KR101142264B1 - Device for automatically welding outside-joint portion of steel pipes using intelligent robot and method for automatically welding thereof - Google Patents

Abstract

Steel pipe outer surface automatic welding device using an intelligent robot device according to the present invention and automatic welding method using the same, the gripping device having a circular structure when closing to be mounted around the steel pipe, and a cylindrical structure on one side of the gripping device It includes a traveling rail provided to protrude, and a robotic arm having a multi-joint structure continuously connected to each other and a multi-joint automatic welding robot for automatically circumferentially welding the outer surface of the steel pipe connection while moving around the steel pipe along the travel rail. In addition, the welding work can be easily performed even in a narrow construction space, and the welding quality and welding workability can be improved when welding the outer surface of the steel pipe connection part.

Steel pipe, robot, articulated, robot arm, grip, connecting device, center of gravity

Description

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

The present invention relates to a steel pipe outer surface automatic welding device for welding a steel pipe outer surface connecting portion 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 the research and development of the automatic welding equipment for the outer surface of the steel pipe used in the connection construction of the steel pipe, the welding device of the outer joint of the steel pipe (patent 0829993), the automatic welding device of the outer surface of the steel pipe ( Patent 0808914), TIG automatic welding device and method (Patent 0739104) of field construction, TIG automatic welding device of steel pipe (Patent 0739109), automatic driving device of robot welding pipe outside surface (Patent 0778275), steel pipe TIG automatic welding device (patent 0889585), traveling device of steel pipe automatic welding machine (patent 0829993) and the like has been patented.

The steel pipe outer surface automatic welding apparatus of this patent invention is a device which circumferentially welds the outer surface of a steel pipe connection part by combining the linear motion of a welding torch in the X, Y, Z direction, and the rotational motion of (theta) direction.

Conventional steel pipe outer surface automatic welding device, including the applicant of the present invention as described above, because it is mounted around the large steel pipe has a considerable size and load, most of which is transferred using a lifting equipment such as a crane. In this case, in order to install the automatic welding device on the outer surface of the steel pipe arranged obliquely, the automatic welding device on the outside surface of the steel pipe should also be mounted on the circumference of the steel pipe with the steel pipe external welding device inclined. There is a problem in that it is not easy to install the steel pipe automatic welding device on the steel pipe, such as to be mounted in an inclined position while pushing directly, and there is a possibility of a safety accident.

In addition, the conventional automatic welding device for the outer surface of the steel pipe including the applicant's patent invention has the effect of greatly improving workability, economical efficiency, safety, etc. by automatically performing the pipe installation work and welding during the construction of large steel pipe, X, Y Since the Z-axis 3-axis linear movement can be welded using the θ-axis rotation method, the steel pipe welding has a limitation in realizing a more precise and superior pipe welding operation in view of the particularity of the circumferential welding. It is difficult to use in narrow steel pipe construction space.

The present invention has been made to solve the above problems, by using an intelligent multi-joint automatic welding robot configured to weld the outer surface of the steel pipe to improve the welding precision and to be able to work in a narrow construction space, An object of the present invention is to provide an automatic welding device for an outer surface of a steel pipe using an intelligent robot device that can improve welding quality and workability, and an automatic welding method using the same.

In addition, the present invention, when lifting and mounting the equipment by using the lifting equipment, the steel pipe outer surface using an intelligent robot device that can be used in the pipeline connection construction work as well as flat pipe installation section as well as inclined pipe installation section with a simple structure An object of the present invention is to provide an automatic welding device and an automatic welding method using the same.

Steel pipe outer surface automatic welding device using an intelligent robot device according to the present invention for realizing the above object, the gripping device having a circular structure when closed to be mounted around the steel pipe; A traveling rail provided to protrude in a cylindrical structure on one side of the holding device; Robot arm having a multi-joint structure is continuously connected, characterized in that it comprises a multi-joint automatic welding robot for automatically circumferentially welding the outer surface of the steel pipe connecting portion while moving around the steel pipe along the running rail.

The gripping device is provided with a connecting device for lifting or moving the steel pipe outer surface automatic welding device using the lifting equipment at its upper end, the connecting device is the inclination of the steel pipe disposed in the inclined section during the construction of the inclined section of the pipe According to the present invention, it is preferable to be configured to change the position of the part connected to the lifting equipment in accordance with the inclination of the steel pipe to be mounted around the steel pipe in a state in which the holding device is inclined.

At this time, the connecting device, the fixing plate provided on the upper portion of the holding device, the connection is formed in the vertical direction on the upper portion of the fixing plate and a plurality of connecting holes formed in the longitudinal direction of the steel pipe is connected to the lifting equipment It may be configured to include a plate.

The articulated automatic welding robot includes a traveling body installed to move along the traveling rail, a driving unit providing a driving force to move the traveling body along the traveling rail, and a robot arm supported on the traveling body and having a multi-joint structure. It is preferable that the articulated robot comprises a torch clamp and a torch clamp provided at the end of the articulated robot and equipped with a welding torch.

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

In this case, the articulated robot includes a base plate perpendicular to the traveling body, a robot base supported on the front surface of the base plate, a first arm connected in a horizontal direction with a first axis in front of the robot base, A second arm connected to a second axis at a side of the first arm, a third arm connected to a third axis in a lateral direction at an end portion of the second arm, and a fourth arm rotatably connected to a fourth axis at a third arm An arm, a fifth arm connected to the fifth axis at the end of the fourth arm, and a sixth arm rotatably connected to the sixth axis at the end of the fifth arm and having a torch clamp mounted at the end thereof; Each of the shafts is preferably configured to be connected to a motor to rotate the respective robot arm.

Next, the automatic welding method using the steel pipe outer surface automatic welding device using the intelligent robot device according to the present invention for realizing the above object, the automatic welding method using the steel pipe outer surface automatic welding device, transfer the steel pipe outer surface automatic welding device A first step of mounting the interconnected steel pipes; 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 teaching the plurality of welding points on the outer surface of the steel pipe by using a welding torch while moving the multi-joint automatic welding robot along the circumference of the steel pipe to accurately input the 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 of automatically welding the outer joint of the steel pipe while the multi-joint automatic welding robot moves along the circumference of the steel pipe according to the program selected in the second step with respect to the welding reference point recognized in the fourth step.

In the first step, when transferring the automatic welding device for the outer surface of the steel pipe using the lifting equipment, the steel pipe arranged in the circumference of the steel pipe after adjusting the inclination of the holding device according to the inclination of the steel pipe arranged in the construction section It is preferable.

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.

At this time, when welding the steel pipe connecting portion divided into 180 ° left and right sides for faster welding progress, it is also possible to mount two multi-joint automatic welding robot on the running rail to weld both left and right 180 ° sections respectively.

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 outer surface automatic welding device using an intelligent robot device and an automatic welding method using the same, because the automatic welding robot having an intelligent multi-joint structure is configured to automatically weld the outer surface of the steel pipe of the entire welding equipment Since the turning radius is reduced, the welding work can be easily performed even in a narrow construction space, and the welding precision can be improved by the automatic welding using the articulated robot, which greatly improves the welding quality and welding workability of the steel pipe external connection. It has an effect.

In addition, the present invention, because it is configured to change the center of gravity of the entire equipment according to the inclination adjustment conditions of the connection device provided on the top of the holding device in a flat structure (horizontal) pipeline installation section as well as inclined pipeline installation section Since the equipment can be more easily installed, there is an effect that can contribute to improved workability and workability at the time of connecting the steel pipe.

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

1 to 3 is a view showing a steel pipe outer surface automatic welding device using an intelligent robot device according to the present invention, Figure 1 is a side view of the horizontal lifting and mounting state, Figure 2 is a side view of the inclined lifting and mounting state, Figure 3 Is a front view.

4 to 5 is a side and front detail view of the multi-joint automatic welding robot in the present invention, Figure 6 is a view showing the welding unit equipment.

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

These main components of the present invention will be described in detail.

First, the holding device 210 will be described.

As shown in FIG. 1, the gripping device 210 is configured such that various mechanism devices such as a locking device 230 and a fixing device 233 are installed between the two ring-shaped plates 212 as a whole. Several instrument devices are described in detail below.

The holding device 210 is a quarter having an upper body 216 having a semi-circular structure, and rotatably connected to both ends of the upper body 216, and both ends of which are locked to each other, as shown in FIG. 3. And 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. 1, the upper side of the upper body 216 is provided with a connecting device 220 to lift or move the steel pipe outer surface automatic welding device by using lifting equipment such as a crane.

The connecting device 220 is configured to be mounted around the steel pipe in a state in which the steel pipe outer surface automatic welding device is inclined at the time of the construction of the inclined section, as shown in FIGS. 1 and 2 of the holding device 210 The fixing plate 221 is provided in the upper portion, and the connecting plate 223 is erected vertically on the upper portion of the fixing plate 221 extending in the longitudinal direction of the steel pipe is disposed in the overall '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 inclined according to the inclination of the steel pipe when lifting and mounting the steel pipe of the automatic welding device outside the steel pipe The transfer status can be adjusted.

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.

1 and 2, reference numeral 225 denotes a connecting member such as a lifting rope connected from the lifting equipment.

The connection device 220 may be configured to be assembled by rotating in a direction opposite to the direction illustrated in the drawings (dashed line direction in FIG. 1) as necessary. 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 becomes easier to attach or detach the steel pipe in the state in which the steel pipe outer surface automatic welding device of the present invention is inclined.

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, hinges 228 are 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 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 travel rail 240 is comprised 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 welding robot 250 along the traveling rail 240 by being engaged with the gear teeth formed in the rail unit 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 with the first axis X1, a second arm A2 connected with a second axis X2 at a side of the first arm A1, and a second arm A2 A third arm A3 connected to the third axis X3 in the lateral direction at an end portion of the third arm A4, a fourth arm A4 rotatably connected to the fourth axis X4 to the third arm A3, 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 ( 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 as described above, various additional equipment 270 for supporting the equipment is further provided.

Additional equipment of the steel pipe automatic welding device according to the present invention, as shown in Figure 6, the robot control control box 273 and the welding torch 260 to implement the control operation of the multi-joint automatic welding robot 250 And a welding control controller 274 for controlling supply wires, welding gas, cooling fluid, welding power supply, etc. installed around the welding torch, a cooling unit 275 for providing cooling water to the welding torch 260, and a gripping device ( Hydraulic device 276 for providing the hydraulic pressure to the hydraulic actuating element provided in the 210, the main power drive unit 272 for controlling the power supplied to the articulated automatic welding robot 250, and various control elements, etc. Is provided.

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.

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

First, the automatic welding device for the outer surface of the steel pipe is transferred and mounted around the steel pipes P connected to each other using an orthopedic device.

At this time, in the section in which the pipeline is horizontally connected, as shown in Figure 1, the connecting member 225 of the lifting equipment such as a crane is connected so that the steel pipe outer surface automatic welding device is positioned approximately vertically, in the section connected to the pipe inclined, Figure 2 As in the connection member 225 of the lifting equipment is connected to the position away from the center of the steel pipe automatic welding device outside the steel pipe outer surface automatic welding device of the present invention is inclined, that is inclined state is lifted and transported arranged inclined It can be mounted around the steel pipe.

Next, when the steel pipe outer surface automatic welding device is mounted around one steel pipe in the same manner as described above, the holding device 210 is steel pipe by using the locking device 230 while the hydraulic pipe is connected from the hydraulic device 276. It is fixed to the circumferential surface and the fixed cylinder 234 of the fixing device 233 is operated to completely fix the steel pipe outer surface automatic welding device 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 manipulating the 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 the sequence of FIGS. 7A, 7B, and 7C, 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. 7D shows the 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 welded steel pipe as shown in Figure 7e.

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. 7F, 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. 7G, 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. Figure 7g shows the welding state of the steel pipe of the 2600A * 19T standard, the left 1pass, the right 1pass, the left 2pass, the right 2pass, the left 3pass, the right 3pass in the order of the welding process and direction when the 3-pass welding as a whole.

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. 7G in order 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.

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 immediately operated without the teaching operation as shown in FIG. 7H. ), When the auto master is executed, the welding position is automatically calculated by calculating the position with all the welding points based on the 4 points recognized as the premaster execution, and automatically welding in the order as shown in FIG. 7G. 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.

On the other hand, in order to proceed more quickly using the steel pipe automatic welding device, as shown in FIG. 8, two articulated automatic welding robot on one holding device 210 and the running rail 240 ( 250A) and 250B can be mounted and welded simultaneously. That is, in a state in which two multi-joint automatic welding robots 250A and 250B are mounted on the traveling rail 240, one half-circle section (180 ° section) of the steel pipe connection part is used with one multi-joint automatic welding robot 250A. Welding and welding the other semi-circle section (180 ° section) of the steel pipe connection at the same time with the other multi-joint automatic welding robot (250B). 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.

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 detailed description of the invention, which is merely exemplary, and those skilled in the art to which the present invention pertains various modifications and other equivalent embodiments therefrom. Yes it is possible. Accordingly, the technical scope of the present invention should be determined by the appended claims.

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

Figure 2 is a side view showing the inclination lifting and mounting state of the steel pipe outer surface automatic welding apparatus using the intelligent robot device according to the present invention,

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

Figure 4 is a detailed side view of a multi-joint automatic welding robot in the steel pipe outer surface automatic welding apparatus using an intelligent robot device according to the present invention,

5 is a front detailed view of a multi-joint automatic welding robot in the steel pipe outer surface automatic welding apparatus using an intelligent robot device according to the present invention,

6 is a view showing the external auxiliary equipment provided in the steel pipe outer surface automatic welding apparatus using the intelligent robot device according to the present invention,

7A to 7H are flowcharts illustrating an automatic welding method using an automatic welding device for outer surface of a steel pipe using an intelligent robot device according to the present invention.

8 is a view illustrating another embodiment of an automatic welding method using a steel pipe outer surface automatic welding apparatus using an intelligent robot device according to the present invention.

Claims (10)

delete A gripping device having a circular structure when closed so as to be mounted around the steel pipe; A traveling rail provided to protrude in a cylindrical structure on one side of the holding device; Robot arm having a multi-joint structure is continuously connected, and includes a multi-joint automatic welding robot for automatically circumferentially welding the outer surface of the steel pipe connecting portion while moving around the steel pipe along the running rail, The gripping device is provided with a connecting device to lift or move the steel pipe outer surface automatic welding device using the lifting equipment at the upper end thereof, The connecting device is connected to the lifting equipment according to the inclination of the steel pipe to be mounted around the steel pipe in a state in which the holding device is inclined according to the inclination of the steel pipe disposed in the inclined section at the time of construction of the inclined section. Automatic welding device outside the steel pipe using an intelligent robot device, characterized in that configured to change the position of the. The method according to claim 2, The connecting device may include a fixing plate provided at an upper portion of the gripping apparatus, and a connecting plate having a plurality of connecting holes formed vertically on the upper portion of the fixing plate and extending in the longitudinal direction of the steel pipe to be connected to the lifting equipment. Steel pipe outer surface automatic welding device using an intelligent robot device, including. A gripping device having a circular structure when closed so as to be mounted around the steel pipe; A traveling rail provided to protrude in a cylindrical structure on one side of the holding device; Robot arm having a multi-joint structure is continuously connected, and includes a multi-joint automatic welding robot for automatically circumferentially welding the outer surface of the steel pipe connecting portion while moving around the steel pipe along the running rail, The multi-joint automatic welding robot is a steel pipe outer surface automatic welding device using an intelligent robot device, characterized in that configured to enable automatic circumferential welding of the steel pipe outer surface using a continuous six-joint robot arm. A gripping device having a circular structure when closed so as to be mounted around the steel pipe; A traveling rail provided to protrude in a cylindrical structure on one side of the holding device; Robot arm having a multi-joint structure is continuously connected, and includes a multi-joint automatic welding robot for automatically circumferentially welding the outer surface of the steel pipe connecting portion while moving around the steel pipe along the running rail, The articulated automatic welding robot includes a traveling body installed to move along the traveling rail, a driving unit providing a driving force to move the traveling body along the traveling rail, and a robot arm supported on the traveling body and having a multi-joint structure. Steel joint outer surface automatic welding device using an intelligent robot device, characterized in that it comprises a multi-joint robot consisting of a, and a torch clamp is provided on the end of the articulated robot is equipped with a welding torch. The method according to claim 5, The articulated robot includes: a base plate perpendicular to the traveling body, a robot base supported on the front surface of the base plate, a first arm connected in a horizontal direction in a first axis in front of the robot base, and a first A second arm connected to a second axis at a side of the arm, a third arm connected to a third axis in a lateral direction at an end of the second arm, and a fourth arm rotatably connected to a fourth axis to the third arm; A fifth arm connected to the fifth axis at the end of the fourth arm, and a sixth arm rotatably connected to the sixth axis at the end of the fifth arm and having a torch clamp mounted at the end thereof; A motor is connected to each of the shafts, the steel pipe outer surface automatic welding device using an intelligent robot device, characterized in that configured to rotate each robot arm. An automatic welding method using the steel pipe outer surface automatic welding device according to any one of claims 2 to 6, A first step of transferring the outer surface of the steel pipe automatic welding device and mounting the steel pipe outside the interconnected steel pipe; 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 teaching the plurality of welding points on the outer surface of the steel pipe by using a welding torch while moving the multi-joint automatic welding robot along the circumference of the steel pipe to accurately input the 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; An intelligent robot device comprising a fifth step of automatically welding the outer joint of the steel pipe while the multi-joint automatic welding robot moves along the steel pipe circumference according to the program selected in the second step with respect to the welding reference point recognized in the fourth step. Welding method using automatic welding device on the outside of steel pipe. The method of claim 7, In the first step, when transferring the automatic welding device for the outer surface of the steel pipe using the lifting equipment, the steel pipe arranged in the circumference of the steel pipe after adjusting the inclination of the holding device according to the inclination of the steel pipe arranged in the construction section Automatic welding method using a steel pipe automatic welding device using an intelligent robot device, characterized in that. The method of claim 7, In the fifth step, the automatic welding method using an automatic welding device for the outer surface of the steel pipe using an intelligent robot device, characterized in that the welding of 180 ° intervals in the left and right direction upwards with respect to the lowest point of the steel pipe in order. The method of claim 9, The automatic welding method using the automatic welding device for the outer surface of the steel pipe using the intelligent robot device, when welding the steel pipe connecting portion divided into 180 ° left and right sides, by mounting two multi-joint automatic welding robot on the traveling rail 180 left and right both sides Automatic welding method using the automatic welding device for steel pipe outer surface using an intelligent robot device, characterized in that the welding section.

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