KR20120103429A - Learning type automatic welding device of pipes - Google Patents

Abstract

PURPOSE: A learning type automatic welding device for steel pipes is provided to prevent a welding failure by updating a travel route every time. CONSTITUTION: A learning type automatic welding device for steel pipes comprises a torch transfer module(20), a body(60), a magnet generating unit(70), a sensor unit(80), and a main controller. The torch transfer module comprises X, Z, and Y-axis moving units(21,24,25) and a curvilinearly moving unit(23) that transfer a torch clamp(21a) in multiple axes. The body travels along the surface of a steel pipe by driving a traveling roller(62) on the exterior of a case according to the operation of a drive motor. The magnet generating unit rotates a magnet with the operation of a handle to control the adhesion between the steel pipe surface and the magnet. The sensor unit maintains a joint and a sensor at a constant height using a buffer unit. The main controller implements data communication with the torch transfer module, the body, and sensor unit.

Description

Learning type Automatic welding device of pipes}

The present invention relates to an automatic welding device for learning type steel pipe joints, and more particularly, in a construction site that continuously connects steel pipes, the automatic welding device is attached to the outer surface of the steel pipe and automatically runs along the joints while the joints of the steel pipes are clearly defined. It is invented to improve the welding quality and precision of the joint by sensing the driving condition to be automatically detected by the set operation to correct the stored setting work while learning this in the main controller.

In general, the continuous joint construction technology of steel pipes in construction of water supply and sewage, plant, road, etc., using a steel pipe shaping device (aka “WELTECH”), has a state of forming or maintaining the steel pipes in a round shape, butting joints or overlapping joints. After that, the technique of welding the inner and outer surfaces of the joint with an automatic welding device is utilized.

Therefore, even in the situation where a skilled welder is lacking in recent years, the introduction of such a method does not require a professional welder, so that the city park can be reduced and the air can be shortened by welding automation.

However, the welding of the steel pipe should be dependent on the orthopedic device should be equipped with equipment for the steel pipe of various standards, there was a problem that the additional time required for installation and dismantling.

However, the above technique is to install a rail so that the traveling device for welding work can run on the outside of the steel pipe to be welded, which is because welding must be installed on the outside of the steel pipe of a larger diameter than the outer diameter of the steel pipe. There was a problem due to the cost increase because a lot of time and manpower is additionally needed to attach and detach the city rail.

Therefore, as a method for solving the above problems, the Korean Patent Registration No. 0927752 "Self-owned steel pipe welding robot device" has been proposed to perform a rail-less welding.

In such a rail-free system, as shown in Figs. 1 to 3, the body 10 'to enable the multi-axial movement of the torch clamp 22', and the rider 30 'to provide driving force to the body 10'. ), An adhesion force generator 50 'for intermittent attachment force to the steel pipe, and a controller 70 for generating display data by photographing the welding state with the camera 76' while maintaining a constant distance from the pipe joint P of the steel pipe. It has a configuration including '), the rider 30' has a way to independently drive the driving wheels 32 'on both sides with each motor 36', the drive shaft of the driving wheel 32 ' Is driven by chain and bevel gear.

In addition, the attachment force generator 50 'can control the attachment force to the steel pipe of the magnet 52' by the operation of the link 56 'interlocked with the lever 62' around the hinge shaft 53 '. In addition, the controller 70 'is configured to control the distance between the pipe connection P and the body 10' using the laser sensor 72 '.

That is, as a method for the rail-free robot device to move along the pipe connection part P of the steel pipe, it detects the signal reflected from the butt joint or overlapped pipe by using the laser sensor 72 'and controls the controller ( 70 ') allows the robot to manipulate the components of the device.

The robot device configured as described above is achieved by controlling and repositioning the traveling work and the welding work by the signals of the main controller 90 'and the wired / wireless manipulator 91' as shown in FIG.

However, in the conventional welding operation as described above, the input program signal of the main controller is transmitted to the rider and the multi-axis movement through the controller mounted on the railless robot device to interrupt the driving direction and the welding operation of the robot device, and the laser sensor and The torch is spaced apart from the steel pipe joint using a camera. The robot device equipped with all the above components requires a lot of work space due to the increase in volume and weight. There was this.

In addition, the above-mentioned railless robot apparatus performs welding of the same joint every time at the construction site where steel pipes are continuously connected, but the program is set again according to the change of welding and working conditions, thereby reducing work efficiency and convenience. There was a problem.

In addition, even if the molten spark splashes during the welding operation during the welding operation of the rail-free robotic device, the molten spark hardens on the surface of the steel pipe and proceeds to the section in which the irregularities are formed. There was a problem to be done.

The present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to detect the change in the moving direction of the automatic welding device and the position of the torch with respect to the steel pipe joint through a sensor unit, and transmit the signal to the main controller. It is to provide a learning-type steel pipe joint automatic welding device that updates the program input to the automatic welding device so that the torch can be accurately positioned in the next welding operation in response to the change.

Another object of the present invention, by connecting each component module of the automatic welding device wired and wireless to operate each component module according to the signal of the main controller, it characterized in that to maintain a constant distance from the steel pipe joint To provide automatic welding device of section steel pipe joint.

Another object of the present invention, by reducing the volume and size of the product is easy to install, and has an automatic learning function to improve the reliability of the product through differentiation with other products, thereby helping producers and builders to contribute to profit creation The purpose of the present invention is to provide an automatic welding device for learning steel pipe joints.

The present invention to achieve this object,

An automatic welding device (100) for butt jointly arranged steel pipe (10);

The automatic welding device 100, the X-axis movement portion 21, the curved movement portion 23, the Z-axis movement portion 24 to multi-axially move the torch clamp 21a for fixing the torch 1 Torch transfer module 20 having a Y-axis movement portion 25;

The Y-axis movement part 25 of the torch transfer module 20 is fixed to the body of the housing shape, and drives the traveling roller 62 outside the housing by the operation of the drive motor 61 into the body, the steel pipe ( 10) a body 60 to drive the surface;

A magnet generator 70 coupled to the body of the body 60 to rotate the magnet 74 by a handle 75 to control the attachment force to the steel pipe 10 surface;

The sensor 86 is positioned on the center line of the joint portion 11, and a buffer part is provided to maintain the sensor 86 with the joint portion 11 and a predetermined height, so that both front and rear ends of the body 60 are provided. A sensor unit 80 coupled to the sensor unit 80;

The torch transfer module 20, the body 60, the sensor unit 80 is achieved by consisting of a main controller 90 is connected to the wired and wireless wired data exchange.

The main controller 90 exchanges bidirectional data with the torch transfer module 20, the body 60, and the sensor unit 80, and the body 60 according to the detection of the existing data storage value by the sensor unit 80. The actual driving direction of the torch, and updated to reset the moving distance of the module 20.

In addition, the sensor unit 80, the upper support plate 82 coupled to the support 81 is fixed to the body 60, the sensor 86 is fixedly coupled to the body and the guide roller 87 on one side The lower support plate 85 coupled to the shaft, and the guide shaft 83 and the elastic spring 84 at one end of the upper support plate 82 and the lower support plate 85 to be mutually coupled to have a buffer portion.

In addition, the sensor 86 used in the sensor unit 80 is configured to detect and transmit a signal in a non-contact manner by using a plurality of shielded proximity sensors.

The magnet generator 70 rotates the screw shaft S with the handle 75 so that a pair of upper bases 71 coupled to the screw shaft S are opened or narrowed. The lower base 73 connected to the base 71 and the link piece 72 is configured such that both pieces rotate up and down at the same time around the coupling axis.

According to the configuration of the present invention, the welding operation while the automatic welding device automatically runs the steel pipe butt jointed at the pipe construction site of the steel pipe, it is possible to improve the productivity and welding quality.

In addition, by learning the progress path of the automatic welding device and updating each time, it is possible to prevent a defect in welding the joint of the steel pipe and apply it to welding the joint of the steel pipe under the same conditions, thereby increasing productivity.

Therefore, the construction is easy to improve the reliability of the product through differentiation with other products can contribute to the profit generation by producers and contractors.

1 is a perspective view showing the configuration of a conventional steel pipe welding robot device.
Figure 2 is a perspective view showing the body configuration of a conventional steel pipe welding robot device.
Figure 3a and Figure 3b is a side view showing a state in which a conventional steel pipe welding robot device is attached to the steel pipe.
Figure 4 is a front view showing a system using a conventional steel pipe welding robot device.
5 is a perspective view showing a state of use of the present inventors automatic welding device.
Figure 6 is a side view of the present invention automatic welding device.
Figure 7 is a perspective view showing the internal assembly state of the present inventors automatic welding device.
8A and 8B are perspective views showing the configuration of the magnet generator.
9 is a perspective view showing a state of use of the sensor unit of the present invention.
Figure 10 is a front view showing a system using the present inventors automatic welding device.
11 is a schematic configuration table of the present invention type automatic welding device.
12 is a control flowchart of the present invention type automatic welding device.

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

The present inventors learning type steel pipe joint automatic welding device, at the construction site that continuously connects the steel pipe, the automatic welding device is attached to the outer surface of the steel pipe while driving automatically along the joint, the joint of the steel pipe clearly detects the joint of the steel pipe automatically set work It is invented to improve the welding quality and precision of the joint part by correcting the stored setting work while learning the driving situation to be welded in the main controller.

First, the automatic welding device 100 is attached to the outer surface of the steel pipe 10 to perform a welding operation, the automatic welding device 100 is connected to the main controller 90 by wire or wireless to the motor (M) of each drive unit. ) And the torch (1) are operated according to the signal.

In addition, the motor (M) used in the present invention uses a sub-motor capable of forward and reverse rotation at a constant speed while generating a high torque at a low speed.

In addition, by rotating the screw shaft (S) in accordance with the drive of the motor (M) as a method for moving the respective moving parts of the present invention, the shaft portion coupled to the screw shaft (S) by converting the rotational movement into linear movement shaft It is configured to move, such a ball screw configuration is already commonly used, so a detailed description thereof will be omitted.

Therefore, the present invention, the automatic welding device 100, by receiving the signal of the main controller 90 without a control unit to the main body to operate each drive motor, reducing the overall size and weight to improve portability and running ability will be.

As described above, the automatic welding device 100 includes an X-axis moving part 21 and a curved moving part so as to multi-axially move the torch 1 for welding along the joint 11 as shown in FIGS. 5 to 9. 23), the torch transfer module 20 composed of the Z-axis movement part 24 and the Y-axis movement part 25 is mounted on the body 60, and the rider and the magnet generator 70 are mounted on the body 60 body. And the sensor unit 80 is further provided to achieve.

First, when the torch transfer module 20 is schematically described, the X-axis moving part 21 may be coupled to the torch clamp 21a for fitting the torch 1 to the screw shaft of the motor M to fix the shaft. In accordance with the driving of the motor M, the torch clamp 21a is transferred in the forward and backward directions.

In addition, the curved movement part 23 is assembled by movably fitting the body of the X-axis movement portion 21 to the curved rail, so that the X-axis movement portion 21 rides along the curved rail along the steel pipe 10 The rotational movement of a predetermined angle was made possible.

In addition, the Z-axis moving part 24 is a curve in which the body of the curved moving part 23 is fastened and fixed, and the X-axis moving part 21 is included in accordance with the driving of the motor M of the Z-axis moving part 24. Lifting and lowering the exercise unit (23).

In addition, the Y-axis movement part 25 is fixed to the torch clamp 21a by allowing the body of the Z-axis movement part 24 to be fastened and fastened, and to be moved left and right in a state where the body is coupled to the body 60. The position of the torch 1 can be moved in multiple axes.

The axial movement of the X-axis movement unit 21, the Z-axis movement unit 24, and the Y-axis movement unit 25 is driven by driving each motor M in accordance with the operation signal of the main controller 90. The position of the torch 1 is multiaxially moved.

In addition, the body 60 to which the torch transfer module 20 is mounted, has a body of a housing shape, the Y-axis movement portion 25 of the torch transfer module 20 is fixed to the upper body, the body It is configured to drive the traveling roller 62 to the outside of the enclosure by the operation of the drive motor 61 inside, to travel the surface of the steel pipe (10).

That is, the body of the body 60 is further provided with a module having a magnet generator 70 for supporting the body by attaching the body 60 to the outer surface or the inner surface of the steel pipe 10, the components of the module When the magnet 74 is attached in a state close to the steel pipe 10 and the traveling roller 62 rotates using the power of the driving motor 61, the body 60 travels along the surface of the steel pipe 10. .

At this time, the magnet 74 of the magnet generator 70 is located in close proximity to the steel pipe 10, to attach the body 20 to the steel pipe 10 by the magnetic force of the magnet 74, the drive motor larger than this magnetic force By rotating the driving roller 62 by the rotational force of 61 will be able to move the body 20.

Referring to the module of the magnet generator 70 in detail, as shown in Figure 8a and 8b, the upper base for sliding left and right slide along the screw shaft (S) fixed in the Y direction from the upper portion of the body 60 ( 71 and the lower base 73 to which the magnet 74 is coupled within the body 60 are connected to each other by the link pieces 72, and are coupled to one end of the screw shaft S to the outside of the body 60. By rotating the handle 75 exposed to the upper base 71 to move the left and right, it is possible to control the attachment force to the steel pipe (10).

At this time, the pair of upper bases 71 are coupled to the screw shaft (S) to have a screw groove symmetrical to each other, so that the slide movement to be widened or narrowed with each other during the rotation of the screw shaft (S), the body (60) It is preferable to further provide a guide rail from the top to the bottom of the body for smooth movement of the upper base (71).

In addition, the lower base (73) located inside the body of the body (60) is a hinge body coupled to the center around the coupling axis of the center, the upper base (71) in a state that the magnet 74 is fixed to the lower end of each body Link is attached to).

In addition, it is preferable that the assembly position of the lower base 73 is located at the center of the body 60 so as not to interfere with the traveling and detachment of the body 60 by the magnetic force of the magnet 74.

The configuration of attaching the body 60 to the steel pipe 10 by using the module of the magnet generator 70 configured as described above, first places the body 60 on the outer surface and the inner surface of the steel pipe 10 and then handle 75 Rotating the upper base 71 opens the lower base 73 linked to the upper base 71 while rotating downwardly about the coupling axis to be parallel to the surface of the steel pipe 10 so that the attachment force is largely applied.

In addition, in order to remove the body 60, when the handle 75 is reversely rotated so that the upper base 71 is narrowed, the linked lower base 73 is rotated upward with respect to the coupling axis and the surface of the steel pipe 10 is removed. As the magnet 74 is inclined, the attachment force is weakened, and thus, the grip 74 may be separated from the steel pipe 10 by holding the movement knob 65 provided at one end of the body 60.

In addition, the drive motor 61 provided in the body 60 is operated by the signal of the main controller 90, the magnet generator 70 is operated manually to the automatic welding device 100 to the steel pipe (10) The process of attaching and detaching in to improve convenience.

Then, the sensor unit 80 for detecting the position of the joint portion 11 of the steel pipe 10 in the lower portion of the installed body 60 of the torch transfer module 20 is coupled to the front and rear ends of the body 60.

The sensor unit 80 has an upper support plate 82 coupled to a support 81 having one end fixed to one side of the body 60 as shown in FIG. 9, and a sensor 86 fixedly coupled to the body and on one side. The guide roller 87 is configured to have a shock absorbing portion by coupling the lower support plate 85 and the upper support plate 82 and the lower support plate 85 to each other by the guide shaft 83 and the elastic spring 84. .

That is, the sensor unit 80 is a guide roller 87 in the process of running along the outer surface of the joint 11 of the steel pipe 10, the impact of the foreign matter on the surface, the height of the elastic spring 84 that the height is changed By buffering by using a non-contact way to detect the position of the joint portion 11 to maintain the sensor 86 position for transmitting a signal to the main controller at a certain interval on the top of the joint portion (11).

At this time, the sensor used in the sensor unit 80, by using a plurality of shield-type proximity sensor, to detect and transmit a signal in a non-contact manner, installed on both sides of the body 60, automatic welding device It is possible for the 100 to travel correctly along the joint 11.

In addition, the support 81 for fixing the sensor unit 80 to the body 60, by moving the screw according to the manual operation of the adjustment knob 88 can move the support 81 Z-axis and Y-axis. Passive multi-axis transfer module 89 to be further coupled may be to be fixed to the body (60).

Therefore, by manually operating the manual multi-axis transfer module 89 to further adjust the position of the sensor unit 80, it is possible to prevent the error of the welding operation.

In addition, the operations of the torch transfer module 20, the body 60, and the sensor unit 80 of the automatic welding apparatus 100 are controlled by the main controller 90 connected by wired / wireless and exchanging bidirectional data.

The main controller 90 is bidirectional data exchange with the torch transfer module 20, the body 60, the sensor unit 80, the actual data of the body 60 according to the detection of the existing data storage value of the sensor unit 80 By calculating the driving direction and the moving distance of the torch transfer module 20 and updating the existing data to be reset, the welding operation can be performed directly in response to an error generated during the repeated welding operation.

The main controller 90 controls the welding voltage and current supplied to the torch 1 and the rotation speed of the motor M of the torch transfer module 20, and the body 60 according to the signal of the sensor unit 80. By varying the speed of each of the running rollers 62 on the left and right sides, it is possible to cope with a driving error according to the dimension error or the floor state of the steel pipe 10 when the body 60 runs.

The sequence for welding the automatic welding device 100 along the joint 11 of the steel pipe 10 by the main controller 90 configured as described above is as shown in FIGS. 10 to 12.

First, the automatic welding device 100 is positioned near the joint 11 of the steel pipe 10 to perform the welding operation by holding the movable handle 65 fixed to the body of the body 60, and then the magnet generator 70. Rotating the handle 75 of the) to allow the automatic welding device 100 is attached to the steel pipe (10).

Then, by adjusting the torch transfer module 20 coupled to the body 60 to position the position of the torch 1 on the center line of the joint 11, automatic welding according to the program input to the main controller 90 The device 100 is driven.

The automatic welding device 100 performs a welding operation on the joint 11 with the torch 1 while traveling according to the signal of the main controller 90, and an error according to the floor state and the driving direction during the welding operation. The sensor unit 80 detects the change amount and transmits the change amount to the main controller 90. The change amount according to the error is based on the detection of the sensor unit 80 by the existing data storage value initially input to the main controller 90. The actual driving direction of the body 60 and the torch transfer module 20 is updated to be reset to the moving distance.

Therefore, by transmitting the data updated in the main controller 90 to each module motor (M) of the automatic welding device 100 to offset the error, it is possible to repeat the welding operation.

In another embodiment, a wired / wireless manipulator 91 for manipulating the main controller 90 is provided so that the main controller 90 and the automatic welding device 100 can be intermitted, thereby providing a signal of the wired / wireless manipulator 91. In accordance with this, the driving direction of the torch transfer module 20 and the body 60 may be changed even while the automatic welding device 100 is traveling.

In the present invention, it is preferable to perform three-pass welding while allowing two automatic welding apparatuses 100 to reciprocate 180 degrees to the outer surface of the steel pipe 10.

That is, in the state where the automatic welding device 100 travels along the joint portion 11 of the steel pipe 10, the joint surface 11 is welded one to two passes, and the surface of the welding surface becomes irregular, but the three pass welding is performed. In this state, the welding surface protrudes from the surface of the steel pipe to stop the automatic welding device 100 according to the signal of the proximity sensor 86.

Therefore, the automatic welding device 100 fed back after one pass welding proceeds using the changed data during the welding, and after completion of welding due to the off of the stored n-pass or proximity sensor 86, the magnet generator 70 The handle 75 is rotated to make the magnet 74 incline with the surface of the steel pipe 10 and the moving handle 65 is removed to remove the automatic welding device 100.

In addition, although this invention demonstrated the joint part 11 of butt welding, it can apply similarly to overlap welding and butt welding of thin thickness which is not tapered.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention. It will be clear to those who have.

10-steel pipe 11-joint
20-torch feed module 21-X-axis moving part
23-Curved motion part 24-Z-axis motion part
25-Y-axis motion 60-Body
70-magnet generator 71-upper base
72-Link-73-Lower Base
74-Magnet 75-Handle
80-sensor 81-support
82-Upper support plate 83-Guide shaft
84-elastic spring 85-lower support plate
86-sensor 87-guide roller
90-Main Controllers 91-Wired and Wireless Controls
100-automatic welding device
M-Motor S-Screw Shaft

Claims (5)

An automatic welding device (100) for butt jointly arranged steel pipe (10);
The automatic welding device 100, the X-axis movement portion 21, the curved movement portion 23, the Z-axis movement portion 24 to multi-axially move the torch clamp 21a for fixing the torch 1 Torch transfer module 20 having a Y-axis movement portion 25;
The Y-axis movement part 25 of the torch transfer module 20 is fixed to the body of the housing shape, and drives the traveling roller 62 outside the housing by the operation of the drive motor 61 into the body, the steel pipe ( 10) a body 60 to drive the surface;
A magnet generator 70 coupled to the body of the body 60 to rotate the magnet 74 by a handle 75 to control the attachment force to the steel pipe 10 surface;
The sensor 86 is positioned on the center line of the joint portion 11, and a buffer part is provided to maintain the sensor 86 with the joint portion 11 and a predetermined height. A sensor unit 80 coupled to the sensor unit 80;
The torch transfer module 20, the body 60, the sensor unit 80 is connected to the wired and wireless wired and wireless main controller 90, characterized in that consisting of the two-way data exchange is composed of automatic welding device.
2. The body according to claim 1, wherein the main controller 90 exchanges bidirectional data with the torch transfer module 20, the body 60, and the sensor unit 80. Automatic welding device of the learning-type steel pipe joint, characterized in that the update to be reset to the actual driving direction of the 60 and the moving distance of the torch transfer module (20).
The method of claim 1, wherein the sensor unit 80, the upper support plate 82 is coupled to the support 81 is fixed to the body 60, the sensor 86 is fixedly coupled to the body and a guide roller on one side ( 87 is coupled to the lower support plate 85, the shaft coupled to the guide shaft 83 and the elastic spring 84 at one end of the upper support plate 82 and the lower support plate 85 to have a buffer portion. Automatic welding device for learning type steel pipe joint.
The method of claim 1, wherein the sensor 86 used in the sensor unit 80, by using a plurality of shield-type proximity sensor, to detect and transmit a signal in a non-contact manner, characterized in that learning-type steel pipe joint automatic Welding device.
The method of claim 1, wherein the magnet generator 70, by rotating the screw shaft (S) by the handle 75 is a pair of upper base 71 is coupled to the screw shaft (S) is opened or narrowed, Accordingly, the upper base (71) and the lower base (73) connected by the link piece (72) is a learning-type steel pipe joint automatic welding device, characterized in that configured to rotate both sides up and down at the same time around the coupling axis.

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