KR101698340B1 - Orbital welding device for welding pipe with easy angle-adjustment of torch - Google Patents

Abstract

The present invention relates to an orbital welding apparatus which can easily weld stepped corners of coupling parts of both pipes with different diameters. According to the present invention, the orbital welding apparatus includes: a linear driving means which is installed on a vehicle and enables a linear movement object to linearly move; a first rotary shaft which makes the linear movement object have a different height in the vertical direction to be parallel to a direction perpendicular to the linear movement direction; an inclined movement member which is coupled to the first rotary shaft to arrange the first rotary shaft between both ends; a link member which is individually coupled to ends of the linear movement object and a tilted movement member by pins to tilt the tilted movement member around the first rotary shaft in accordance with the linear movement; a second rotary shaft which is installed on the other end of the tilted movement member to be toward a direction perpendicular to both the linear movement direction and the direction of the first rotary shaft; a weaving means which is coupled to the second rotary shaft and moves a welding torch coupled for the weaving operation of the welding torch in a reciprocating motion; and a left and right swiveling driving means which is installed on the other end of the tilted movement member to swirl the weaving means around the second rotary shaft.

Description

TECHNICAL FIELD [0001] The present invention relates to an orbital welding apparatus for pipe joining,

[0001] The present invention relates to an orbital welding apparatus for pipe joining which facilitates torch angle adjustment, and more particularly, to an orbital welding apparatus having a configuration in which the angle of a torch can be easily adjusted for joining both pipes having different diameters.

Typically, when installing pipes on land or sea, welding is done to connect the pipes directly to each other in the field.

Particularly, in the case of a large pipe, welding is carried out by an orbital welding apparatus in which a fixed pipe can be welded while the welding carriage (running part) is rotated in order to facilitate a welding operation.

Fig. 1 shows an orbital welding apparatus according to Korean Patent No. 10-1224878. In Fig. 1, an end portion of a pipe 5, 6 having the same diameter is connected along a rail 1 provided around a pipe 5 The bogie 2 moves and the welding apparatus 3 provided on the bogie 2 performs the welding to the pipe joint 4 while rotating 360 degrees around the pipes 5 and 6.

In the pipe joining operation, as shown in FIG. 1, welding of pipes 5 and 6 having the same diameter can be relatively easily accomplished using a conventional orbital welding apparatus. However, as shown in FIG. 2, The welding of these different pipes 7 and 8 is not easy in a conventional orbital welding apparatus.

That is, since the joining portions to which the pipes 7 and 8 are joined are in the form of the step corner 9 at which the height difference is generated, the end of the welding rod can approach the joining portion precisely only when the welding torch is tilted. Furthermore, the angle of inclination of the welding torch can be minimized by adjusting the angle according to the position of the welding torch when moving around the pipe at 360 degrees because the melt flows due to gravity. Such a posture control of the welding torch has a complicated or difficult control operation in a conventional orbital welding apparatus.

In addition, at the time of forming the weld bead with respect to the step corner 9, the occurrence of welding defects can be reduced by performing the oblique weaving, and the oblique angle of the oblique line weaving is 360 °, Adjusting the angle can minimize welding defects.

This control of the oblique angle with respect to the step corner 9 also complicates or complicates the control operation in a typical orbital welding apparatus.

It is an object of the present invention to provide an orbital welding apparatus having a structure that can be easily welded to a step corner generated at a joint portion of both pipes having different diameters.

Another object of the present invention is to provide an orbital welding apparatus having a structure capable of obliquely weaving at the welding of a step corner generated at a joint portion of pipes having different diameters and facilitating adjustment of the oblique angle of the oblique weaving will be.

It is a further object of the present invention to provide a welding apparatus and a welding method capable of facilitating approaching of a welding rod to a joining portion even when a joining portion joining the welding objects forms a corner corner such as a right angle corner, Structure welding apparatus.

According to the present invention, there is provided an orbital welding apparatus for welding opposite ends of both pipes to weld them to each other, the orbital welding apparatus comprising linear drive means installed on a vehicle and linearly moving the linear moving body, An inclined motion member provided on a vehicle and axially coupled to the first rotary shaft such that the first rotary shaft is positioned between both ends, the first rotary shaft being parallel to the direction orthogonal to the linear motion direction, A link member pivotally connected to one end of the member and tilting the tilting member about the first rotation axis in accordance with the linear movement of the linear moving member; and a link member provided at the other end of the tilting member, A second rotary shaft which is oriented in a direction perpendicular to the direction of the first rotary shaft, a second rotary shaft which is axially coupled to the second rotary shaft, And a left and right swivel driving means for swiveling the weaving means around the second rotation axis, the swivel driving means being provided at the other end of the inclined motion member.

Further, the orbital welding apparatus of the present invention is characterized in that the linear driving means includes a driving motor provided on the base and a rotating screw coupled to the driving motor, wherein the linear moving body is spirally coupled to the rotating screw, Another characteristic is that the linear motion is performed in accordance with the rotation of the screw.

The orbital welding apparatus of the present invention is further characterized in that the weaving means is axially coupled to the second rotation shaft via vertically moving means for moving the weaving means in a direction parallel to the second rotation axis.

The orbital welding apparatus of the present invention further comprises control means for controlling the operations of the linear driving means and the left and right swivel driving means and position detecting means for detecting the position of the horizontally disposed pipes around the pipe, The control means controls the linear driving means so that the linear moving means gradually pulls the linear moving body in a direction away from the first rotation axis as the position of the pipe moves from the upper surface to the lower surface in accordance with the position detection result of the position detection means, The inclination angle is gradually increased with respect to the normal line of the pipe surface.

The orbital welding apparatus of the present invention further comprises control means for controlling the operations of the linear driving means and the left and right swivel driving means and position detecting means for detecting the position of the horizontally disposed pipes around the pipe, The control means controls the left and right swivel drive means so that the weaving means is inclined gradually with respect to the linear motion direction as the position of the pipe moves from the upper surface to the lower surface of the pipe in accordance with the position detection result of the position detection means, The reciprocating motion direction of the hour increases gradually with reference to the linear motion direction.

According to another aspect of the present invention, there is provided a welding apparatus comprising: a linear driving means which is installed on a base member and linearly moves a linear moving body; a linear driving means which is provided on the base member at a different height in a vertical direction from the linear moving body, A first rotating shaft which is parallel to a direction orthogonal to the first rotating shaft and which is axially coupled to the first rotating shaft so that the first rotating shaft is positioned between both ends; A link member which tilts the tilting member about the first rotation axis in accordance with the linear movement of the linear moving body, and a link member which is provided at the other end of the tilting member and which is provided in both the linear motion direction and the first rotation axis direction And a welding torch which is axially coupled to the second rotary shaft and is engaged for weaving action of the welding torch, Is installed in the weaving movement means, the other end of said tilting member which is characterized in that it comprises right and left swing drive means for turning the said weaving means with respect to the second rotation axis.

In such a welding apparatus, the linear driving means may include a driving motor provided on the base, and a rotating screw coupled to the driving motor, the linear moving body being spirally coupled to the rotating screw, Another characteristic is the linear motion along.

Further, the weaving means is axially coupled to the second rotation shaft via vertically moving means for moving the weaving means in a direction parallel to the second rotation axis.

The welding apparatus of the present invention according to the above-described configuration is characterized in that the welding apparatus includes a linear driving means having a linear moving body, a first rotating shaft having a height different from the linear moving body in the vertical direction, The welding torch can be easily tilted at a predetermined angle with respect to the normal direction of the pipe by coupling the tilting member axially coupled to the rotating shaft and the link member connecting the linear moving member and the tilting member to each other, And can be freely adjusted according to the position of the linear moving body.

Accordingly, when the pipes having different diameters are joined to each other, since the electrode is inclined toward the corner step portion formed, the approach can be very easy and the control operation of forming the weld bead in the corner corner portion can be very simple have.

The welding apparatus of the present invention further comprises a weaving means provided on the tilting member with a second rotation axis oriented in a direction perpendicular to both the linear motion direction and the first rotation axis and axially coupled to the second rotation axis, And left and right swiveling drive means provided on the other end portion of the inclined motion member for swinging the weaving means around the second rotation axis, it is possible to obliquely weave the weld at the step corner generated at the joint portion of the pipe having different diameters, Adjustment of the diagonal angle of the oblique weaving can be very easily and simply performed.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a structural explanatory view showing a conventional orbital welding apparatus
Fig. 2 is a perspective view showing a structure in which both pipes having different diameters are butted against each other; Fig.
3 is a perspective view showing a configuration of a welding apparatus according to an embodiment of the present invention
FIG. 4 is a plan view showing the configuration and operating state of the welding apparatus according to the embodiment of the present invention; FIG.
Fig. 5 is an explanatory view showing an operation in which a welding apparatus according to an embodiment of the present invention has a welding rod approaching a corner step for joining pipes having different diameters
Fig. 6 is an explanatory view showing a state in which a welding apparatus according to an embodiment of the present invention performs a diagonal weaving with a welding rod approaching a corner step for joining pipes having different diameters from each other
FIG. 7 is an explanatory view showing a change in shape of a weld bead formed by a welding apparatus according to an embodiment of the present invention,
8 is an explanatory view showing a state in which a melt forming a weld bead flows due to the influence of gravity to cause a weld defect
9 is an explanatory view showing a change in the angle of oblique lines of the oblique line weaving performed according to the position when the welding apparatus according to the embodiment of the present invention is rotated along the circumference of the pipe
10 is an explanatory view showing an operation of a welding apparatus according to an embodiment of the present invention in which a welding rod approaches a welded portion for joining pipes having the same diameter;
11 is an explanatory view for explaining an action of the welding apparatus according to the embodiment of the present invention to form a bead in a joint portion having a rectangular corner shape

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

3 and 4, an orbital welding apparatus for pipe joining according to an embodiment of the present invention is for joining together the butted ends of both pipes A and B, and is installed in the car 10 A linear driving means 20 for linearly moving the linear moving body 21 and a linear driving means 20 provided on the truck 10 at different heights in the vertical direction from the linear moving body 21 and perpendicular to the linear moving direction 22a An inclined motion member 33 axially coupled to the first rotary shaft 31 such that the first rotary shaft 31 is positioned between the both ends of the linear moving body 21 and the inclined motion member 31, A link member 35 which tilts the inclined motion member 33 about the first rotary shaft 31 in accordance with the linear movement of the linear moving body 21 by pin coupling 21a and 33a at one end of the linear moving body 21, Is provided at the other end of the inclined motion member (33), and both the direction of the linear motion (22a) and the direction of the first rotation axis (31) (62) for reciprocating a welding torch (71) axially coupled to the second rotation shaft (41) and coupled for weaving action, a second rotating shaft (41) facing the engraving direction, And a left / right swivel driving means (50) installed at the other end of the swivel arm (33) for swiveling the weaving means (62) about the second rotating shaft (41).

The linear driving means 20 rectilinearly moves the linear moving body 21 and includes a driving motor 23 mounted on the truck 10 and a rotating screw 22 rotated by being coupled to the driving motor 23 . The linear moving body 21 is coupled to the rotating screw 22 and linearly moves according to the rotation of the rotating screw 22. [

Since the linear driving means 20 linearly moves the driving motor 23 on the carriage 10 or the base member, it may be replaced with a known linear motor.

The bogie 10 on which the linear drive means 20 is installed is a moving means capable of moving along the rails 81 or the planar rails around the pipes A and B and is provided with the linear drive means 20 and the first The linear driving means 20 and the first rotary shaft 31 may be installed on the bead member mounted on the carriage 10 or the rotary shaft 31 directly mounted on the carriage 10.

The first rotary shaft 31 is installed on a support 12 vertically installed at one end of the carriage 10. Accordingly. The first rotary shaft 31 is located at a different height from the linear moving body 21 in the vertical direction and is installed on the carriage 10 via the support base 12. The first rotating shaft 31 is provided so as to be perpendicular to the direction in which the linear moving body 21 linearly moves and also perpendicular to the height direction in which the supporting table 12 is erected on the supporting table 12.

The inclined motion member 33 is axially coupled to the first rotary shaft 31 so that the first rotary shaft 31 is positioned between the both end portions, thereby rotating the inclined motion member 33 about the first rotary shaft 31 in an inclined manner. That is, when one end and the other end are disposed on both sides with respect to the first rotation axis 31 and are rotated about the first rotation axis 31, they can be inclined in both directions.

The link member 35 is connected to one end of the linear moving body 21 and the inclined moving member 33 by pin coupling 21a and 33a, respectively. Accordingly, the tilting movement member 33 is tilted with respect to the movement of the linear moving body 21, and the tilting movement member 33 is tilted about the first rotation axis 31 in accordance with the linear movement of the linear moving body 21 .

Left and right swivel driving means (50) are provided on the inclined motion member (33).

The left and right turning driving means 50 is provided at the other end of the tilting member 33 to tilt with the tilting member 33 and turn the weaving means 62 around the second rotating shaft 41 Respectively.

The left and right turning drive means 50 includes a swing drive motor 51, a drive pulley 52 coupled to the drive shaft of the swing drive motor 51, a driven pulley 56 And a drive belt 53 connecting the driven pulley 56 and the drive pulley 52. [ The driving belt 53 is pressed by the tension roller 54 to maintain the tension.

The second rotating shaft 41 is provided at the other end of the tilting member 33 and is directed in a direction perpendicular to both the linear motion direction 22a of the linear moving body 21 and the direction of the first rotating shaft 31. [ The driven pulley 56 is coupled to the upper end of the second rotary shaft member 42 having the second rotary shaft 41 as a central axis so as to be the central axis of the second rotary shaft 41 to support the drive pulley 52 and the drive belt 53, The upper and lower moving means 61 and the weaving means 62 which are coupled to the second rotating shaft member 42 are turned to the left and right.

The upper and lower moving means 61 is coupled to the second rotating shaft member 42 and is coupled to the weaving means 62 so that the weaving means 62 can be moved up and down. And is axially coupled to the second rotary shaft 41 via the second rotary shaft 41. The vertical direction is parallel to the second rotary shaft 41 in the present embodiment.

The weaving means 62 reciprocates the welding torch 71 so that the welding torch 71 can be operated in a weaving operation. The weaving means 62 is provided with a rod 62a reciprocating in the front and rear direction and a torch holding portion 73 is provided at the tip of the rod 62a and a welding torch 71 is provided on the torch holding portion 73 And is vertically installed.

Accordingly, when the rod 62a of the weaving means 62 reciprocates back and forth, the welding torch 71 reciprocates forward and backward, so that weaving welding can be performed as the carriage 10 moves.

On the other hand, in this embodiment, control means (not shown) for controlling the operations of the linear driving means 20 and the left and right swivel driving means 50 is provided so that the inclination angle of the welding torch 71 and the inclination angle of the weaving can be controlled have.

Further, position detecting means (not shown) for detecting the position of the horizontally disposed pipe around the pipe is provided and when it moves along the peripheries of the pipes A and B, information on the current position is transmitted to the control means .

The position detecting means is capable of detecting an angle varying by gravity to be located around pipes A and B when moving around horizontal pipes A and B, Can be used. Alternatively, a mark provided at a predetermined interval in a rail 81 provided on the periphery of the pipe and on which the carriage 10 moves, and a sensor provided on the carriage 10 and configured to detect the mark, The controller may detect the position and detect the position.

Hereinafter, the process of bonding the pipes A and B having different diameters to each other will be described in detail.

5, a rail 81 is provided around the pipe for welding welding the pipes A and B having different diameters horizontally to each other, and along the rail 81, a carriage 10 Welding is carried out while moving.

In the process of moving the bogie 10, the position detecting means transmits the detection information to the control means with respect to the positions of the upper surface, the side surface, the lower surface, and the like on the pipe.

The control means controls the operations of the linear driving means 20 and the left and right swivel driving means 50 based on the position detection information.

That is, the control means controls the angle of the welding torch 71 to be inclined (inclined angle?) With respect to the normal line of the pipe surface so that the angle of the welding torch 71 approaches the step corner when the pipes A and B run around the pipes A and B, (See Fig. 7) with respect to the normal of the pipe surface, the weaving welding progresses, and as the pipe moves toward the lower surface of the pipe, the inclination angle gradually increases with respect to the normal line of the pipe surface Lt; / RTI > from < RTI ID = 0.0 >

In order to increase the inclination angle of the welding torch 71, as shown in FIG. 5, the linear driving means 20 is controlled so as to gradually pull the linear moving body 21 in the direction away from the first rotation axis 31.

As shown in FIG. 8, the control for changing the inclination angle of the welding torch 71 may cause defects such as the undercut K because the melt to be welded is gathered downward under the influence of gravity, To minimize it.

That is, as shown in Fig. 7, the gradient? 1 of the electrode is made small so that the flow of the melt due to gravity is minimized near the upper part of the pipes A and B to form a gently bead. Further, in the vicinity of a lower portion of the pipes A and B, a gradient? 2 of a welding electrode is increased to form a bead having a steep slope so that a large amount of melt is generated and brought into contact with the side (lower side) Thereby minimizing the flow of the melt.

On the other hand, the control means controls the left / right swivel driving means 50 to swivel the weaving means in the diagonal direction so as to perform the oblique weaving operation as shown in Fig. 6, Control is performed so as to gradually increase the inclination angle with reference to the motion direction 22a.

The increase of the inclination angle increases the oblique angle in the oblique weaving, and the oblique angle gradually increases toward the lower side of the horizontal pipe.

That is, as shown in Fig. 9, the upper surface of the pipe advances the weaving without a sloping inclination, gradually moves downward around the pipe, and gradually increases the sloping inclination from? 1 to? 2 to proceed the sloping weaving.

According to such a slanting slope of the oblique weaving, the melt which can flow on the side surface and the lower surface of the pipe is fused so that the contact area between them becomes larger, so that the flow of the melt can be relaxed and a relatively good weld bead can be produced.

To this end, the control means controls the left and right swing drive means 50 so that the left and right swing drive means 50 swivels the weaving means 62 together with the up-and-down moving means 61 to move the linear moving body 21 in the linear motion direction (22a).

The welding apparatus according to the embodiment of the present invention described above can be used not only for welding pipes A and B having different diameters but also for joining pipes C and D having the same diameters as shown in Fig. Of course.

Fig. 11 shows the action of the flat plate-like welding members E and F forming perpendicularly to each other to form a bead in a joint having a right-angled corner shape.

The welding apparatus of the present embodiment is configured such that the welding torch 71 is inclined to the vertical direction for approaching the welding electrode 72 to the joining portion where the flat plate welding target members E, And the left and right swivel driving means 50 for turning the weaving means 62 to the left or the right for the weaving in the oblique direction can be carried out by the same operation as the above-mentioned joining of the pipes.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be construed as limited to the particular embodiments set forth herein. It goes without saying that other modified embodiments are possible.

10; Balance 12; support fixture
20; Linear drive means 21; Linear moving body
21a, 33a; Pin coupling 22; Rotary screw
23; A drive motor 31; The first rotating shaft
33; An inclined motion member 35; Link member
41; A second rotation shaft 42; The second rotating shaft member
50; Left and right turning drive means 51; Orbiting drive motor
52; A drive pulley 53; Drive belt
54; Tension roller 56; Driven pulley
61; Up / down moving means 62; Weaving means
62a; Load 71; Welding torch
73; Torch grip portion 81; rail

Claims (8)

An orbital welding apparatus for welding together the butted ends of both pipes (A, B)
A linear driving means 20 installed on the carriage 10 and linearly moving the linear moving body 21,
A first rotation axis 31 disposed on the carriage 10 in a vertical direction different from the linear moving body 21 and parallel to a direction orthogonal to the linear motion direction 22a;
An inclined motion member (33) axially coupled to the first rotation axis (31) such that the first rotation axis (31) is positioned between both ends;
And is coupled to one end of the linear moving body 21 and one end of the tilting member 33 so that the linear moving body 21 is rotated in the direction of the linear motion of the linear moving body 21 about the first rotary shaft 31, A link member 35 for tilting the link member 35;
A second rotation shaft 41 installed at the other end of the inclined motion member 33 and oriented in a direction orthogonal to both the direction of the linear motion 22a and the direction of the first rotation axis 31;
An oscillating means (62) axially coupled to the second rotary shaft (41), coupled to the welding torch (71), for reciprocating the welding torch (71) for weaving welding; And
And left and right turning drive means (50) installed at the other end of the inclined motion member (33) to turn the weaving means (62) around the second rotation axis (41)
The linear drive means (20)
A drive motor 23 installed on the truck 10,
And a rotating screw (22) coupled to the driving motor (23) and rotating,
The linear moving body 21 is spirally coupled to the rotating screw 22 and linearly moves according to the rotation of the rotating screw 22,
The left / right swing drive means (50)
A swing drive motor 51 mounted on the inclined motion member 33, a drive pulley 52 coupled to a drive shaft of the swing drive motor 51, A driven pulley 56 and a drive belt 53 connecting the drive pulley 52 and the driven pulley 56,
The weaving means (62)
Is axially coupled to the second rotation shaft (41) via a vertically moving means (61) for moving the weaving means (62) in a direction parallel to the second rotation axis (41)
Control means for controlling operations of the linear driving means (20) and the left and right swivel driving means (50)
Further comprising position detecting means for detecting a position of the horizontally disposed pipe around the pipe,
The control means
So that the linear driving means (20) gradually pulls the linear moving body (21) in a direction away from the first rotary shaft (31) in accordance with the position detection result of the position detecting means as moving from the upper surface to the lower surface of the pipe , And the left and right swivel driving means (50) controls the weaving means (62) to be inclined gradually with respect to the direction of the linear motion (22a)
The inclination angle of the welding torch 71 is gradually increased with respect to the normal line of the pipe surface and the direction of reciprocation of the welding torch 71 during the weaving operation is gradually inclined with respect to the direction of the linear motion 22a Orbital welding device for pipe joining delete delete delete delete delete delete delete

Images