KR101678306B1 - Automatic welding apparatus for pressure vessel and steel pipe - Google Patents
Automatic welding apparatus for pressure vessel and steel pipe Download PDFInfo
- Publication number
- KR101678306B1 KR101678306B1 KR1020150095591A KR20150095591A KR101678306B1 KR 101678306 B1 KR101678306 B1 KR 101678306B1 KR 1020150095591 A KR1020150095591 A KR 1020150095591A KR 20150095591 A KR20150095591 A KR 20150095591A KR 101678306 B1 KR101678306 B1 KR 101678306B1
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- Prior art keywords
- welding
- pressure vessel
- frame
- wire
- moving
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/027—Carriages for supporting the welding or cutting element for making circular cuts or welds
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
- B23K37/0538—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor for rotating tubes, e.g. rollers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Optics & Photonics (AREA)
- Plasma & Fusion (AREA)
- Arc Welding In General (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
Description
More particularly, the present invention relates to an automatic welding apparatus for a pressure vessel and a steel pipe, and more particularly, to a welding apparatus using a hot wire TIG welding system, a weld line tracking system utilizing a non-contact type sensor, To a pressure vessel and an automatic welding apparatus for a steel pipe.
Welding, which is a typical production-based technology recently called root technology, is an underlying technology that directly affects the final quality and productivity of parts and components in the machinery field. It is a fact that standardization is very difficult.
In addition, due to aging and shortage of skilled workers, the automation or mechanization of the welding / construction industry is rapidly proceeding. As the plant construction market has expanded and the requirements for welding quality have increased, And the difficulty in securing high-quality welding manpower has raised interest in welding automation equipment.
Therefore, it is expected that the demand for welding automation is expected to increase because the demand for welding quality of pressure vessel and steel pipe is very demanding, and securing of highly skilled technician depends on the success or failure of the project. Quality is required, and various process variables exist, but most of them are manual welding, so automation is desperately required.
In particular, recently, in the case of pressure vessels and steel pipes, the quality requirements of the clients have increased, and sometimes even exceed international standards.
However, welding automation equipment is a high-efficiency welding automation equipment that is effective in achieving the goal of productivity improvement. In addition, it requires a large initial investment cost in applying it at the welding site, It is difficult to apply it because it is likely to cause operational difficulties in operation and durability problems of the equipment due to poor working environment characteristics and it is difficult to apply the welding technique in advance of the technicalization of welding function depending on the characteristics of the welding construction, The difficulties are coming.
In addition, due to the advancement of the industry, labor labor costs are rising, the avoidance of welding is accelerated, and high reliability is required for welding products. Further attention is paid to development of welding equipment for improving welding quality, cost reduction and productivity It is an increasing reality.
Currently, STS material pressure vessel welding automation equipment imports and uses foreign equipment. It is not affected by low investment cost and work environment as compared with foreign imported equipment, and can be used easily without requiring high proficiency. A study on the localization of high efficiency welding automation device is needed.
As a conventional technique according to welding automation, a base frame is disclosed in Japanese Laid-Open Patent Publication No. 2015-0019720. A main rotation shaft rotatably installed on the base frame and rotated by a driving force provided from the first rotation driving unit; A plurality of support frames projecting radially from the main rotation shaft; A work table provided on the upper surface of each of the support frames and having an upper surface on which an object to be welded is seated; And a welding unit installed on the vertical bar installed vertically from the base frame to weld the welding object placed on the work table in a state of being positioned on the upper side of the work table, .
Another prior art is disclosed in Laid-Open Patent Publication No. 2009-0055278, in which a laser beam in the form of a line is irradiated to a welded portion to cause a line corresponding to the shape to appear on the surface of the welded portion, An Imager for detecting a line appearing on the surface of the welded portion by the line laser to generate a geometry which is a geometric shape of the welded portion and a focal point between the welded portion and the Imager while protecting the Imager from being damaged by spatter and foreign matter A non-contact type vision sensor including a camera head for adjusting the welding conditions, and a controller for automatically setting necessary welding conditions on the welding machine based on the geometry of the welding portion obtained through the Imager; And a PDA for wirelessly communicating with the controller to measure set welding conditions and, if necessary, control the controller, a welding condition measurement and welding condition control system for welding automation.
However, in the case of pressure vessels and steel pipes mainly used in marine and offshore plants, construction and heat exchangers, welding is performed manually by manpower using arc welding such as TIG or MIG because the existing automation system , The welding speed was slow and there was no function of tracking the weld line, so welding defect frequently occurred.
The present invention was conceived to solve the above-mentioned problems, and it is an object of the present invention to provide a method of welding a carbon steel, STS, and other special pressure vessels and steel pipes by applying a hot wire TIG welding technique, And the like, and to provide an automatic welding apparatus for a pressure vessel and a steel pipe which improves the speed and quality of the welding operation.
A pressure vessel for automatically welding a pressure vessel or a steel pipe of a large size according to the present invention and an automatic welding apparatus for manufacturing a steel pipe include a support frame installed on the ground; A left and right moving frame fastened to an upper surface of the supporting frame and moving left and right; A vertical frame fixed upright on an upper portion of the left and right moving frames; A guide block coupled to the vertical frame and moving up and down; A horizontal frame coupled to the guide block in a direction orthogonal to the moving direction of the left and right moving frames and moving in the forward and backward directions; A welding device installed on a front surface of the horizontal frame to weld the pressure vessel; A control unit for controlling driving of the left and right moving frame, the horizontal frame, and the welding apparatus; And a power supply unit for supplying power to the control unit.
The automatic pressure welding apparatus of the present invention improves the welding speed and the welding quality and includes the control function of the welding arc (weld line, weaving width / velocity, arc voltage) through the tracking control motion algorithm, And the quality of the welded product can be improved.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram of an automatic welding apparatus for a pressure vessel and a steel pipe according to the present invention;
BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to an automatic welding apparatus for a steel pipe,
3 is an enlarged detail view of a part of a welding apparatus of a pressure vessel and an automatic welding apparatus for a steel pipe according to the present invention.
4 is a schematic view of a welding arc generator of a welding apparatus provided in an automatic welding apparatus for a pressure vessel and a steel pipe according to the present invention.
5 is a schematic view of welding wire heating used in the pressure vessel and automatic welding apparatus for steel pipes according to the present invention.
6 is a schematic view showing a moving relationship according to another embodiment of the pressure vessel and automatic welding apparatus for a steel pipe according to the present invention.
7 is a schematic diagram showing the principle of hot wire TIG welding.
8 is a schematic diagram showing a combination of arc and wire current waveforms according to Hot Wire TIG welding.
Fig. 9 is a schematic diagram showing a wire voltage during a welding wire non-energizing period. Fig.
10 is a graph showing a contact supply sequence;
The
The
The
In addition, the
The
Hereinafter, the pressure vessel of the present invention and the automatic welding apparatus for manufacturing a steel pipe will be described in detail with reference to the accompanying drawings.
FIG. 1 is a configuration diagram of an automatic welding apparatus for manufacturing a pressure vessel and a steel pipe according to the present invention, and FIG. 2 is a structural diagram showing another aspect of an automatic welding apparatus for manufacturing a pressure vessel and a steel pipe according to the present invention.
The
For reference, a manifold refers to a machine having a function similar to that of a person's arm, and in the present invention, a
A
The
In this case, the
Particularly, the
The fastening relationship between the
A
The
The
The power supply unit S for supplying power to the
Accordingly, various wires or cables drawn out from the
A
BACKGROUND OF THE INVENTION Field of the Invention [0001] The present invention relates to an automatic welding apparatus for manufacturing a pressure vessel and a steel pipe, 5 is an outline view of welding wire heating for use in the pressure vessel and automatic pipe welding apparatus of the present invention, and FIG. 6 is a schematic view showing a moving relationship according to another embodiment of the pressure vessel and steel pipe automatic welding apparatus of the present invention.
3, the
The welding
The welding
Particularly, as shown in Fig. 4, the electrode rod is embedded in the weld arc generator 161-2 as a tungsten electrode rod.
The angle between the tungsten electrode and the welding wire to be inserted is set to about 8 °, and the change of the wire insertion position according to the arc length is reduced.
The distance between the tungsten electrode and the welding wire in the arc forming part was adjusted by changing the range of the tungsten electrode rod.
In order to bring the welding wire as close as possible to the tungsten electrode, a wire + pole connection was used to allow the arc to separate from the wire during wire energization.
In order to prevent arc generation between the positive wire and the negative tungsten electrode, the power source of FIG. 5 was developed.
When the welding wire falls off the base material, the transistor on the secondary side of the wire power source breaks the welding wire off the wire power supply, which is an essential technique.
A ceramic nozzle with a small diameter is installed on the welding wire outlet side, so that the hot-wire softened at high temperature passes smoothly, and the position of the welding wire tip is stabilized.
One torch switch controls arc and wire.
It is used to stop the supply of welding wire when pressing for 0.5 seconds or less, and for signal control of the arc power switch when it is pressed for 0.5 seconds or more.
The welding wire insertion position is set to a range of 180 degrees or more from the welding wire front insertion to the welding wire rear insertion.
6, the welded
The amount of movement of the left and right adjusting
The combination order of the left /
At this time, the heating welding wire feeder 161-1 through which the welding wire W passes is connected to the heating welding wire supplying power source of the welding
A
When the
Particularly, in order to support the
In addition, when welding is to be performed along the circumference of the
Hot wire TIG technique was used as a welding method by the
There is hot wire technique to increase the welding speed by TIG welding.
A current is connected to the welding wire (W), the welding wire (W) is preheated by resistance heating, and the welding wire (W) is put into the melting paper.
The characteristics of TIG welding can be used as it can reduce the preheating temperature because there is no occurrence of spatter or slag, the amount of fume is reduced, and the fear of delayed cracking due to low hydrogen is reduced.
The seam tracker used in the
In the present invention, the
In response to the detection signal of the welding line tracking device, the
In order to ensure the high quality welding quality of the welding process in the arc welding of pressure vessels and secondary steel pipes, the welding line is traced using a small, low-cost non-contact type sensor, Defects and the like can be minimized and the welding quality can be improved.
In the case of automatic welding equipment for conventional pressure vessel welding, there is no welding line tracking system, or a welding line tracking band for uniformly and regularly welding the welding line (welding area) is provided so that the contact sensor contacts the belt or the welding area And weld defects occurred when the arrangement was shifted due to weld line tracking band or welding process error.
Through the application of the motion control system to track the seam line using the non-connected sensor and to correct it, it is possible to eliminate the preparation time for welding work for installing the weld line tracking strip, to eliminate defects due to the spacing arrangement between the weld part and the welding torch, It is possible to optimize defects in welds through the control system.
It is possible to improve the reliability of the welded part by improving the reliability of the welded part through the technology development that incorporates the IT technology and to improve the reliability of the product through physical welding which can easily affect the welding quality such as welding current, Variables can be identified and addressed in advance.
Welding torch Weaving (unshielding) system is a system that moves along welding line while moving welding torch left and right to make wide bead because straight bead is obtained by moving welding electrode along welding line during welding.
It is a frequently used method for ensuring the amount of deposited metal in multi-layer welding or thick-plate butt welding.
AVC (automatic voltage control) - If the shape of the welded part and the lute interval are not constant during the longitudinal or circumferential welding, the welding torch and the welding material The welding arc is unstably generated in the welded portion, thereby affecting the quality of the welded portion.
And means a welding spark stabilization device for preventing such a problem.
In the case of existing products, if the shape of the welded part of the welded part is not constant, the welded flame is abnormal, which causes weld defect.
In order to keep the shape and shape of the welded part constant, the shape of the welded part of the welded part should be processed relatively accurately.
In the present invention, by controlling the length and direction of the welding flame, which has the greatest influence on the welding quality, it is possible to secure more stable and excellent welding quality.
7 is a schematic diagram showing the principle of hot wire TIG welding.
The hot wire reaches the molten state of the welding wire (W) even if the welding wire (W) is energized without an arc.
The melting rate of the welding wire W can be increased or decreased independently of the arc current.
Therefore, the base material can be melted as necessary and the deposited metal as much as necessary can be obtained.
This is a big feature of Hot Wire.
Figure 8 shows the combination of arc and wire current waveforms according to the Hot Wire TIG technique.
Conventionally, as shown in Figs. 8 (A) and 8 (B), the wire is heated by a continuous current of DC or AC.
On the other hand, in the present invention, a method of heating a wire with a pulse current as shown in Figs. 8 (C) and 8 (D) is put to practical use.
There are two major features of this method:
(1) Solving the magnetic blow problem of arc
The magnetic blowing of the arc by the welding wire energization does not occur during the energization stop period of the pulse current.
During that period (70-80% of the total time), the arc is located at the target and melts the base material as usual.
For example, in the case of the PH method, if the magnetic blow occurs while the energizing period is 3 ms, and the non-energizing period is 7 ms, the arc is stabilized again during this period.
As a result, the presence of the magnetic blow of the arc is not a practical problem.
Since the welding wire insertion position is arbitrary, the state of the arc greatly changes depending on the position of the welding wire, which may make the work difficult.
The pulse energization heating is effective in reducing the influence of the welding wire insertion position.
(2) Problems arcing in wire
During the current interruption of the pulse current, with the wire voltage, the wire detects whether it is in contact with the base material.
Figure 9 shows such a principle.
Fig. 9 is a schematic diagram showing the wire voltage during the non-welding period of the welding wire.
The wire voltage is 0V only when the tip of the welding wire contacts the base metal.
When the welding wire is separated from the base material, the welding wire is separated from the power source so as to stop the energization and to control the energization only when the welding wire is in contact with the base metal.
As a result, no arc is generated between the wire and the tungsten electrode or between the welding wire and the base metal.
As a control of the hot wire TIG welding according to the present invention, welding and stopping of the welding wire with the torch switch has been conventionally performed in the wire feed and stop path. However, recently, when the wire tip contacts the base material, Supply control method becomes possible.
The principle is shown in Fig. 9, and the supply of the welding wire continues for about 5 mm even if it is momentarily released due to hand trembling or the like.
According to this control, it is possible to work with a feeling similar to the operation of the electrode.
10 is a graph showing a contact supply sequence.
The wire heating power required for melting the welding wire is in principle proportional to the wire speed.
This proportional factor is controlled by the dial of the remote control and set to the appropriate welding wire heating power (power coefficient control).
However, even if the dial is placed in the vicinity of the target position, the wire insertion position is close to the arc, so that the welding is interrupted due to overheating, or the heating is insufficient to cause the wire to collide with the base material.
In the actual work, the operator senses the melting state of the welding wire and adjusts the distance between the torch and the base material or adjusts the welding wire insertion position to an appropriate state close to or away from the arc.
The automatic pressure welding apparatus of the present invention improves the welding speed and the welding quality and includes the control function of the welding arc (weld line, weaving width / velocity, arc voltage) through the tracking control motion algorithm, And the quality of the welded product can be improved.
100. Automatic welding device
110.
130.
150.
170.
190. Support plate
161. Welding soil 161-1. Heating welding wire feeder
161-2. Welding arc generator
162. Welding wire feeding part
163. Seam Tracker 163-1. Tracking sensor
163-2. Vision sensor
164. Right and
166.
168. Welding power supply
200. Pressure vessel
300. Work table 310. Rollers
M. Monitoring System W. Wire
S. Power Supply
Claims (3)
The welding apparatus unit 160 includes a welding soil layer 161 for welding the surface of the pressure vessel 200 and a welding wire W for supplying the welding wire W to the contact surface between the welding soil layer 161 and the pressure vessel 200 A welding wire feeding part 162 and a control part 170 for sensing and controlling the position of the welding soil 161,
The welding spot 161 of the welding unit 160 includes a heating welding wire feeder 161-1 and a welding arc generator 161-2 having an electrode rod. Right and left adjustment blocks 164 that move left and right and up and down adjustment blocks 165 that move up and down,
The control unit 170 senses a welding arc instability element generated due to a defective machining operation of the welding apparatus unit 160 by continuously weaving the welding soil 161 by a predetermined amount in the weaving block 166 in a left and right direction, And automatically adjusts to the adjustment block 167 to stabilize the welding arc,
The heating welding wire feeder 161-1 through which the welding wire W passes is connected to the heating welding wire supplying power source of the welding power supply unit 168 so that the welding wire W is preheated by the resistance heating method, That is,
The welding power supply unit 168 for preheating the welding wire W is installed separately from the power supply unit S,
The pressure vessel 200 is placed in parallel with the moving direction of the left and right moving frames 120 on the front surface of the welding apparatus unit 160 so as to be welded in the circumferential or longitudinal direction of the pressure vessel 200, When the plurality of rollers 310 supported in contact with the lower portion of the container 200 are rotated, the pressure container 200 seated on the roller 310 rotates, Automatic welding equipment for.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150095591A KR101678306B1 (en) | 2015-07-03 | 2015-07-03 | Automatic welding apparatus for pressure vessel and steel pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020150095591A KR101678306B1 (en) | 2015-07-03 | 2015-07-03 | Automatic welding apparatus for pressure vessel and steel pipe |
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| Publication Number | Publication Date |
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| KR101678306B1 true KR101678306B1 (en) | 2016-12-06 |
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| KR1020150095591A KR101678306B1 (en) | 2015-07-03 | 2015-07-03 | Automatic welding apparatus for pressure vessel and steel pipe |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101772359B1 (en) * | 2017-02-22 | 2017-08-28 | 오정식 | Roll hardfacing welding apparatus |
| KR101863150B1 (en) * | 2017-06-12 | 2018-06-29 | 장보성 | Welding apparatus |
| KR101962297B1 (en) * | 2018-07-17 | 2019-03-26 | 이준표 | Welding apparatus |
| KR102025092B1 (en) | 2019-01-21 | 2019-11-04 | 유한균 | Automatic welding system for pressure vessel |
| KR102092588B1 (en) * | 2019-01-16 | 2020-03-26 | 주식회사대불용접산업 | An automatic welding device about curved steel pipes |
| KR102192743B1 (en) * | 2019-08-20 | 2020-12-17 | 신일전기 주식회사 | Nuclear Power Distribution Box Automatic Welding Machine |
| KR200493011Y1 (en) * | 2020-02-06 | 2021-01-27 | (주)로멕스테크놀로지 | Sensor structure for plazma welding machine for corrugation plate welding |
| KR102376638B1 (en) * | 2020-11-12 | 2022-03-22 | 한국생산기술연구원 | Welding control method for improving low-temperature impact toughness of steel pipe forming part and welding device controlled thereby |
| KR102480930B1 (en) * | 2022-08-12 | 2022-12-22 | 임수정 | Plasma cutting machine |
| CN116673976A (en) * | 2023-07-04 | 2023-09-01 | 大连石岛工业有限公司 | Intelligent welding robot for welding large-scale anchor chain wheel and operation method thereof |
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| JPH065021Y2 (en) * | 1988-07-11 | 1994-02-09 | 日本鋼管株式会社 | Automatic welding equipment for cylindrical closed containers |
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| KR101395155B1 (en) * | 2013-08-26 | 2014-05-15 | 주식회사 청우 | Automatic welding device for steel pipes |
| JP6005021B2 (en) * | 2013-10-16 | 2016-10-12 | 株式会社サニープレイス | Hair treatment method |
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2015
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101772359B1 (en) * | 2017-02-22 | 2017-08-28 | 오정식 | Roll hardfacing welding apparatus |
| KR101863150B1 (en) * | 2017-06-12 | 2018-06-29 | 장보성 | Welding apparatus |
| KR101962297B1 (en) * | 2018-07-17 | 2019-03-26 | 이준표 | Welding apparatus |
| KR102092588B1 (en) * | 2019-01-16 | 2020-03-26 | 주식회사대불용접산업 | An automatic welding device about curved steel pipes |
| KR102025092B1 (en) | 2019-01-21 | 2019-11-04 | 유한균 | Automatic welding system for pressure vessel |
| KR102192743B1 (en) * | 2019-08-20 | 2020-12-17 | 신일전기 주식회사 | Nuclear Power Distribution Box Automatic Welding Machine |
| KR200493011Y1 (en) * | 2020-02-06 | 2021-01-27 | (주)로멕스테크놀로지 | Sensor structure for plazma welding machine for corrugation plate welding |
| KR102376638B1 (en) * | 2020-11-12 | 2022-03-22 | 한국생산기술연구원 | Welding control method for improving low-temperature impact toughness of steel pipe forming part and welding device controlled thereby |
| KR102480930B1 (en) * | 2022-08-12 | 2022-12-22 | 임수정 | Plasma cutting machine |
| CN116673976A (en) * | 2023-07-04 | 2023-09-01 | 大连石岛工业有限公司 | Intelligent welding robot for welding large-scale anchor chain wheel and operation method thereof |
| CN116673976B (en) * | 2023-07-04 | 2023-10-31 | 大连石岛工业有限公司 | Intelligent welding robot for welding large-scale anchor chain wheel and operation method thereof |
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