KR102547334B1 - Small tank circumferential welding automation device - Google Patents

Abstract

The present invention automatically welds the head plate and the copper plate of a gas tank based on hidden arc welding (SAW) capable of excellent weld bead formation and high-efficiency welding to improve quality unevenness and shorten welding time by operator skill according to conventional manual welding work. By welding, it is possible to minimize input costs by high-quality welding and welding time reduction;
a device body in which vertical members and horizontal members are vertically and horizontally connected to form a work space therein; Rotating means provided in the main body of the apparatus to be idling and having a rotating body so that a workpiece is placed thereon to rotate; a driving means driven by control of a control means to control the power of the power supply unit to generate rotational force and transmit the rotational force to the rotating body; A flux supply unit for supplying the flux to the welding position through the control of the control means while the flux is accommodated therein; a welding machine configured to weld a workpiece by generating an arc at a welding position through the control of the control means and dissolving the supplied flux; a horizontal position adjusting means driven by control of the control means to linearly move the flux feeder and the welding machine horizontally; It provides a small tank circumferential direction welding automation device comprising a; vertical position adjusting means to be driven by the control of the control means to vertically move the horizontal position adjusting means on the device body.

Description

Small tank circumferential welding automation device

The present invention, when manufacturing a small tank applied to a small mobile energy storage container for storing high-pressure gas or fluid, automatically welds the head plate and copper plate of the tank, thereby reducing the input cost due to high-quality welding and welding time reduction. It relates to a small tank circumferential welding automation device that can be minimized.

As a remedy chuck, it is a small tank circumferential welding automation device based on submerged arc welding (SAW) capable of excellent weld bead formation and high efficiency welding to improve quality unevenness and shorten welding time due to worker skill according to conventional manual welding work It is about.

In general, high-pressure gas containers include household and commercial and industrial LPG tanks.

These high-pressure gas containers are cylindrical in shape, require various capacities (cylindrical diameter, length of cylinders), and in the event of an explosion, high-pressure gas containers accompany enormous human life and property damage. found

Accordingly, the performance of the welding part is directly related to the reliability of the high-pressure gas container.

Therefore, securing thorough welding technology is key.

In Korea Patent Application No. 10-2006-0060186 (Name: Plasma automatic welding device for pipe circumference welding/2006.06.30.), as known in the publication, it is provided with wheels and is installed to be movable along the running rail. A control device board installed on the upper surface of the bogie and performing plasma and general welding functions, driving the plasma welding machine and general welding machine, and performing overall control functions of the device; A column rotating gear installed on the upper surface of the bogie and a column having a front end fixed to the upper surface of the column rotating gear and rotatably installed within a range of 90 degrees; A boom stand having one end fixed to the top of the column and having a horizontal structure; A head portion composed of two heads installed on one side of the boom, one side of which is a plasma welding head for welding the first layer, and the other side of which is composed of a welding head for lamination on the first layer; An automatic welding device including a turning roller installed in a direction parallel to the traveling rail and a turning roller driving motor for driving the turning roller to support the pipe tube to be welded but not to deviate from a certain rotation range while rotating the tube tube has been

And in Korean Patent Application No. 10-2009-0132842 (name: circumferential welding device / 2009.12.29.), as known in the publication, a welding unit having a welding torch disposed around the joint of the welding base material; a transfer unit controlling a transfer motion of the welding torch; and a heat treatment unit having at least one or more contactors mounted on the transfer unit.

On the other hand, in Korean Patent Application No. 10-2010-0137362 (Name: Arc welding device and circumferential welding method using the same/2010.12.28.), as is known in the publication, the arc welding device according to one side is along the circumference. a drivable carriage; A welding machine mounted on the carriage and equipped with a welding torch for welding the circumference; and increasing the supply of inert gas supplied between the welding torch and the circumference when the carriage moves from the top to the bottom of the circumference, and reducing the supply of inert gas supplied between the welding torch and the circumference when the carriage moves from the bottom to the top of the circumference A circumferential welding device including a shielding gas supplier for adjusting the supply ratio of the shielding gas is disclosed.

In addition, in Korean Patent Application No. 10-2015-0113969 (name: circumferential welding device/2015.08.12.), as is known in the gazette, the lower part adheres to the outer circumferential surface of the first object to be welded, thereby fixing the welding device. A frame unit comprising three or more posts arranged at equal intervals on a circumference having a certain diameter and a horizontal member bonded to the upper ends of the posts to integrate the posts, one end of which is bonded to the center of the horizontal member. A circumferential welding device including a rotation unit that rotates with a line passing through the center of the circumference as a rotation axis, and a welding unit joined to the other end of the rotation unit.

Korean Patent Application No. 10-2006-0060186 (2006.06.30.) Korean Patent Application No. 10-2009-0132842 (2009.12.29.) Korean Patent Application No. 10-2010-0137362 (2010.12.28.) Korean Patent Application No. 10-2015-0113969 (2015.08.12.)

However, the conventional automatic welding devices as described above have a problem in that they are not suitably applied to the manufacture of a gas tank in which high-pressure gas is accommodated.

That is, there was a problem of not securing the stability of the welded part against the high-pressure gas.

Accordingly, when manufacturing a gas tank in which a high-pressure gas is conventionally accommodated, a skilled worker performs welding work manually.

Therefore, the cylindrical part of the tank manufactured by straight welding by the operator is connected to the curved welding process for coupling with the head plate on both sides, and this related process requires the input of a large number of skilled workers, and the workability is high due to the high difficulty of maintaining the posture. There is a problem in that the production efficiency is lowered due to a decrease in welding quality or a difference in welding quality depending on the skill level of the operator.

The present invention has been proposed to solve the above conventional problems, and an object of the present invention is to manufacture a small tank applied to a small mobile energy storage container designed to store high-pressure gas or fluid, By automatically welding the head plate and the copper plate, it is possible to minimize input costs due to high-quality welding and welding time reduction. It is to provide a small tank circumferential welding automation device based on submerged arc welding (SAW) capable of high-efficiency welding.

A small tank circumferential direction welding automation device according to the present invention for achieving the object of the present invention as described above includes: a device body in which vertical members and horizontal members are vertically and horizontally connected to form a working space therein; Rotating means provided in the main body of the apparatus to be idling and having a rotating body so that a workpiece is placed thereon to rotate; a driving means driven by control of a control means to control the power of the power supply unit to generate rotational force and transmit the rotational force to the rotating body; A flux supply unit for supplying the flux to the welding position through the control of the control means 81 while the flux is accommodated therein; a welding machine configured to weld a workpiece by generating an arc at a welding position through the control of the control means and dissolving the supplied flux; a horizontal position adjusting means driven by control of the control means to linearly move the flux feeder and the welding machine horizontally; It is characterized in that it includes a; vertical position adjusting means to be driven by the control of the control means to vertically move the horizontal position adjusting means on the device body.

The small tank circumferential welding automation device according to the present invention made as described above is an improvement of the inefficient operation of the existing curved circumferential welding operation, and after straight welding to the workpiece, each head plate is placed at the left and right circumferential ends. As the welding work can be performed simultaneously, it is suitably applied to the welding work of a small gas tank, and has an effect of supporting fast and precise welding work.

In addition, the vertical and horizontal movements of the welding machine function to enable work on workpieces of various capacities (cylinder diameter, length of cylinder), and constant circumferential welding work is performed through control of the rotational movement of the workpiece by the rotating means. As it becomes possible, it has the effect of enabling high-quality high-speed welding.

In addition, it has the effect of maximizing productivity by allowing general operators to produce uniform, high-quality products without the input of skilled and expensive professional welding personnel.

1 is a schematic side view showing a small tank circumferential welding automation device according to an embodiment of the present invention.
Figure 2 is a schematic plan view showing a small tank circumferential direction welding automation device according to the present embodiment.
3 and 4 are schematic diagrams showing an operating state of a submerged arc welding operation of a small tank circumferential direction welding automation device according to the present embodiment.
Figure 5 is a schematic illustration showing the electrical connection relationship of the small tank circumferential direction welding automation device according to the present embodiment.
Figure 6 is a schematic illustration showing the electrical connection relationship of the simulation means constituting the small tank circumferential direction welding automation device according to the present embodiment.
7 and 8 are schematic examples showing simulation means constituting the small tank circumferential direction welding automation device according to the present embodiment.
9 is a schematic illustration showing an example of measuring the lidar sensor unit of the small tank circumferential welding automation device according to the present embodiment.

Hereinafter, a small tank circumferential direction welding automation device according to a preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings.

Embodiments of the present invention may be modified in various forms, and the scope of the present invention should not be construed as being limited to the examples described in detail below. This embodiment is provided to more completely explain the present invention to those skilled in the art. Therefore, the shapes of elements in the drawings may be exaggerated to emphasize a clearer description. It should be noted that in each drawing, the same members are sometimes indicated by the same reference numerals. Detailed descriptions of well-known functions and configurations that may unnecessarily obscure the subject matter of the present invention are omitted.

1 to 9 are views showing a small tank circumferential welding automation device 1 according to an embodiment of the present invention, the small tank circumferential welding automation device 1 according to the present embodiment is a vertical member A device body (2) in which fields and horizontal members are connected vertically and horizontally to form a working space (A) therein; It is provided to be idling on the device main body 2 and has a rotating means 3 having a rotating body 31 so that the workpiece 100 is placed on the top and rotated.

That is, while the workpiece 100 is placed on the rotating body of the rotating means 3 in the working space A of the device body 2, the workpiece 100 moves according to the rotational movement of the rotating body 31. ) is rotated.

In the above, the vertical member and the horizontal member are made of a 'pipe' shape having a length, and to form the device body 2 as a 'frame structure'; As for the configuration and structure, a configuration and structure selected by a user from among conventionally known technologies may be suitably applied.

In the above, the rotation means 3 is provided with a pair of rotation shafts 32a and 32b axially coupled to the device body 2 to be idling while having a gap, and each of the rotation shafts 32a and 32b. A connecting belt 34 connected to the driven wheels 33 to simultaneously rotate the other rotational shaft 32b in the same direction when one rotational shaft 32a rotates, and a gap in the longitudinal direction of the rotational shafts 32a and 32b. It may include a plurality of rotating bodies 31 that are combined while having and rotate in the same direction when the rotation shafts 32a and 32b rotate to rotate the workpiece 100 in the reverse direction at the top. .

That is, when one of the rotation shafts 32a and 32b rotates, the rotational force is transmitted to the other rotation shaft 32b through the connecting belt 34 and the pair of rotation shafts 32a and 32b They rotate in the same direction.

Accordingly, the workpiece 100 rotates while the rotating bodies 31 coupled to the respective rotating shafts 32a and 32b rotate.

In the above, the driven wheel 33 is made of a 'chain sprocket', and the connecting belt 34 is made of a chain belt, so that the rotating shafts 32a and 32b can rotate at a constant speed; As for the configuration and structure, a configuration and structure selected by a user from among conventionally known technologies may be suitably applied.

The small tank circumferential direction welding automation device 1 according to this embodiment is driven through the control of the control means 81 to control the power of the power supply unit 82 to generate rotational force to rotate the rotating body 31. It includes; a driving means (4) configured to be transmitted to and rotated.

That is, the rotating body 31 rotates by receiving the rotating force generated by the driving means 4 .

At this time, the rotational force generated by the driving means 4 is transmitted to the rotational shaft 32a to which the rotational body 31 is coupled to rotate, so that the rotational body 31 may rotate.

In the above, the driving means 4 is controlled by the control means 81 and driven by a driving motor 41 generating a rotational force, and transmitting the rotational force generated by the driving motor 41 to the rotational shaft 32a. It may include a power transmission member 42 configured to rotate by doing so.

That is, the power transmission member 42 transmits rotational force to the driving motor 41 and the rotating shaft 32a so that the rotating shafts 32a and 32b are rotated through the rotational force of the driving motor 41, resulting in As a result, the workpiece 100 can be rotated at a speed controlled by the user.

In the above, the power transmission member 42 connects the movable pulley provided on the motor shaft of the drive motor 41, the driven pulley provided on the rotation shaft, and the movable pulley and the driven pulley to transmit rotational force. A power transmission belt may be included.

That is, the rotational force of the movable pulley may be transmitted to the driven pulley through the power transmission belt so that the rotating shaft 32a rotates.

The small tank circumferential welding automation device 1 according to the present embodiment made as described above is a flux supply unit to supply flux to the welding position 101 through the control of the control means 81 while the flux is accommodated therein ( 51) and; A welder 5 configured to weld the workpiece 100 by generating an arc at the welding position 101 through the control of the control means 81 and dissolving the supplied flux.

That is, through the control of the control means 81, the flux is supplied to the welding position 101 of the workpiece 100 through the flux supply 51, and at the same time, the welding machine 5 controls the control means 81 It is driven through the control of ) to perform sub-merged arc welding (sub-merged arc welding, 潛弧鎔接) work on the workpiece 100 while dissolving the flux to implement arc discharge at the welding position 101.

Accordingly, the manufacturing operation of the gas container suitable for accommodating high-pressure gas is stably performed.

At this time, while the workpiece 100 rotates at a selected speed through the rotating means 3 and the driving means 4, the welding work in the circumferential direction of the workpiece 100 is stably performed.

In the above configuration and structure of the flux feeder 51 and the welding machine 5, a configuration and structure selected by a user among conventionally known technologies may be suitably applied.

The small tank circumferential welding automation device 1 according to the present embodiment made as described above is driven through the control of the control means 81, and the flux supply 51 and the welding machine 5 are horizontally a horizontal position adjusting means (6) for linear motion; It includes a vertical position adjusting means 7 driven by the control of the control means 81 so as to move the horizontal position adjusting means 6 up and down vertically on the device body 2.

That is, the vertical position adjusting means 7 is driven through the control of the control means 81 on the device body 2 to raise and lower the horizontal position adjusting means 6 to a selected height, and the horizontal position adjusting means (6) is driven through the control of the control means 81 to linearly move the flux feeder 51 and the welding machine 5 in a horizontal direction in a selected length to weld the work pieces 100 of various sizes. By placing the flux inlet 52 of the flux feeder 51 and the welding rod 53 of the welding machine 5 at the position 101, the submerged arc welding operation is stably performed.

In the above, the vertical position adjusting means 7 is provided on the device body 2 and is driven through the control of the control means 81, so that the horizontal position adjusting means 6 is coupled and supported by a vertical cylinder rod 71 As can be made of a 'cylinder structure' to linearly move; As for the configuration and structure, a configuration and structure selected by a user from among conventionally known technologies may be suitably applied.

In the above, the horizontal position adjusting means 6 is provided on the base bracket 61 fixed to the vertical cylinder rod 71 and the base bracket 61, and through the control of the control means 81, the welding machine ( 5), a welding machine control cylinder 62 for linear motion, and a flux feeder provided on the base bracket 61 and for linear motion of the flux feeder 51 through control of the control means 81 A control cylinder 63 may be included.

That is, while the base bracket 61 moves up and down according to the up and down movement of the vertical cylinder rod 71 constituting the vertical position adjusting means 7 under the control of the control means 81, the work space ( The vertical position of the flux feeder 51 and the welder 5 according to the welding position 101 of the workpiece 100 supplied to A) is precisely adjusted and positioned, and the control means 81 According to the operation of the welding machine adjusting cylinder 62 and the flux supply adjusting cylinder 63 according to the control, the horizontal positions of each of the welding machine 5 and the flux feeder 51 are precisely adjusted and positioned. .

Accordingly, the welding operation for the workpiece 100 is performed while being precisely controlled, so that work efficiency and welding quality can be maximized.

In the configuration and structure of the welding machine adjusting cylinder 62 and the flux supply adjusting cylinder 63, a structure and structure selected by a user among conventionally known technologies may be suitably applied.

In the above, the flux supplier 51, the welding machine 5, the horizontal position adjusting means 6, and the vertical position adjusting means 7 are centered at the center of the work space A on the device body 2. It can be arranged on both sides to form two sets.

That is, through the two sets of the flux supplier, the welding machine, the horizontal position adjusting means, and the vertical position adjusting means, welding work can be performed simultaneously on both sides of the workpiece, thereby improving work efficiency. .

On the other hand, in the small tank circumferential welding automation device 1 according to the present embodiment, the flux feeder for the welding position 101 of the work 100 before performing the submerged arc welding work of the work 100 A simulator means (9) configured to test a welding state while the welding position (101) in the circumferential direction according to the rotational motion of the workpiece (100) coincides with the placement of the welder (51) and the welding machine (5) in the normal position. );

That is, the precision of the hidden arc welding work for the workpiece 100 is detected through the simulator means 9, so that the welding work can be performed more precisely.

In the above simulator means 9, the base bracket 61 of the horizontal position adjusting means 6, one end of which is fixed to the vertical cylinder rod 71 of the vertical position adjusting means 7, is the workpiece 100 A simulation part fixing bracket 91 fixedly bound to the end extending in the direction of the position to be placed; a vision camera unit 92 for capturing a video of the welding position 101 of the workpiece 100 to perform the hidden arc welding operation; It is fixed at a position facing the position where the workpiece 100 is placed in the simulation unit fixing bracket 91, and the images of the video taken by the vision camera unit 92 are analyzed to ) And a central operation control unit 93 that performs an operation to determine the correct position of the welding machine 5 and the flux supplier 51 with respect to the welding position 101 of ); a camera rotation motor module 94 provided to be axially rotatable in the vision camera unit 92 so as to rotate and adjust the photographing angle of the vision camera unit 92 to correct the photographing direction; Distinguish the boundary surface 102 between the workpiece 100 and the non-work area B to measure the rotational angle required for rotational driving of the camera rotational motor module 94 for adjusting the shooting angle of the vision camera unit 92 A lidar sensor unit 95 for performing a measurement to; In the central operation control unit 93, the location data having the value of the location of the welder 5 and the flux feeder 51 in real time, and the welder 5 and the flux feeder 51 in real time a memory unit 96 for storing location data; The calculated distance for the linear motion of the welding machine adjusting cylinder 62 and the flux supply adjusting cylinder 63 in real time according to the horizontal position interval between the fixed position data and the real time position data stored in the memory unit 96 and a simulation calculation unit 97 that transmits calculated data to the control means 81.

And, in the above, the lidar sensor unit 95 includes a LiDAR (Light Detection And Ranging) sensor that emits laser pulses, and is provided above the vision camera unit 92, and the vision camera unit 92 is fixed at a position where laser pulses are emitted parallel to the photographing direction of the vision camera unit 92 while being capable of emitting laser pulses in the photographing direction.

That is, before the flux feeder 51 and the welding machine 5 are driven to perform the hidden arc welding operation through the control of the control means 81, the welding position 101 of the workpiece 100 is first described. The angle in the circumferential direction according to the rotational motion of the workpiece 100 is captured by the vision camera unit 92 of the simulation means 9 and simulated by the central operation control unit 93 and the simulation operation unit 97. With respect to the welding position 101 for each part, it is tested whether the welding position of the welding machine 5 and the supplying position of the flux feeder 51 are properly aligned.

Specifically, while the drive motor 41 is rotationally driven by the control of the control means 81, the workpiece 100 is rotated by the rotational movement of the shaft-coupled rotational shafts 32a and 32b.

At this time, the hidden arc welding operation of the flux supply unit 51 and the welding machine 5 does not immediately proceed, but the vision camera unit 92 of the simulation means 9 rotates and performs the submerged arc welding operation along the circumferential direction. While filming a video of the welding position 101 of the workpiece 100 to be performed, the image of the filmed video is analyzed by the central operation control unit 93 for each welding position 101 where the workpiece is rotated in the circumferential direction. The correct location of the flux supplier 51 and the welding machine 5 is determined, and the determined location data is stored in the memory unit 96.

Then, when the workpiece 100 rotating in the circumferential direction rotates up to 360°, the photographing of the welding position 101 in the circumferential direction of the workpiece 100 is terminated and the drive motor 41 is driven. this is paused

Then, in real time for the real-time distance corresponding to the extent to which the cylinder rods of the welding machine adjusting cylinder 62 and the flux supplier adjusting cylinder 63 are linearly moved under the control of the control means 81. After receiving the position data from the simulation operation unit 97 and storing it in the memory unit 96, the horizontal position difference between the regular position data and the real-time position data stored in the memory unit 96 is calculated to calculate the position data in real time. Distance calculation data, i.e., distance data for linear motion of the welding machine adjusting cylinder 62 and the flux supply adjusting cylinder 63, is stored in the memory unit 96.

Next, the temporarily stopped drive motor 41 is re-driven to rotate the workpiece 100, and the distance calculation data stored in the memory unit 96 is transmitted to the control unit 81 to perform the rotational motion. The flux feeder 51 and the welding machine 5 are linearly moved to the welding position 101 to perform the submerged arc welding operation.

Accordingly, it is possible to perform the welding operation more accurately at the welding position 101 of the workpiece 100 rotating in the circumferential direction.

As shown in FIG. 8, above the vision camera unit 92, the lidar sensor unit 95 is provided, and the vision camera unit 92 is rotated by the rotation operation of the camera rotation motor module 94. ) is measured by the lidar sensor unit 95, and as shown in FIGS. 7 and 9, the vision camera unit 92 is rotated by the rotation operation of the camera rotation motor module 94. ), the lidar sensor unit 95 acquires the distance between the workpiece 100 and the non-work area B as point cloud data, respectively, and converts the obtained point cloud data to the central operation control unit ( 93), the central operation control unit 93 compares the cluster density of the point cloud data, and the cluster density of the point cloud data measured in the work piece 100 part and the clustering of the point cloud data measured in the non-work area (B) part Position data of the boundary surface 102 is obtained by determining a section rapidly changing between densities as the boundary surface 102 .

That is, by the operation of the lidar sensor unit 95, the area portion photographed by the vision camera unit 92 is obtained as point cloud data, and through the analysis of the point cloud data, when photographing in the vision camera unit 92 The vision camera unit 92 is rotated so as to be photographed from the boundary surface 102 through rotational driving of the camera rotation motor module 94 so as not to capture the non-work area B, which is an area that is meaningless to the vision camera unit 92. (92) to adjust the shooting angle.

Accordingly, in the central operation control unit 93 that analyzes the images of the video taken by the vision camera unit 92, it is possible to minimize data on the non-work area B, which is an unnecessary measurement area, so that linear movement during welding is performed. The accuracy of the position operation of the welding machine 5 and the flux feeder 51 is further increased.

Therefore, the welding operation is performed more precisely.

In the above, the vision camera unit 92 may be formed of an image discrimination sensor integrated with an industrial camera, and the configuration and structure selected by the user among conventionally known technologies may be suitably applied. .

The LiDAR (Light Detection And Ranging) sensor constituting the lidar sensor unit 95 in the above is a pulse laser beam emitted from a specific lens divided into thousands of branches and the reception time of the reflected light in a specific area at once. It is possible to obtain the distance of the surfaces facing a specific lens as point cloud data by measuring the distance, and the configuration and structure selected by the user among conventionally known technologies can be suitably applied.

One embodiment of the present invention described above is only exemplary, and those skilled in the art will appreciate that various modifications and equivalent other embodiments are possible therefrom. . Therefore, it will be well understood that the present invention is not limited to the forms mentioned in the detailed description above. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims. It is also to be understood that the present invention includes all modifications, equivalents and alternatives within the spirit and scope of the present invention as defined by the appended claims.

1: welding automation device 100: workpiece
101: welding position 102: interface
2: device body 3: rotation means
31: rotating body 32a, 32b: rotating shaft
33: driven wheel 34: connecting band
4: drive means 41: drive motor
42: power transmission member 5: welding machine
51: flux feeder 52: flux input unit
53: welding rod 6: horizontal position adjusting means
61: base bracket 62: welding machine adjusting cylinder
63: flux supply control cylinder
7: vertical position adjusting means 71: vertical cylinder rod
81: control means 82: power supply unit
9: simulator means 91: simulation part fixing bracket
92: vision camera unit 93: central operation control unit
94: camera rotation motor module 95: lidar sensor unit
96: memory unit 97: simulation operation unit
A: workspace B: non-workspace

Claims (1)

a device body (2) in which vertical members and horizontal members are vertically and horizontally connected to form a work space therein; Rotating means (3) provided to be idling on the device body (2) and having a rotating body (31) to rotate a workpiece on top of it; a driving means (4) driven by the control of the control means (81) to control the power of the power supply unit (82) to generate rotational force and transmit it to the rotating body (31) for rotational motion; A flux supply unit 51 to supply the flux to the welding position through the control of the control means 81 while the flux is accommodated therein; A welding machine 5 configured to weld a workpiece by generating an arc at a welding position through the control of the control means 81 and dissolving the supplied flux; a horizontal position adjusting means (6) driven by the control of the control means (81) to linearly move the flux feeder (51) and the welder (5) horizontally; A small tank circumferential direction comprising a vertical position adjusting means (7) driven by the control of the control means (81) to vertically move the horizontal position adjusting means (6) on the device body (2). In the welding automation device (1);
Prior to performing the submerged arc welding operation of the work 100, the placement of the flux supplier 51 and the welder 5 in place with respect to the welding position 101 of the work 100 and the work ( 100) to test the welded state while matching the welding position 101 in the circumferential direction according to the rotational motion; further including;
The simulator means 9,
The base bracket 61 of the horizontal position adjusting means 6, one end of which is fixed to the vertical cylinder rod 71 of the vertical position adjusting means 7, extends in the direction of the position where the workpiece 100 is placed. A simulation unit fixing bracket 91 fixedly bound to the end, a vision camera unit 92 for filming a video of the welding position 101 of the workpiece 100 to perform the hidden arc welding operation, and the simulation unit fixing bracket 91 ) is fixed at a position facing the position where the workpiece 100 is placed, and the welding position 101 of the workpiece 100 is fixed by analyzing the images of the video taken by the vision camera unit 92. The central arithmetic control unit 93 that performs calculations to determine the correct positions of the welding machine 5 and the flux supply unit 51 for the target, and the vision camera unit 92 rotates and adjusts the shooting angle to adjust the shooting direction. A camera rotation motor module 94 provided to be axially rotatable in the vision camera unit 92 to correct the rotation of the camera rotation motor module 94 for adjusting the shooting angle of the vision camera unit 92 The lidar sensor unit 95 for performing measurement to distinguish the boundary surface 102 between the workpiece 100 and the non-work area B to measure the rotation angle required for the welding machine in the central operation control unit 93 (5) and a memory unit 96 for storing the real-time location data of the welding machine 5 and the flux feeder 51 in real time having the value of the correct location of the flux feeder 51, and Linear movement of the welding machine adjusting cylinder 62 and the flux feeder adjusting cylinder 63 of the horizontal position adjusting means 6 in real time according to the horizontal position interval between the fixed position data and the real-time position data stored in the memory unit 96 and a simulation calculation unit 97 for transmitting distance calculation data obtained by calculating a distance to be operated to the control means 81;
The lidar sensor unit 95,
It includes a LiDAR (Light Detection And Ranging) sensor that emits laser pulses, and is provided above the vision camera unit 92, and can emit laser pulses in the direction in which the vision camera unit 92 takes pictures. while being fixed at a position where laser pulses are emitted parallel to the photographing direction of the vision camera unit 92;
At the top of the vision camera unit 92,
The lidar sensor unit 95 is provided so that the lidar sensor unit 95 measures the area portion captured by the vision camera unit 92 by the rotation operation of the camera rotation motor module 94, The distance between the workpiece 100 and the non-work area (B) in the lidar sensor unit 95 when adjusting the shooting direction of the vision camera unit 92 by the rotational operation of the camera rotation motor module 94 are obtained as point cloud data, and the acquired point cloud data is transmitted to the central operation control unit 93, and the central operation control unit 93 compares the cluster density of the point cloud data to measure the point cloud measured as part of the workpiece 100. A section that rapidly changes between the cluster density of the data and the cluster density of the point cloud data measured as the non-work area (B) portion is determined as the boundary surface 102 to acquire the position data of the boundary surface 102 Characterized in that Small tank circumferential welding automation device.

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