the direction parallel to the main support from the rear to connect both wheels.

A horizontal sensor is installed on the upper part of the main support to detect the inclination of the vehicle body, and a steering angle sensor is installed to determine a steering angle by detecting a rotation state of the main support between the frame and the horizontal sensor. It is preferable to include a steering control mechanism for receiving the signal of the steering angle sensor to control the drive mechanism so that the number of revolutions of the rear both wheels so that the vehicle body is maintained in a horizontal state.

The gripping apparatus is configured to include a gripping support that is installed in the frame long in the left and right direction, and a gripping actuator that is installed in each of the both ends of the gripping support in the vertical direction and in close contact with the bottom surface through a change in length to fix the position of the vehicle body desirable.

The multi-joint automatic welding robot may be configured to enable automatic circumferential welding of the inner surface of the steel pipe using a continuous seven-joint robot arm.

In this case, the multi-joint automatic welding robot is a base plate installed in front of the vehicle body, the robot base supported on the upper portion of the base plate, a first arm vertically connected to the upper portion of the robot base in the first axis, the first arm A second arm connected by a second axis at the side of the third arm, a third arm connected by a third axis to the upper part of the second arm, a fourth arm connected by a fourth axis to the upper part of the third arm, and the front of the fourth arm In the fifth arm connected to the fifth axis, the sixth arm connected to the sixth end of the fifth arm and the sixth arm rotatably connected to the seventh axis to the end of the sixth arm torch clamp And a seventh arm to be mounted, wherein each of the shafts is connected to a motor and configured to rotate the respective robot arms.

The auxiliary equipment includes a robot control control box for implementing a control operation of the multi-joint automatic welding robot, a welding control controller for controlling a welding torch and welding peripheral equipment, a cooling unit for providing coolant to the welding torch, and an inner surface of a steel pipe. It includes a hydraulic device for providing pressure oil to the hydraulic operation element of the automatic welding device, the main power drive unit for controlling the driving of the vehicle body and the control for driving the power and various control elements provided to the automatic welding device inside the steel pipe It is preferable.

The automatic welding method using the steel pipe inner surface automatic welding device using the intelligent robot device according to the present invention for realizing the above problems, the automatic welding method using the steel pipe inner surface automatic welding device, the steel pipe inner surface automatic welding device inside the pipeline A first step of inserting and moving the distance up to a distance from the welding point position and then fixing the vehicle body using a holding device; After the first step, a second step of selecting one of the programs already registered in the control unit according to the welding operation conditions of the steel pipe using the operation terminal; After the second step, a third step of operating a multi-joint automatic welding robot to teach a plurality of welding points on the inner surface of the steel pipe using a welding torch to accurately input a welding position; A fourth step of executing a premaster for recognizing a welding position according to the teaching operation input in the third step as a welding reference point; And a fifth step in which the multi-joint automatic welding robot automatically welds the inner surface of the steel pipe according to the program selected in the second step based on the welding reference point recognized in the fourth step.

Here, in the fifth step, it is preferable to weld 180 ° sections in order in the upper left and right directions around the lowest point of the steel pipe.

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 inner surface automatic welding device using an intelligent robot device according to the present invention and automatic welding method using the same, because the inner surface of the steel pipe using an automatic welding robot having an intelligent multi-joint structure is configured to automatically weld the inner surface of the steel pipe In addition to improving the welding quality, there is an effect that can improve the welding workability.

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

1 to 6 is a view showing a steel pipe inner surface automatic welding apparatus using an intelligent robot device according to the present invention, Figure 1 is a perspective view, Figure 2 is a side view, Figure 3 is a plan view, Figure 4 is a front view, Figure 5 Ancillary equipment side front view, FIG. 6 is a rear view.

7 is an overall configuration diagram of a steel pipe inner surface automatic welding device using an intelligent robot device according to the present invention, Figure 8 is a plan view showing a vehicle body configuration of the steel pipe inner surface automatic welding device according to the present invention.

The steel pipe inner surface automatic welding device using the intelligent robot device according to the present invention, the car body 310 made to move the inside of the steel pipe, and the multi-joint automatic welding provided on the front of the car body 310 to weld the inner surface of the steel pipe The robot 370 and the welding torch 380 and various auxiliary equipment 390 mounted on the rear upper portion of the vehicle body 310 to support the steel pipe inner surface automatic welding device of the present invention and the like.

Each configuration of the steel pipe automatic welding device 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. 8, 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, and consists of a configuration in which wheels are installed one on each side 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 bracket 323 to which the two pairs of wheels 330 are supported, and the wheel connecting shaft that is located 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 the 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 preferably configured to be interconnected 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 drive mechanism 340 may be configured to separately drive the rear both wheels 330, for this purpose, 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 inclination of the vehicle body 310, a steering angle sensor 355 for detecting the steering angle of the rear wheel support 315, 320 with respect to the frame 311, A steering control mechanism may be configured to receive signals from the horizontal sensor 350 and the steering angle sensor 355 and output a control signal to the driving mechanism 340.

In FIG. 8, the horizontal sensor 350 is installed on one upper side of the rear main support 321, and the steering angle sensor 355 is connected to the frame 311 on the opposite upper side.

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 that can measure 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 it is not maintained, the steering mechanism 316 of the front wheels are controlled so that the horizontal state can be maintained, and the respective electric motors 341 are controlled to have different rotation speeds of the rear wheels 330. Configured to do so.

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 holding pad 365 connected to or spaced from the bottom of the hydraulic cylinder and 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, a 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. Accordingly, 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 so as to automatically melt the inner connection 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, etc., a cooling unit 395 for providing cooling water to the welding torch 380, and a hydraulic device for providing pressure oil to the hydraulic actuating elements of the automatic welding device inside the steel pipe ( 396 and a main power drive unit 392 for controlling the driving of the vehicle body 310 and the control for driving the power source and various control elements provided to the steel pipe automatic welding apparatus.

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.

The automatic welding method of the present invention using the steel pipe inner surface automatic welding device using the intelligent robot device according to the present invention configured as described above will be described.

First, a steel pipe inner surface automatic welding device of the present invention is introduced into a pipe line interconnected with a plurality of steel pipes, and 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 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.

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 automatic steel pipe inner surface welding apparatus 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, as shown in the sequence of FIGS. 9A, 9B, and 9C, when the servo on button is pressed on the operation button or the touch screen of the operation terminal 399, 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. 9D 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 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, the teaching point is preferably teaching the upper, lower, left, right points of the welded steel pipe as shown in Figure 9e.

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.

In FIG. 9F, four points (UP, DOWN, LEFT, 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 399, the articulated automatic welding robot 370 and the welding torch 380 are rotated 180 by the control operation of the robot control control box 393, the welding control controller 394, and the like. ° Weld to the inner joint of steel pipe automatically by moving the section one by one.

At this time, the welding direction, as shown in Figure 9g, each 180 ° section in the left and right direction around the DOWN POSITION in order to weld. FIG. 9G 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.

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. 9G to improve welding quality, and GMAW (Gas Metal Arc Welding) for downstream welding for faster welding. It is preferable to use a welding method. 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.

Then, when the welding operation of one steel pipe connection is completed through the above process, after moving the vehicle body 310 to the welding position of the next steel pipe connection, the position is fixed, and directly manipulated without teaching as shown in Figure 9h When the auto master is executed in the terminal 399, the position with all the welding points is automatically calculated based on the four points recognized as the premaster execution, and the welding points are automatically calculated. Automatic welding is performed by

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.

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. In addition, the present invention has been described through the embodiments described in the drawings and the detailed description of the invention, which is merely exemplary, and those skilled in the art to which the present invention pertains various modifications and equivalent other embodiments therefrom It is possible. Accordingly, the technical scope of the present invention should be determined by the appended claims.

1 is a perspective view showing a steel pipe inner surface automatic welding device using an intelligent robot device according to the present invention,

Figure 2 is a side view showing a steel pipe inner surface automatic welding device using an intelligent robot device according to the present invention,

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

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

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

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

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

8 is a plan view showing a vehicle body configuration of the steel pipe automatic welding apparatus according to the present invention,

9A to 9H are flowcharts illustrating an automatic welding method using an automatic welding device for inner surface of a steel pipe using an intelligent robot device according to the present invention.

Claims (11)

delete A vehicle body configured to move inside the steel pipe; A multi-joint automatic welding robot provided at the front of the vehicle body and continuously connecting the robot arms having a multi-joint structure to circumferentially weld the inner surface of the steel pipe connection part; It is mounted to the rear of the vehicle body and drives the vehicle body, and includes an auxiliary equipment for controlling the multi-joint automatic welding robot, and supports the welding operation, The vehicle body includes a frame elongated in the front-rear direction, a front wheel support rotatably connected to the frame at the front of the frame, a rear wheel support rotatably connected to the frame at the rear of the frame, and front and rear wheels. Intelligent robotic device comprising both wheels provided on both sides of the support, a driving mechanism for rotating the wheels on both sides of the rear wheel support, and a gripping device provided on the frame to fix the position of the vehicle body inside the steel pipe. Automatic welding device for inner surface of steel pipe. The method according to claim 2, A steel pipe inner surface automatic welding device using an intelligent robot device, characterized in that a steering operation mechanism for adjusting the steering state of the front wheel support with respect to the frame is installed between one side and the rear frame of the front wheel support. The method according to claim 2, The rear wheel support may include a main support rotatably connected to the frame, wheel brackets installed on both sides of the main support in a direction orthogonal to the main support, and supporting the two pairs of wheels; The inner side of the steel pipe automatic welding device using an intelligent robot device, characterized in that it comprises a plurality of wheel connecting shaft which is located in the direction parallel to the main support from the rear to connect both wheels. The method according to claim 4, A horizontal sensor is installed on the upper part of the main support to detect the inclination of the vehicle body, and a steering angle sensor is installed to determine a steering angle by detecting a rotation state of the main support between the frame and the horizontal sensor. Automatic welding device inside the steel pipe using an intelligent robot device, comprising a steering control mechanism for controlling the driving mechanism so that the number of rotations of the rear wheels is different so that the vehicle body can be maintained in a horizontal state by receiving a signal from the steering angle sensor. . The method according to claim 2, The gripping apparatus is characterized in that it comprises a gripping support which is installed in the frame long in the left and right direction, and a gripping actuator which is respectively installed in the vertical direction at both ends of the gripping support in close contact with the bottom surface through a change in length to fix the position of the vehicle body; Automatic welding device inside the steel pipe using intelligent robot device. A vehicle body configured to move inside the steel pipe; A multi-joint automatic welding robot provided at the front of the vehicle body and continuously connecting the robot arms having a multi-joint structure to circumferentially weld the inner surface of the steel pipe connection part; It is mounted to the rear of the vehicle body and drives the vehicle body, and includes an auxiliary equipment for controlling the multi-joint automatic welding robot, and supports the welding operation, The multi-joint automatic welding robot is a steel pipe inner surface automatic welding device using an intelligent robot device, characterized in that configured to enable automatic circumferential welding of the inner surface of the steel pipe using a continuous seven-joint robot arm. A vehicle body configured to move inside the steel pipe; A multi-joint automatic welding robot provided at the front of the vehicle body and continuously connecting the robot arms having a multi-joint structure to circumferentially weld the inner surface of the steel pipe connection part; It is mounted to the rear of the vehicle body and drives the vehicle body, and includes an auxiliary equipment for controlling the multi-joint automatic welding robot, and supports the welding operation, The articulated robot may include a base plate installed at the front of the vehicle body, a robot base supported on the upper part of the base plate, a first arm vertically connected to the upper part of the robot base at a first axis, and at the side of the first arm. A second arm connected by a second axis, a third arm connected by a third axis to the upper part of the second arm, a fourth arm connected by a fourth axis to the upper part of the third arm, and a fifth from the front of the fourth arm A fifth arm connected to the shaft, a sixth arm connected to the sixth end of the fifth arm, and a seventh axis rotatably connected to the sixth arm of the sixth arm to which the torch clamp is mounted at the end; Including 7 cancer, The inner surface of the steel pipe automatic welding device using an intelligent robot device, characterized in that the motor is connected to each axis is configured to rotate the respective robot arms. A vehicle body configured to move inside the steel pipe; A multi-joint automatic welding robot provided at the front of the vehicle body and continuously connecting the robot arms having a multi-joint structure to circumferentially weld the inner surface of the steel pipe connection part; It is mounted to the rear of the vehicle body and drives the vehicle body, and includes an auxiliary equipment for controlling the multi-joint automatic welding robot, and supports the welding operation, The auxiliary equipment includes a robot control control box for implementing a control operation of the multi-joint automatic welding robot, a welding control controller for controlling a welding torch and welding peripheral equipment, a cooling unit for providing coolant to the welding torch, and an inner surface of a steel pipe. A hydraulic device for supplying pressure to the hydraulic actuating element of the automatic welding device, a main power drive unit for controlling the driving of the vehicle body and a control for driving power and various control elements provided to the automatic welding device inside the steel pipe. Automatic welding device inside the steel pipe using intelligent robot device. An automatic welding method using the steel pipe inner surface automatic welding device according to any one of claims 2 to 9, A first step of inserting the inner surface of the steel pipe automatic welding device and moving the distance to a distance from the welding point position, and then fixing the vehicle body using a holding device; After the first step, a second step of selecting one of the programs already registered in the control unit according to the welding operation conditions of the steel pipe using the operation terminal; After the second step, the multi-joint automatic welding robot is operated to teach a plurality of welding points on the inner surface of the steel pipe by using the welding torch to accurately input the welding position. The welding torch is in close proximity to the inner surface of the steel pipe. A third step of generating an arc to measure an arc generation state and recognizing a welding point by recognizing a position of the articulated robot; A fourth step of executing a premaster for recognizing a welding position according to the teaching operation input in the third step as a welding reference point; Automatic welding using a steel pipe inner welding device, comprising a fifth step in which the multi-joint automatic welding robot automatically welds the inner pipe joints according to the program selected in the second step based on the welding reference point recognized in the fourth step. Way. The method according to claim 10, In the fifth step, the automatic welding method using the inner surface automatic welding device of the steel pipe, characterized in that the welding in each order 180 ° intervals in the upper left and right direction around the lowest point of the steel pipe.

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