KR101749733B1 - Automatic Welding System for Pipe And Method for Controlling the Same - Google Patents

Automatic Welding System for Pipe And Method for Controlling the Same Download PDF

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Publication number
KR101749733B1
KR101749733B1 KR1020150179427A KR20150179427A KR101749733B1 KR 101749733 B1 KR101749733 B1 KR 101749733B1 KR 1020150179427 A KR1020150179427 A KR 1020150179427A KR 20150179427 A KR20150179427 A KR 20150179427A KR 101749733 B1 KR101749733 B1 KR 101749733B1
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KR
South Korea
Prior art keywords
pipe
flange
welding
welding torch
axis
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Application number
KR1020150179427A
Other languages
Korean (ko)
Inventor
김도정
최주석
나현호
Original Assignee
재단법인한국조선해양기자재연구원
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Priority to KR1020150179427A priority Critical patent/KR101749733B1/en
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Publication of KR101749733B1 publication Critical patent/KR101749733B1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/02Seam welding; Backing means; Inserts
    • B23K9/028Seam welding; Backing means; Inserts for curved planar seams
    • B23K9/0282Seam welding; Backing means; Inserts for curved planar seams for welding tube sections
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053Auxiliary 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
    • B23K37/0538Auxiliary 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/02Seam welding; Backing means; Inserts
    • B23K9/028Seam welding; Backing means; Inserts for curved planar seams
    • B23K9/0282Seam welding; Backing means; Inserts for curved planar seams for welding tube sections
    • B23K9/0286Seam welding; Backing means; Inserts for curved planar seams for welding tube sections with an electrode moving around the fixed tube during the welding operation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/095Monitoring or automatic control of welding parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126Controlling the spatial relationship between the work and the gas torch
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/16Arc welding or cutting making use of shielding gas
    • B23K9/167Arc welding or cutting making use of shielding gas and of a non-consumable electrode
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/235Preliminary treatment

Abstract

The present invention relates to a pipe automatic welding system and a control method thereof, in which a flange can be automatically welded to a pipe, a welding line can be accurately tracked by using a voltage value measured in real time in a welding process, The automatic pipe welding system according to the present invention comprises: a main body; Two turning rollers installed on the main body so as to be rotatable about a horizontal axis, the two turning rollers being installed side by side so that a pipe is seated therebetween and rotated; A turning unit for rotating the turning roller in one direction; A deformation preventing roller provided on the upper side between the two turning rollers so as to be movable up and down by the elevating means to support the upper end of the pipe while pressing downward; A flange fixing unit installed on the body and rotatably supporting the flange in contact with the outer edge portion of the flange to be welded to the pipe; A TIG welding torch for performing welding along the contact line between the flange and the pipe while being moved by a linear motion part that linearly moves in the front, back, left and right direction and up and down direction on the upper part of the main body; A control unit for controlling operation of the TIG welding torch and the linear motion unit; And a control unit.

Description

Technical Field [0001] The present invention relates to a pipe automatic welding system and a control method thereof,

The present invention relates to an apparatus for automatically welding a flange to a pipe, and more particularly, to a pipe welding apparatus capable of automatically welding a flange to a pipe, accurately tracking a welding line using a voltage value measured in real- And more particularly, to a pipe automatic welding system and a control method thereof.

In the latter case, when a pipe is installed in a ship, a basic pipe is installed, and a flange is attached to the pipe. Then, a medium-sized pipe is welded to the flange. In order to weld the pipe to the flange After the straight pipe is placed on a turning roll, the flange and the straight pipe are automatically or manually welded using a welding apparatus while the turning roll is slowly rotated.

Patent No. 10-0771164 discloses an automatic welding apparatus for pipes, which includes a body drive unit and a welding torch, which are connected to each other by an apparatus drive shaft, a weaving shaft, a torch vertical motion shaft, a torch vertical drive shaft and a wire feeder drive shaft, (EN) A piping automatic welding apparatus and a control method thereof that enable a welding line to be precisely matched and simultaneously grasp the state of a groove using a laser vision sensor (LVS).

Since the automatic pipe welding apparatus of the above-mentioned patent carries out welding work using only the weaving shafts, the weight and complexity of automatic welding equipment can be mitigated and undesirable phenomena such as breakdown can be eliminated. In the dwell, And an advantage of being able to move linearly along the running axis without motion.

However, since the laser vision sensor is very expensive and is not easy to be handled by the operator in the field, it is difficult to actually apply the laser vision sensor.

In addition, since the conventional automatic pipe welding apparatuses can be welded only at one point of the pipe, welding of only a short pipe is possible, and it is difficult to work a long pipe of 6m or more.

Registration No. 10-0771164 (Registered on October 23, 2007) Open Patent No. 10-2001-0037076 (disclosed on May 7, 2001)

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a welding apparatus and method for welding a welded pipe by using a voltage- So that accurate welding work can be performed.

According to an aspect of the present invention, there is provided an automatic pipe welding system including a main body; Two turning rollers installed on the main body so as to be rotatable about a horizontal axis, the two turning rollers being installed side by side so that a pipe is seated therebetween and rotated; A turning unit for rotating the turning roller in one direction; A deformation preventing roller provided on the upper side between the two turning rollers so as to be movable up and down by the elevating means to support the upper end of the pipe while pressing downward; A flange fixing unit installed on the body and rotatably supporting the flange in contact with the outer edge portion of the flange to be welded to the pipe; A TIG welding torch for performing welding along the contact line between the flange and the pipe while being moved by a linear motion part that linearly moves in the front, back, left and right direction and up and down direction on the upper part of the main body; A control unit for controlling operation of the TIG welding torch and the linear motion unit; And a control unit.

In accordance with another aspect of the present invention, there is provided a method of controlling an automatic pipe welding system,

(a) placing the pipe on a turning roller and supporting the flange with a flange fixing unit;

(b) lowering the deformation preventing roller to press the upper surface of the pipe downward to support the deformation preventing roller;

(c) preparing the welding end of the TIG welding torch near the contact line of the pipe and the flange;

(d) welding with a TIG welding torch while rotating the turning roller;

(e) detecting, in real time, the voltage value applied through the electrode and the filler of the TIG welding torch in the course of performing the welding with the TIG welding torch, and controlling the operation of the linear moving part according to the voltage value, So as to follow the control signal;

And a control unit.

The automatic pipe welding system of the present invention detects a voltage value applied through an electrode rod and a filler of a TIG welding torch in real time without using an LVS or a sensor and uses a weld line tracking algorithm according to a voltage value pre- The welding can be performed. Therefore, it is possible to manufacture a pipe automatic welding system at a low cost, and it is possible to secure an accurate and highly efficient welding quality, and it is also possible to weld a long pipe having a length of 6 m.

1 is a side view of an automatic pipe welding system according to an embodiment of the present invention.
Fig. 2 is a front view showing a part of the automatic pipe welding system of Fig. 1; Fig.
Fig. 3 is a front view showing a part of the automatic pipe welding system of Fig. 1; Fig.
Fig. 4 is a front view showing a flange fixing unit configured in the pipe automatic welding system of Fig. 1;

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of an automatic pipe welding system and a control method thereof according to the present invention will be described in detail with reference to the accompanying drawings.

1 to 4, an automatic pipe welding system according to an embodiment of the present invention includes a main body 10, two turning rollers 20 for rotating the pipe 1, And a deformation preventing roller 30 which is vertically movable by the elevating means above the two turning rollers 20 and supports the upper end of the pipe 1 while pressing it downward A flange fixing unit for rotatably supporting the flange 2 and a flange 2 fixed to the flange 2 and a pipe (not shown) while being moved by a linear motion part moving linearly in the longitudinal direction and the up- 1), a TIG welding torch 60 for performing welding along a contact line between the TIG welding torch 60 and a control unit (not shown) for controlling the operation of the linear motion unit, and the like.

The main body 10 is installed on a carriage 11 having a plurality of wheels 12 rolling along a rail 13 installed on a bottom surface thereof so as to be easily moved to a desired position. The wheel 12 of the truck 11 may be automatically rotated by the power unit including the motor to move along the floor, but may also be manually rotated by the operator.

A plurality of the truck 11 and the main body 10 are arranged in an inline manner and each of the main bodies 10 is provided with a turning roller 20, a rotating unit, a deformation preventing roller 30, a flange fixing unit, a TIG welding torch 60, and a control unit may be selectively configured. That is, in the automatic pipe welding system according to the present invention, several pipes (three pipes in this embodiment) are arranged in line, and long pipes having a length of 6 m or more can be continuously welded and connected.

The turning roller 20 is installed on the lower part of the main body 10 so as to be rotatable about a horizontal axis with respect to the ground surface. The two turning rollers 20 receive the power from the driving motor 21 constituting the rotating unit, rotate in one direction, and rotate the pipe placed on the rotating unit in one direction.

Although not shown in the drawings, the two turning rollers 20 are configured such that the interval between the two turning rollers 20 can be adjusted by a gap adjusting device. The gap adjusting device may include a screw shaft having opposite sides formed with threads in opposite directions and a movable block coupled to the screw threads on both sides of the screw shaft so as to move in directions opposite to each other as the screw is rotated Each of the turning rollers 20 is installed in the movable block. The screw shaft may be directly or indirectly connected to the gap adjusting handle 22 provided in the main body 10 and rotated. When the gap between the turning rollers 20 can be adjusted by the gap adjusting handle 22 and the gap adjusting device, the gap between the turning rollers 20 can be adjusted according to the diameter of the pipe.

2, the deformation preventing roller 30 is moved upward and downward by a lifting means linearly moving in the vertical direction (Z-axis direction) to the main body 10 so as to press the upper end of the pipe downward, (20) so as to prevent deformation due to an increase in heat input during the welding operation. The pneumatic cylinder 31 may be used as the elevating means, but a linear motion device using a linear motor, a linear motion device using a ball screw and a motor, a linear motion device using a pulley and a belt and a motor, And various known linear motion apparatuses such as an apparatus can be applied.

4, the flange fixing unit may be selectively formed on at least one of the plurality of main bodies 10. The flange fixing unit may include a flange 2 (not shown) contacting the outer edge portion of the flange to be welded to the outer peripheral surface of the pipe 1, In a rotatable manner. The flange fixing unit is provided in the body 10 so as to be movable in the radial direction of the flange 2 so as to be movable in a plurality of (three in this embodiment) supporting flanges 2 in contact with the outer surface of the flange 2 And a chuck 40 as shown in FIG. The three chucks 40 can be contacted with or spaced from the outer surface of the flange 2 while moving in the radial direction of the flange 2 by a linear motion device such as a pneumatic cylinder.

Referring to FIGS. 1 and 2 again, the TIG welding torch 60 is disposed in the front-rear direction (X-axis direction), the left-right direction (Y-axis direction) Z axis direction) while adjusting the welding position.

In this embodiment, the linear motion unit includes a Z-axis ball screw 51 formed at the upper end of the main body so as to extend vertically, a Z-axis motor for rotating the Z-axis ball screw, A Y-axis ball screw 52 coupled to a Z-axis nut portion moving along the Z-axis ball screw and moving in the Z-axis direction, a Y-axis motor for rotating the Y-axis ball screw 52, An X-axis ball screw 53 coupled to the Y-axis nut portion which is spirally coupled to the Y-axis ball screw 52 and moves in the Y-axis direction, and an X-axis ball screw 53 A carriage shaft 54 which is coupled to the X-axis nut portion which is spirally coupled to the X-axis ball screw 53 and moves along the X-axis ball screw and moves in the X-axis direction; Includes a welding carriage (70) coupled to the lower end and provided with the TIG welding torch (60) The.

The lower portion of the TIG welding torch 60 is bent at a predetermined angle so as to be inclined so as to be as close as possible to the contact line between the pipe 1 and the flange 2. Although not shown in the drawing, the TIG welding torch 60 has a tungsten electrode rod and a filler wire as in a conventional TIG welding device, and the angle of the filler material is easily adjusted.

The control unit detects in real time the voltage value applied through the electrode and the filler of the TIG welding torch 60 and controls the operation of the linear motion unit according to the voltage value so that the TIG welding torch 60 accurately Control to form a weaving while following.

A control method of the pipe automatic welding system of the present invention will now be described.

First, the pipe is placed on the turning roller 20, and the flange 2 is supported by the flange fixing unit. Then, the elevating means, that is, the pneumatic cylinder 31 is operated to lower the deformation preventing roller 30 so that the upper end of the pipe is pressed downward and supported against the turning roller 20. [ Then, the flange 2 of the flange fixing unit is supported by the chuck 40 so as to be rotatable.

Next, the end of the TIG welding torch 60 is brought close to the contact line between the pipe and the flange 2 to prepare for welding.

When the welding preparation is completed, a control unit (not shown) applies power to the driving motor 21 to rotate the two turning rollers 20 in one direction, and applies a voltage to the TIG welding torch 60 to perform welding.

In the course of performing the welding with the TIG welding torch 60, the controller detects in real time the voltage value applied through the electrode and the filler of the TIG welding torch 60, and controls the operation of the linear moving part according to the voltage value So as to control the TIG welding torch 60 to have a desired weaving shape while following the weld line.

The automatic pipe welding system of the present invention detects the voltage value applied through the electrode rod and the filler of the TIG welding torch 60 in real time without using the LVS or the sensor and uses the weld line tracking algorithm according to the voltage value pre- And the welding is performed by following the exact weld line.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the present invention as defined by the appended claims. And it is to be understood that such modified embodiments belong to the scope of protection of the present invention defined by the appended claims.

1: Pipe 2: Flange
10: Body 11: Truck
12: Wheel 20: Turning roller
21: drive motor 30: deformation preventing roller
31: pneumatic cylinder 40: chuck
60: TIG welding torch 70: Carriage

Claims (8)

A body 10;
Two turning rollers 20 installed on the main body so as to be rotatable about a horizontal axis and arranged to be parallel to each other and to rotate with the pipe mounted therebetween;
A turning unit for rotating the turning roller 20 in one direction;
A deformation preventing roller 30 vertically movably provided on the upper side between the two turning rollers 20 to lift and support the upper end of the pipe downward;
A flange fixing unit provided on the body 10 and rotatably supporting the flange 2 in contact with an outer edge portion of the flange to be welded to the pipe;
A TIG welding torch (60) for performing welding along the contact line between the flange (2) and the pipe while being moved by a linear motion part that linearly moves in the longitudinal direction and the vertical direction in the upper part of the main body (10); And,
The TIG welding torch 60 detects the voltage value applied through the electrode and the material of the TIG welding torch 60 in real time and controls the operation of the linear motion part according to the voltage value to control the TIG welding torch 60 to follow the welding line A control unit;
/ RTI >
The main body 10 is installed on a carriage 11 having a plurality of wheels 12 rolling along a bottom surface thereof,
A plurality of the truck 11 and the main body 10 are arranged in an inline manner and each of the main bodies 10 is provided with a turning roller 20, a rotating unit, a deformation preventing roller 30, a flange fixing unit, a TIG welding torch 60, and a control unit, and the pipes can be continuously welded to the main body 10,
The two turning rollers (20) are configured such that the gap between the two turning rollers can be adjusted by a gap adjusting device, wherein the gap adjusting device includes a screw shaft having opposite sides formed with threads in mutually opposite directions, And each of the turning rollers (20) is installed in the movable block, and the screw shaft is provided in the main body (10) to adjust the gap provided in the main body Is connected to and rotates with the handle (22).
delete [2] The apparatus according to claim 1, wherein the linear motion unit comprises: a Z-axis ball screw (51) formed to extend vertically at an upper end of the main body; a Z-axis motor for rotating the Z- A Y-axis ball screw 52 coupled to the Z-axis nut moving along the Z-axis ball screw and moving in the Z-axis direction, a Y-axis motor for rotating the Y-axis ball screw 52, An X-axis ball screw 53 coupled to the Y-axis nut portion which is spirally coupled to the ball screw 52 and moves along the Y-axis ball screw, and moves in the Y-axis direction; An X-axis motor, a carriage shaft 54 coupled to the X-axis nut portion that is spirally coupled to the X-axis ball screw 53 and moves along the X-axis ball screw and moves in the X-axis direction, ) And a welding carriage (70) which is coupled to the lower end of the TIG welding torch (60) Automatic pipe welding machine characterized in that. The apparatus according to claim 1, wherein the flange fixing unit includes a plurality of chucks (40) mounted to the body so as to be movable in a radial direction of the flanges to support the flanges (2) while being in contact with an outer surface of the flanges Features a pipe automatic welding system. delete delete The automatic pipe welding system according to claim 1, wherein the TIG welding torch (60) is formed to be inclined at a lower angle by a predetermined angle. 8. A control method of an automatic pipe welding system according to any one of claims 1 and 3 to 4 and 7,
(a) placing the pipe on a turning roller and supporting the flange with a flange fixing unit;
(b) lowering the deformation preventing roller to press the upper surface of the pipe downward to support the deformation preventing roller;
(c) preparing the welding end of the TIG welding torch 60 near the contact line of the pipe and the flange;
(d) welding the TIG welding torch 60 while rotating the turning roller;
(e) detecting, in real time, the voltage value applied through the electrode rod and the filler of the TIG welding torch 60 in the course of performing welding with the TIG welding torch 60, and controlling the operation of the linear moving part according to the voltage value To control the TIG welding torch (60) to follow the weld line;
And a control unit for controlling the welding of the pipe.
KR1020150179427A 2015-12-15 2015-12-15 Automatic Welding System for Pipe And Method for Controlling the Same KR101749733B1 (en)

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KR1020150179427A KR101749733B1 (en) 2015-12-15 2015-12-15 Automatic Welding System for Pipe And Method for Controlling the Same

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112318003A (en) * 2020-10-26 2021-02-05 沅陵县锐通翔户外用品有限公司 Outdoor articles for use equipment forming mechanism
CN113714728A (en) * 2021-08-28 2021-11-30 唐玉霞 Adjustable automatic butt joint supporting device for oil conveying pipeline welding
KR102657509B1 (en) * 2020-12-22 2024-04-16 주식회사 웰드텍 Automatic welding system for pipes

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2992986B2 (en) * 1994-10-11 1999-12-20 日立プラント建設株式会社 Piping processing equipment

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2992986B2 (en) * 1994-10-11 1999-12-20 日立プラント建設株式会社 Piping processing equipment

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112318003A (en) * 2020-10-26 2021-02-05 沅陵县锐通翔户外用品有限公司 Outdoor articles for use equipment forming mechanism
CN112318003B (en) * 2020-10-26 2022-05-03 沅陵县锐通翔户外用品有限公司 Outdoor articles for use equipment forming mechanism
KR102657509B1 (en) * 2020-12-22 2024-04-16 주식회사 웰드텍 Automatic welding system for pipes
CN113714728A (en) * 2021-08-28 2021-11-30 唐玉霞 Adjustable automatic butt joint supporting device for oil conveying pipeline welding
CN113714728B (en) * 2021-08-28 2024-04-19 南京佩全超洋科技有限公司 Adjustable automatic butt joint supporting device for oil pipeline welding

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