KR101507910B1 - Automatic overlay welding apparatus for banding pipe - Google Patents

Abstract

The present invention relates to an automatic overlay welding apparatus which comprises: a positioner which supports the lower portion of a band tube, and is formed to be able to rotate in a direction parallel to a ground and tilt in a direction perpendicular to the ground; a band supporter which supports the band tube such that the band tube is laid or stood on the top of the positioner; a manipulator provided to be horizontally and vertically movable, formed in a curved form to have a curvature corresponding to the curvature of the curved section, and supports a torch configured to perform overlay-welding of the interior of the band tube; an input unit into which a bending angle of a curved section of the band tube and a length of a straight section are inputted; and a control unit which controls the positioner and the manipulator depending on the bending angle of the curved section and the length of the straight section to control a welding trajectory of the torch, wherein the control unit positions the torch on the curved tube starting point of the band tube in the state wherein the band tube is laid on the top of the positioner, and horizontally repeatedly rotates the positioner between the curved tube starting point and the curved tube ending point such that the curved section is subjected to overlay welding, in the state wherein the straight section of the band tube is located to be positioned horizontally to the center of rotation of the positioner, after tilting the positioner to be vertical to the ground, locates the torch on the curved tube starting point of the band tube, and horizontally rotates the positioner to perform the overlay-welding of the straight section.

Description

[0001] AUTOMATIC OVERLAY WELDING APPARATUS FOR BANDING PIPE [0002]

The present invention relates to an overlay automatic welding apparatus, and more particularly, to a band tube overlay automatic welding apparatus capable of automatically overlaying an entire inner surface of a band pipe to which a straight pipe is connected.

In general, carbon steel, which is a low-grade material, is mainly used for piping systems of power plants and petrochemical plants, and a certain thickness overlay welding is performed on the inner surface of the pipe with dissimilar metals having durability, corrosion resistance and high strength such as stainless steel or nickel alloy. Such overlay welding is generally referred to as overlay welding, and is a method for improving corrosion resistance, durability, abrasion resistance and strength by coating a metal surface with a metal when a metal having weak physical properties is used in a very weak environment.

On the other hand, piping systems of petrochemical plants use various types of bends to change the direction of piping as well as straight pipe. The curved tube is manufactured at angles of 45 degrees, 90 degrees, and the like. As a result, there is a restriction that can be changed only at a certain angle when connecting a straight pipe to a curved pipe.

Recently, a band tube is used in which a part of the straight tube is bent by using a high-frequency heating at a desired angle. In the case of the band pipe, it is possible to design the diversion at various angles such as 35 °, 60 ° and 75 ° at the desired angle when connecting with the straight pipe.

Fig. 1 is a perspective view showing an example of the band tube 10. Fig. As shown in the drawing, the band tube 10 has a straight tube 11 and a bending tube 13 together. Since the curvature radius of the inner side surface and the outer side surface of the bend tube 13 of the band pipe 10 are different, there is a difference in the welding bead interval between the inner side surface and the outer side surface when overlay welding is performed along the circumferential direction as in the straight pipe do.

The band tube 10 is then subjected to overlay welding as shown in FIG. That is, the straight pipe 11 is welded by moving the torch along the circumferential direction with respect to the end face, and the bending pipe 13 is welded by moving the torch along the longitudinal direction of the band pipe 10.

Overlay welding of the band tube 10, which welds the straight tube 11 and the bending tube 13 in different directions, was performed manually by the operator. As a result, the overlay welding takes a long time, the accuracy is low, and the worker's fatigue has been severely exposed due to long exposure to high temperature. In addition, there is a problem that overlay welding is difficult in the band pipe 10 having a small inner diameter that an operator can not enter.

SUMMARY OF THE INVENTION An object of the present invention is to provide a band tube overlay automatic welding apparatus capable of automatically overlaying a band tube formed with an intact tube and a curved tube together.

Another object of the present invention is to provide a band-tube overlay automatic welding apparatus which can be used interchangeably according to various bending angles of the bending tube and the length of the straight tube.

The above objects and various advantages of the present invention will become more apparent from the preferred embodiments of the present invention by those skilled in the art.

The object of the present invention can be achieved by an automatic band-tube overlay automatic welding apparatus for automatically overlaying the inside of a band tube formed with a straight tube and a bending tube. A band tube overlay automatic welding apparatus of the present invention comprises: a positioner for supporting a lower portion of the band tube, the positioner being rotatable in a horizontal direction with respect to the ground and being tiltable in a direction perpendicular to the ground; A band supporter for supporting the band tube so that the band tube is laid or raised on an upper portion of the positioner; A manipulator provided in a curved shape so as to have a curvature corresponding to a radius of curvature of the curved section and being supported movably forward and backward and up and down and supporting a torch for overlay welding the inside of the band tube; A bending angle of the bending section of the band tube and a length of the bending section; And a controller for controlling the positioner and the manipulator according to a bending angle of the bending section and a length of the bending section to control a welding locus of the torch, wherein the control section controls the bending angle of the bending section And the positioner is repeatedly rotated in the horizontal direction from the point of time of the bending of the bending tube to the point of bending of the bending tube so that the bending section is overlay welded, The positioner is tilted vertically with respect to the ground in a state where the section is horizontally positioned at the center of rotation of the positioner and then the torch is positioned at the introductory starting point of the band tube and the positioner is rotated in the horizontal direction So that the straight pipe section is overlay welded.

According to one embodiment, the positioner includes: a rotating plate on which the band tube is seated; A horizontal rotation part for horizontally rotating the rotary plate; And a tilting driving unit for tilting the rotating plate, wherein the band supporting unit comprises: a plurality of rotating plate connecting rails detachably coupled to the rotating plate; And a band support ring movably coupled along the rotation plate coupling rail and having an upper portion opened and closed to receive the band tube therein.

According to an embodiment of the present invention, the apparatus further includes a first torch sensing unit provided at a starting point of a bend of the band tube and a curvilinear end point to sense the approach of the torch, The direction of rotation in the horizontal direction is changed and the welding angle of the torch along the circumferential direction of the band tube is adjusted.

According to an embodiment of the present invention, the apparatus further includes a second torch sensing unit provided along a longitudinal direction in one region of the straight tube region of the band tube to sense the approach of the torch, Thereby moving the manipulator back and forth.

The automatic welding apparatus of the band tube overlay according to the present invention automatically performs welding to the straight pipe as well as the curved pipe. As a result, the labor force of the worker is not required, and productivity, precision, and stability can be improved.

In addition, it is possible to perform a band-diameter overlay welding with a small diameter within a range in which the boom bar and the torch can be inserted.

FIG. 1 is an exemplary view showing the shape of a general band tube,
FIG. 2 is an exemplary view showing an overlay welding type of a general band pipe,
FIG. 3 is a perspective view illustrating a configuration of a bending tube welding apparatus of a band tube overlay automatic welding apparatus according to the present invention,
FIG. 4 is a perspective view showing the construction of an automatic pipe-tube overlay automatic welding apparatus according to the present invention,
FIG. 5 is a side view showing a side construction of a bend tube welding automatic welding apparatus according to the present invention,
FIG. 6 is a view illustrating an example of a bending process of a bend tube overlay automatic welding apparatus according to the present invention.
FIG. 7 is a view showing an example of a straight pipe welding process of an automatic band pipe overlay welding apparatus according to the present invention,
FIG. 8 is a graph showing the specifications of a band tube that can be welded by the automatic welding apparatus of the band tube overlay according to the present invention,
FIGS. 9A to 9D are views illustrating movement trajectories of a torch when the automatic welding apparatus for a band tube overlay according to the present invention is used for welding.

For a better understanding of the present invention, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. The embodiments of the present invention may be modified into various forms, and the scope of the present invention should not be construed as being limited to the embodiments described in detail below. The present embodiments are provided to enable those skilled in the art to more fully understand the present invention. Therefore, the shapes and the like of the elements in the drawings can be exaggeratedly expressed to emphasize a clearer description. It should be noted that in the drawings, the same members are denoted by the same reference numerals. Detailed descriptions of well-known functions and constructions which may be unnecessarily obscured by the gist of the present invention are omitted.

FIG. 3 is a perspective view showing a state of the automatic welding apparatus for a band tube overlay 1 according to the present invention at the time of welding a bobbin. FIG.

Here, the band tube 10 is a pipe in which straight tubes 11 and a bending tube 13 are formed by bending a central region by applying a high-frequency wave to the center region while both ends of the straight tube 11 are fixed. In the drawings of the present invention, the banding angle [theta] of the band tube 10 is only 45 degrees and 90 degrees, but this is merely an example, and it can be formed at a desired banding angle between 0 and 90 degrees.

 The band tube overlay automatic welding apparatus 1 according to the present invention includes a positioner 100 for supporting a band tube 10, a manipulator 300 for supporting the torch 311, An input unit 400 for inputting the specifications of the band tube 10, and a control unit for controlling the respective components according to the specifications inputted through the input unit 400, (500).

The positioner 100 supports the band tube 10 during overlay welding. The positioner 100 includes a rotating plate 110 on which the band tube 10 is mounted, a horizontal rotating shaft 120 for rotating the rotating plate 110 in a horizontal direction with respect to the paper surface, A tilting shaft 140 extending to the right and left of the horizontal drive box 130 to tilt the horizontal rotation shaft 120 at a predetermined angle with respect to the ground, And a tilting drive motor (not shown) for driving the tilting drive means 150. The tilting drive motor 150 drives the tilting drive motor 150 to rotate.

The rotary plate 110 is formed in the shape of a circular plate having a constant diameter. The rotary plate 110 is rotatably coupled to the horizontal rotary shaft 120. On the surface of the rotating plate 110, a plurality of coupling holes 111 in which the band supporting portions 200 are detachably coupled are formed at regular intervals in a concentric circular direction.

The horizontal rotary shaft 120 is provided on the rear surface of the rotary plate 110 and rotates by rotating the rotary plate 110 by driving a horizontal drive motor (not shown).

The tilting shaft 140 is extended to both sides of the horizontal driving box 130 by a predetermined length and is tilted by the operation of the tilting driving means 150 and the tilting driving motor (not shown). In the positioner 100 according to the preferred embodiment of the present invention, the tilting drive shaft (not shown) is rotated by a predetermined angle in accordance with the driving of the tilting drive motor (not shown), and the tilting drive shaft The gear (not shown) and the tilting transmission means 150 are engaged with each other by a gear so that the tilting shaft 140 is tilted. However, this is merely an example, and the positioner 100 may be provided in various forms capable of rotating the rotary plate 110 in the horizontal direction and enabling tilting.

The positioner 100 is arranged such that the tilting shaft 140 is not tilted during overlay welding of the bending tube 13, that is, the rotating plate 110 is disposed horizontally with respect to the ground, do. On the other hand, in the overlay welding of the straight pipe, the positioner 100 is arranged such that the tilting shaft 140 is tilted at an angle of 90 °, that is, the rotating plate 110 is disposed perpendicular to the ground, Rotate.

The rotation of the rotary plate 110 and the tilting of the tilting shaft 140 are controlled by the control of the controller 500.

The band supporter 200 fixes the band tube 10 on the rotary plate 110 of the positioner 100. The band support unit 200 supports the band tube 10 to be laid on the rotary plate 110 during overlay welding of the bending tube 13 of the band tube 10 as shown in Fig. When the straight tube 11 of the band tube 10 is overlaid, the band tube 10 is supported on the rotary plate 110 so as to be erected.

To this end, the band support unit 200 includes a plurality of rotary plate coupling rails 210 detachably disposed on the rotary plate 110, a movable plate 210 movably coupled on the rotary plate coupling rail 210, (Not shown).

The number of the rotary plate coupling rails 210 coupled to the rotary plate 110 is adjusted according to the length and shape of the band tube 10. The rotating plate coupling rail 210 is fixed by fastening the flange 211 to the coupling hole 111 of the rotary plate 110 with a coupling bolt (not shown).

The band support ring 220 includes a rail engagement ring 221 movably coupled to the rotary plate engagement rail 210 and an opening and closing ring 223 openably and closably coupled to the rail engagement ring 221. The opening / closing ring 223 is hinged to the rail coupling ring 221. A receiving hole 225 corresponding to the outer diameter of the band tube 10 is formed inside the opening / closing ring 223 and the rail coupling ring 221. The opening and closing ring 223 and the rail coupling ring 221 are locked or released by the locking member (not shown).

The worker places a plurality of rotary plate coupling rails 210 on the rotary plate 110 in consideration of the bending angle of the band pipe 10 and the length L of the straight pipe 11, (Not shown). After the band support ring 220 is opened, the band tube 10 is received in the receiving hole 225 and then the band support ring 220 is closed to fix the position of the band tube 10.

Here, the band tube 10 is arranged to be laid on the rotary plate 110 when welding the bending tube 13, but the band tube 10 is disposed to stand on the rotary plate 110 when the straight tube 11 is welded . For this purpose, as shown in FIG. 4, when the straight pipe 11 is welded, the rotary plate coupling rail 210 is vertically coupled to the rotary plate 110 to support one end of the band pipe 10.

The manipulator 300 supports the torch 311 to overlay weld the inside of the band tube 10. The manipulator 300 supports the torch 311 to move up and down or back and forth under the control of the controller 500. The manipulator 300 includes a boom base 310 supporting the torch 311 and inserted into the band tube 10, a vertical movement unit 330 for vertically moving the boom base 310, A horizontal moving part 340 for moving the moving part in the forward and backward directions, and a moving carriage 350 for supporting them.

The manipulator 300 according to the present invention is movable by the wheels of the mobile truck 350, but may be fixedly provided as the case may be.

On the other hand, the float platform 310 is formed to have a curvature corresponding to the radius of curvature of the curved line 13. As a result, as shown in Fig. 6, during overlay welding of the bending tube 13, the bending tube 13 is not brought into contact with the inner tube 11 and the inner tube wall 13 during rotation of the bending tube 13, .

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In addition, the float platform 310 is provided so as to be movable back and forth by the horizontal movement unit 340. [ Accordingly, when the overhead welding of the straight pipe 11 is performed, the swing platform 310 makes one rotation along the circumferential direction of the swinging plate 110, and when the welding of one path is completed, the boom platform 310 is moved backward to perform welding of the next path.

The input unit 400 receives the specifications of the band pipe 10 to perform overlay welding from the operator. The operator inputs the bending angle? Of the band tube 10 and the length L of the straight tube 11.

The control unit 500 controls the positioner 100 and the manipulator 300 during the overlay welding process based on the specification of the band pipe 10 input through the input unit 400. The control unit 500 repeatedly rotates the positioner 100 in the horizontal direction during the bending of the bend so that the bend welding can proceed. Also, the controller 500 drives the tilting drive motor (not shown) to tilt the turntable 110 and rotate the turntable 110 to advance the straight tube welding. As the straight pipe welding progresses, the manipulator 300 is controlled so that the boom frame 310 is moved backward.

A welding process of the automatic welding apparatus 1 for a band tube overlay according to the present invention having such a configuration will be described with reference to Figs. 3 to 7. Fig.

First, the tilting shaft 140 is adjusted so that the rotary plate 110 of the positioner 100 is horizontal to the ground. As shown in FIGS. 3 and 5, when the rotary plate 110 is horizontally disposed on the ground, a plurality of band supporting portions 200 are disposed on the upper portion so as to correspond to the shape of the band pipe 10 to be overlay welded.

The plurality of rotary plate coupling rails 210 are radially arranged horizontally on the plate surface of the rotary plate 110 and the band support rings 220 coupled to the rotary plate coupling rails 210 are linearly moved left and right, ). The opening and closing ring 223 of each band support ring 220 is opened to receive the band tube 10 inside the band support ring 220. At this time, the band tube 10 is seated to be laid on the rotary plate 110 by using a crane or the like according to its size and weight. Here, the band pipe 10 is laid down so that the curved surface of the curved line 13 is disposed along the circumferential direction of the rotary plate 110 as shown in FIGS. 3 and 5.

In this case, when the band pipe 10 is disposed on the rotary plate 110, it is preferable that the band pipe 10 is disposed in a radially outer region of the rotary plate 110 in consideration of the locus of the boom frame 310.

When the fixing of the band pipe 10 is completed, the boom frame 310 is moved into the band pipe 10 as shown in FIG. 6 (a). The boom stand 310 is inserted through the straight pipe 11 and is located at the starting point (A position) of the bending pipe 13.

The first torch sensing unit 510 senses the approach of the torch 311 at a start point (A position) and an end point (B position) of the bend tube 13 outside or inside the band tube 10. The first torch sensing unit 510 transmits a sensing signal to the controller 500 when the band tube 10 rotates and the torch 311 reaches a starting point or an ending point by the rotation of the rotating plate 110, To change the rotating direction of the rotating plate 110. [

When the welding is started at the starting point (position A) of the bending tube 13, the torch 311 starts welding W1 to the inner wall surface of the bending tube 13. The positioner 100 is driven under the control of the control unit 500 and the rotary plate 110 is rotated clockwise. Thus, as shown in FIG. 6 (b), the band pipe 10 is rotated together with the rotary plate 110 in a fixed state. Then, the inside of the bending tube 13 is subjected to bending welding along the longitudinal direction. When the end point (position B) of the bending tube 13 reaches the torch 311 as shown in FIG. 6B by the rotation of the rotation plate 110, the rotation plate 110 is controlled by the control unit 500, The direction of rotation of the motor is reversed.

At the same time, the torch 311 rotates by a predetermined angle to weld the next welding path P2 of the welding path P1 contacting with the base. In this way, the rotary plate 110 repeatedly reciprocates by the curvature length of the bending tube 13 in the clockwise direction and the counterclockwise direction, and the torch 311 gradually overlaps the inside of the bending tube 13 by rotating the angle . When the lower half portion of the bending tube 13 is overlay-welded by repetitive overlay welding, the band support portion 200 is opened and the band tube 10 is turned upside down. Then, overlay welding is performed in the same manner as the other half of the bending portion 13.

When the overlay welding of the portion of the bending portion 13 is completed, the band tube 10 is placed upright with respect to the rotating plate 110. 4, the curved surface of the curved tube 13 is disposed so as to face the bottom of the rotary plate 110, as shown in FIG.

To this end, the band tube 10 is separated from the band support part 200, and the band support part 200 is disposed perpendicularly to the rotary plate 110. As shown in FIGS. 4 and 7, a plurality of band supports 200 are arranged and supported such that the straight pipe 11 to be overlay welded is positioned on the central axis of the rotary plate 110.

Then, the positioner 100 is tilted to arrange the rotary plate 110 in a standing position with respect to the ground. Whereby the straight pipe 11 to be welded is horizontally arranged on the central axis line of the rotary shaft. In this state, the boom stand 310 is inserted into the straight pipe 11.

Here, the second torch sensing unit 520 is provided outside the straight pipe 11 along the longitudinal direction of the straight pipe 11. [ The second torch sensing unit 520 senses the approach of the torch 311 and when the welding of the straight pipe by one turn is completed, the boom base 310 is moved backward so that welding of the next path proceeds.

When the control unit 500 drives the rotating plate 110 and the torch 311 to start welding, the rotating plate 110 rotates. The torch 311 located at the introductory starting point (position C) is fixed in position, and the straight pipe 11 rotates in the circumferential direction by the rotation of the rotating plate 110. Thus, the torch 311 overlays the inner wall surface of the straight pipe 11 along the circumferential direction.

7 (b), when the rotary plate 110 is rotated 180 degrees, the inner wall surface of the straight pipe 11 is welded to the torch 311 by 180 degrees. The control unit 500 controls the manipulator 300 so that the boom frame 310 is retracted by a predetermined length and the next pass To be welded. In the same manner, the straight pipe welding is completed by moving from the starting point of the straight pipe (position C) to the outermost side.

When overlay welding of one of the straight tube regions (C position) of the band tube 10 is completed, overlay welding of the opposite straight tube region (D position) proceeds by changing the position of the band tube 10.

Whereby overlay welding of the entire band pipe 10 can be automatically carried out without operator intervention.

8 is a table showing the specifications of the band tube 10 which can be welded by using the overlay automatic welding apparatus 1 of the present invention. FIGS. 9 (a) to 9 (d) 10 in the overlay welding of the torch 311. FIG.

9A shows the welding locus W1 of the bending tube 13a of the band tube 10a having a diameter of 8 inches, a bending angle? 1 of 45 占 and a length l1 of the straight tube 11a of 300 mm, Fig. In this case, when the torch 311 moves along the welding locus W1, it can be seen that the end wall of the straight tube 11a interferes with the torch 311. Accordingly, the band tube 10a of this specification can not perform overlay welding by using the overlay automatic welding apparatus 1 according to the present invention.

9B shows a welding locus W1 of the bending tube 13b of the band tube 10b having a diameter of 8 inches and a bending angle 2 of 90 degrees and a length l2 of the straight tube 11b of 150 mm. Fig. In this case, when the torch 311 moves along the welding locus W1, it can be seen that the end wall of the straight tube 11b and the torch 311 do not interfere. Accordingly, the band tube 10b of this specification can perform overlay welding using the overlay automatic welding apparatus 1 according to the present invention.

9C shows the welding locus W1 of the bending tube 13c of the band tube 10c having a diameter of 30 inches, a bending angle? 1 of 45 占 and a length? 3 of the straight tube 11c of 300 mm Fig. In this case, when the torch 311 moves along the welding locus W1, it can be seen that the end wall of the straight tube 11c and the torch 311 do not interfere.

9D shows the welding locus W1 of the bending tube 13d of the band tube 10d having a diameter of 30 inches and a bending angle 2 of 90 degrees and a length l4 of the straight tube 11d of 150 mm. Fig. In this case, when the torch 311 moves along the welding locus W1, it can be seen that the end wall of the straight tube 11d and the torch 311 do not interfere.

Accordingly, the band pipes 10c and 10d of this specification can perform overlay welding using the overlay automatic welding apparatus 1 according to the present invention. On the other hand, as shown in FIG. 8, in the case of a band pipe having an 8.3 inch, 10 inch, and 12 inch diameter straight pipe 300 mm in length, it was found that the automatic overlay welding according to the present invention was impossible. Therefore, it is possible to overlay the band tube of the other specifications except for the specification that can not overlay the above-mentioned, and the band tube whose bending angle is adjusted.

As described above, according to the present invention, welding is automatically performed not only to the bend but also to the straight pipe. As a result, the labor force of the worker is not required, and productivity, precision, and stability can be improved.

In addition, it is possible to perform a band-diameter overlay welding with a small diameter within a range in which the boom bar and the torch can be inserted.

The embodiments of the band tube overlay welding apparatus of the present invention described above are merely illustrative and those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. You will know very well. Therefore, it is to be understood that the present invention is not limited to the above-described embodiments. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims. It is also to be understood that the invention includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

1: Overlay automatic welding device 100: Positioner
110: rotating plate 111: engaging hole
120: horizontal rotary shaft 130: horizontal drive box
140: tilting shaft 150: tilting transmission means
160: tilting drive shaft 161: tilting drive gear
170: tilting drive motor 180: support frame
200: band support part 210: spindle coupling rail
220: band support ring 221: rail coupling ring
223: opening / closing ring 225: receiving hole
300: Manipulator 310: Boom
311: torch 330: vertical moving part
340: Horizontal moving part 350: Moving carriage
400: input unit 500:
510: first torch sensing unit 520: second torch sensing unit

Claims (4)

An automatic band-tube overlay automatic welding apparatus for automatically overlaying an inside of a band tube formed with a bending tube and an intact tube,
A positioner for supporting a lower portion of the band tube, the positioner being rotatable in a horizontal direction with respect to the ground and being tiltable in a direction perpendicular to the ground;
A band supporter for supporting the band tube so that the band tube is laid or raised on an upper portion of the positioner;
A manipulator provided in a curved shape so as to have a curvature corresponding to a radius of curvature of the bend section of the bend tube, the bendable tube being movable in the front, back, and up and down directions and supporting the torch for overlaying the inside of the bend tube;
A bending angle of the bend section of the band tube and a length of the straight section;
And a controller for controlling the positioner and the manipulator according to a bending angle of the bending section and a length of the bending section to control a welding locus of the torch,
The band-
A plurality of rotary plate coupling rails detachably coupled to the upper portion of the rotary plate of the positioner;
And a band support ring movably coupled along the rotation plate coupling rail and having an upper portion opened and closed to receive the band tube therein,
When the bend tube is welded, the rotary plate coupling rail is disposed on the rotary plate to support the band pipe so as to lie on the rotary plate, and when the straight pipe welding is performed, the rotary plate coupling rail is vertically coupled to the rotary plate, Supported,
The band support ring
A rail coupling ring movably coupled to the rotating plate coupling rail,
And an open ferrule hingedly coupled to the rail coupling ring so as to be openable and closable,
Wherein,
Placing the torch at the starting point of the bending tube of the band tube in a state where the band tube is laid on top of the positioner and repeatedly rotating the positioner horizontally to the bending starting point of the band tube and the bending end point, To be welded,
The positioner is tilted vertically with respect to the ground in a state where the straight section of the band tube is horizontally positioned at the center of rotation of the positioner and then the torch is positioned at an introductory starting point of the band tube, Wherein the control unit controls the welding unit to rotate in the horizontal direction so that the straight section is overlay welded.
The method according to claim 1,
The positioner includes:
A rotating plate on which the band tube is seated;
A horizontal rotation part for horizontally rotating the rotary plate;
And a tilting driving unit for tilting the rotating plate.
3. The method of claim 2,
And a first torch sensing unit provided at a starting point of a bend of the band tube and a bending end point of the band tube to sense approach of the torch,
Wherein the control unit changes the horizontal direction of rotation of the positioner according to the detection result of the first torch sensing unit and adjusts the welding angle of the torch along the circumferential direction of the band tube. Device.
The method of claim 3,
And a second torch sensing unit disposed along a longitudinal direction in one region of the straight tube region of the band tube to sense approach of the torch,
Wherein the controller moves the manipulator back and forth according to the detection result of the second torch sensing unit.

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