KR20220036893A - Orbital railless welding carriage for narrow areas - Google Patents

Abstract

The present invention relates to an orbital railless welding carriage for narrow areas. More particularly, the present invention relates to an orbital railless welding carriage for narrow areas that is attached to a pipe to be welded in a narrow position without a separate rail and can perform welding while moving in the circumferential direction of the pipe to be welded. According to the present invention, the orbital railless welding carriage for narrow areas is attached to the pipe to be welded through a magnet, so it is easy to install and detach, detects the distance between one side in the longitudinal direction of the pipe to be welded and an outer circumferential surface of the pipe to be welded on the other side, respectively, and can individually control the rotational speeds of first and second attachment rollers so that they can be moved in parallel to a welding line extending in the circumferential direction during welding, so that there is an advantage that welding can be performed stably while moving in parallel with the welding line is maintained. In addition, the orbital railless welding carriage for narrow areas has an advantage that the magnet is located at the lower center of the circumferential direction between the first attachment roller and the second attachment roller, and can be stably moved in the circumferential direction on the outer circumferential surface of the pipe to be welded.

Description

Orbital railless welding carriage for narrow areas

The present invention relates to an orbital rail-free welding carriage for a narrow part, and more particularly, it is attached to a welding target pipe installed in a narrow position using a magnet without a separate rail, and welding can be performed while moving in the circumferential direction of the welding target pipe It relates to an orbital railless welding carriage for narrow parts.

A pipeline consists of a plurality of pipes having a constant diameter interconnected to form a continuous conduit.

In general, the pipes constituting the pipeline have an outer diameter of about 10 to 60 inches, and the longer the length, the more advantageous in construction. . Since each of these pipes is interconnected through a welding operation, it is possible to reduce the construction cost by shortening the construction period only when the welding operation is performed within a short time.

For the automation of welding for the construction of the pipeline as described above, an automatic welding carriage is used. At this time, the carriage for automatic welding is installed on the orbital guide device provided at the joint of the pipe and configured to orbital motion in the circumferential direction of the pipe, and a welding torch for performing welding is provided, so that the carriage for automatic welding is installed on the pipe When orbiting in the circumferential direction, the welding work is performed by a welding torch.

However, in a narrow place, it is difficult to install and dismantle a track-type guide device such as a column-shaped rail in the circumferential direction of a pipe to be welded, and it takes a lot of work time.

Korean Patent Publication No. 10-1117221 discloses a rail-free welding device that is attached to the outer surface of a steel pipe using magnetic force.

However, in the rail-free welding device, traveling wheels that roll in contact with the outer surface of the steel pipe are installed in four places. If it is not parallel to the welding line to be welded, there is a disadvantage that it cannot be adjusted automatically.

In addition, in the rail-free welding apparatus, magnetic force means are disposed on both sides of the main frame, so that the length in the circumferential direction is relatively large, so that movement in the circumferential direction can be restricted in the narrow part, and it is mounted on the steel pipe at an angle to the welding line in the circumferential direction. In this case, the magnetic force of the magnetic force means acts differently on the steel pipe, so it is not easy to adjust the position parallel to the welding line, and there is a disadvantage that it can be attached to the steel pipe eccentrically to one side.

Meanwhile, Korean Patent Laid-Open Publication No. 10-2007-0091595 discloses a carriage of a railless automatic welding device having a plurality of driving wheels made of a ferromagnetic material.

It is described that the carriage of the rail-free automatic welding device can change direction by controlling the operation of multiple driving wheels, respectively. It is difficult to accurately calibrate the position.

Republic of Korea Patent Publication No. 10-1117221 : Rail-free welding device for outer surface of steel pipe Korean Patent Laid-Open Publication No. 10-2007-0091595 : Carriage of Railless Automatic Welding Device

The present invention is to solve the above problems, and it can be mounted on the welding target pipe through a magnet without a separate rail, so that the fixing operation to the welding target pipe is easy, and it is attached to the welding target pipe in the circumferential direction. An object of the present invention is to provide an orbital rail-free welding carriage for narrow parts that can be moved side by side along an extended welding line so that a welding operation can be performed stably.

In addition, the present invention is to provide an orbital rail-free welding carriage for a narrow portion that is located in the lower center of the magnetic force means, and can be stably moved in parallel along the welding line.

In the orbital rail-free welding carriage for narrow parts of the present invention for achieving the above object, a welding torch for welding a welding line formed along the circumferential direction of a pipe to be welded is connected to one side, and on the outer circumferential surface of the pipe to be welded a circumferential movable body having a magnet embedded therein to be attached and movable in the circumferential direction of the pipe to be welded; A plurality of first attachment rollers spaced apart from each other in the circumferential direction of the pipe to be welded on one side of the circumferential body in the longitudinal direction of the pipe to be welded and capable of rolling motion in the circumferential direction in contact with the outer circumferential surface of the pipe to be welded, and the first A first attachment roller driving part for rotating the attachment rollers and the other side of the circumferential moving body in the longitudinal direction of the welding target pipe are spaced apart from each other in the circumferential direction of the welding target pipe, and in contact with the welding target pipe, the circumference of the welding target pipe A circumferential driving unit for moving the welding torch in a circumferential direction along the welding line, including a plurality of second attachment rollers capable of rolling in the direction, and a second attachment roller driving part for rotating the second attachment rollers; ; first and second level sensors respectively mounted on one side and the other side in the longitudinal direction of the circumferential moving body to sense an outer circumferential surface of the pipe to be welded and a separation distance; Movement of one side or the other side of the pipe to be welded in connection with the first and second level sensors so that the distance value from the outer peripheral surface of the pipe to be welded transmitted from the first and second level sensors is maintained the same and a control unit for controlling the driving of the first and second attachment roller driving units so that the speed is accelerated or decelerated.

A longitudinal direction comprising a first fixed frame having one side fixed to the other side of the circumferential movable body in the longitudinal direction of the pipe to be welded, and a first moving frame movable in the longitudinal direction of the pipe to be welded with respect to the first fixed frame. a torch positioning unit; A transverse direction comprising a second fixed frame mounted on the first moving frame, and a second moving frame movable in the transverse direction of the pipe to be welded with respect to the second fixed frame so as to move away from or closer to the pipe to be welded. It is preferable to include a; torch position control unit.

A tracking sensor disposed to face the welding line, one side is fixed to the circumferential body, and the other side is such that the tracking sensor faces the welding line according to the position of the circumferential body attached to the welding target pipe It is preferable to further include a sensor position adjusting unit movable in the longitudinal direction of the circumferentially movable body.

In the magnet, an upper one side of the plurality of first attachment rollers in a direction spaced apart from each other is axially connected to the circumferential movement body, and the length of the welding target tube on the other upper side in a direction in which the plurality of first attachment rollers are spaced apart from each other A rotation guide hole in the form of a long hole that penetrates in the direction and extends in a direction spaced apart from each other is formed, and one side rotatably penetrates one end of the circumferential body in the longitudinal direction of the pipe to be welded. One end is coupled to a handle shaft extending in the longitudinal direction of the pipe to be welded and entering into the circumferential movable body and positioned above the magnet, and the handle shaft protruding outward with respect to one end of the circumferential movable body, and a user A handle extending so as to be able to grip and rotate the handle shaft, a link piece having one side coupled to the other side of the handle shaft and the other side extending toward the rotation guide hole, and the other side of the link piece and rotation passing through the rotation guide hole It is preferable to further include; a magnet tube close contact operation unit including a guide shaft.

The magnet is between the first attachment roller and the second attachment roller spaced apart from each other in the longitudinal direction of the pipe to be welded, between the plurality of first attachment rollers spaced apart from each other, and a plurality of second attachment rollers spaced apart from each other It is preferably located between them.

The orbital rail-free welding carriage for narrow parts of the present invention is attached to the welding target pipe through a magnet, so it is easy to mount and detach, and by detecting the distance between one side in the longitudinal direction of the pipe to be welded and the outer peripheral surface of the pipe to be welded on the other side, respectively, The rotation speed of the first attachment roller and the second attachment roller can be individually controlled so that they can move in parallel to the welding line extending in the circumferential direction during welding. There are advantages that can be

In addition, in the orbital rail-free welding carriage for narrow parts of the present invention, the magnet is located at the lower center in the circumferential direction between the first attachment roller and the second attachment roller, so that it can be stably moved in the circumferential direction on the outer circumferential surface of the pipe to be welded. there is an advantage

1 is a perspective view of an orbital railless welding carriage for a narrow portion according to an embodiment of the present invention;
Figure 2 is a rear view of the orbital rail-free welding carriage for the narrow portion of Figure 1,
Figure 3 is a side view of the orbital rail-free welding carriage for the narrow portion of Figure 1,
4 is a partially separated perspective view of the orbital rail-free welding carriage for the narrow portion of FIG. 1;
5 is a partially separated perspective view of the longitudinal positioning unit of the orbital rail-free welding carriage for the narrow part of FIG. 1;
6 is a perspective view of the circumferential direction weaving unit of the orbital railless welding carriage for the narrow part of FIG. 1;
7 is a cross-sectional view of the orbital railless welding carriage for the narrow portion of FIG. 1;
8 is a partially separated perspective view of the lateral position adjustment unit of the orbital railless welding carriage for the narrow part of FIG. 1;
9 is a partially separated perspective view of the sensor position adjusting unit.

Hereinafter, an orbital railless welding carriage for narrow portions according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 to 9 show an orbital railless welding carriage 10 for a narrow portion according to an embodiment of the present invention.

The orbital rail-free welding carriage 10 for a narrow part according to the first embodiment of the present invention is a welding target pipe (1,1') attached to the welding target pipe (1,1') located in a narrow space where it is difficult for an operator to enter Welding work can be performed on

As shown in the figure, the orbital railless welding carriage 10 for a narrow part according to the first embodiment of the present invention is a welding operation for connecting one welding target pipe 1 and the other welding target pipe 1 ′. may be performed, and a welding operation for repairing a damaged part (not shown) of the attached welding target pipe 1 may be performed.

The orbital railless welding carriage 10 for a narrow part according to the first embodiment of the present invention is a welding torch for welding the welding line (a) formed along the circumferential direction of the welding target pipes (1, 1') facing each other 200 is connected to one side, a magnet 90 is built-in to be attached to the outer circumferential surface of the pipe to be welded (1), is movable in the circumferential direction of the pipe to be welded (1), and a circumferential movable body 11 having an inner space Wow; a circumferential drive unit 31 for moving the circumferential body 11 in the circumferential direction of the welding target pipe 1 so that the welding torch 200 moves in the circumferential direction along the welding line (a); First and second level sensors 81 and 84 respectively mounted on one side and the other side in the longitudinal direction of the circumferential moving body 11 to detect the outer circumferential surface and the separation distance of the pipe to be welded (1); an angle sensor 87 mounted on one side of the circumferential body 11 and calculating the inclination of the circumferential body 11 fixed to the pipe 1 to be welded; The first and second level sensors 81 and 84 and the angle sensor 87 are connected, and the value of the separation distance from the outer peripheral surface of the pipe to be welded 1 transmitted from the first and second level sensors 81 and 84 is To maintain the same, the driving of the circumferential driving unit 31 is controlled so that the moving speed of one side or the other side of the welding target pipe is accelerated or decelerated, and the circumferential moving body is calculated by calculating the angle change transmitted from the angle sensor 87. and (11) a control unit 100 for calculating the distance moved in the circumferential direction on the outer peripheral surface of the pipe to be welded (1).

And, the orbital rail-free welding carriage 10 for a narrow part according to the first embodiment of the present invention has one side fixed to the other side of the circumferential moving body 11 in the longitudinal direction of the pipe to be welded 1, and the other side is the pipe to be welded ( 1) a longitudinal torch position control unit 110 movable in the longitudinal direction and; It is connected to the other side of the longitudinal torch position control unit 110 and is provided with a transverse torch control unit 150 movable in the transverse direction of the pipe to be welded.

In addition, the orbital rail-free welding carriage 10 for a narrow part according to the first embodiment of the present invention is a magnet ( A magnet capable of rotating the magnet 90 so that the 90) is interviewed in parallel with the bottom surface of the circumferential body 11, or the other side of the magnet 90 has a larger separation distance from the bottom surface of the circumferential body 11 A rotation operation unit 70; is provided.

The circumferential moving body 11 includes first and second side plates 13 and 14, a first roller support plate 16, a second roller support plate 20, a magnet support plate 25, and a cover plate 28. to provide

When the first and second side plates 13 and 14 are attached to the pipe to be welded (1), they extend in parallel to each other in the longitudinal direction of the pipe to be welded (1) and are spaced apart from each other in the circumferential direction of the pipe to be welded (1). The farther away from the pipe to be welded (1), the greater the mutual separation distance is.

The first roller support plate 16 extends in length to connect one side of each of the first side plate 13 and the second side plate 14 of the pipe to be welded 1, and one side in the width direction is concave in a direction away from the pipe to be welded. and has a bent shape so that the other side in the width direction is convex in a direction away from the pipe to be welded. In addition, the second roller support plate 20 extends in length to connect the other side of the first side plate 12 and the second side plate 14 of the pipe 1 to be welded, and one side in the width direction moves away from the pipe to be welded. It is concave and has a bent shape so that the other side in the width direction is convex in a direction away from the pipe to be welded.

The first and second roller support plates 16 and 20 can rotate a first roller shaft 33 or a second attachment roller 52 that rotatably supports a first attachment roller 32 to be described later on both sides in the longitudinal direction. A roller shaft through hole 17 through which the second roller shaft 53 is supported and a tension adjusting hole 18 in the form of a long hole extending in the vertical direction are formed on the central side in the longitudinal direction, respectively.

And, the second roller support plate 20 is formed in the same shape as the first roller support plate 16, and the handle shaft 76 of the magnet rotation operation part 70 to be described later above the tension adjustment hole 22 passes through. A handle shaft through hole (not shown) is further formed.

The magnet support plate 25 faces the outer circumferential surface of the pipe to be welded (1) and each width direction end of the first and second side plates 13 and 14, the first roller support plate 16 and the second roller support plate 20 It extends to connect and supports the magnet (90).

The magnet support plate 25 has a shape in which both sides in the width direction are bent in the same direction with respect to the center side corresponding to the shape of one end of the first and second roller support plates 16 and 20 in the width direction.

The cover plate 28 extends so as to connect the upper ends of the first and second side plates 13 and 14 , the first roller support plate 16 and the second roller support plate 20 . The cover plate 28 has a shape in which both sides in the width direction are bent in the same direction with respect to the center side corresponding to the shape of the other ends of the first and second roller support plates 16 and 20 in the width direction. The cover plate 28 is formed with a plurality of belt through-holes 29 in the form of long holes that are respectively penetrated on one side and the other side in the longitudinal direction and extend in the width direction.

A plurality of belt through-holes 29 are formed at positions shifted from each other in the longitudinal direction of the pipe to be welded (1). That is, one belt through hole 29 is formed on one side in the width direction from one side in the longitudinal direction of the cover plate 28 , and the other belt through hole 29 is formed on the other side in the longitudinal direction of the cover plate 28 in the width direction. formed on the other side.

The circumferential driving unit 31 is for moving the welding torch 200 in the circumferential direction along the welding line, and the welding target pipe 1 on one side of the circumferential moving body 11 in the longitudinal direction of the welding target pipe 1 . ) spaced apart from each other in the circumferential direction and in contact with the outer circumferential surface of the pipe to be welded (1), a plurality of first attachment rollers 32 capable of rolling in the circumferential direction, and a first attachment roller for rotating the first attachment rollers 32 The driving unit 34 and the pipe to be welded (1) are spaced apart from each other in the circumferential direction of the pipe to be welded (1) on the other side of the circumferential moving body 11 in the longitudinal direction of the pipe to be welded (1) and are in contact with the pipe to be welded (1). ) and a plurality of second attachment rollers 52 capable of rolling in the circumferential direction, and a second attachment roller driving unit 54 for rotating the second attachment rollers 52 .

The plurality of first attachment rollers 32 pass through the roller shaft through-holes 17 formed on both sides in the longitudinal direction of the first roller support plate 16, respectively, and the first roller shaft 33 protruding to the outside of the circumferential moving body 11 ) is rotatably mounted on each. Then, the plurality of second attachment rollers 52 pass through the roller shaft through-holes 17 of the second roller support plate 20 and rotate on the second roller shaft 53 protruding to the outside of the circumferential moving body 11 . Each is possible to install.

6 and 7, one first roller shaft 33 and one second roller shaft 53 in the longitudinal direction of the circumferential body 11 from one side in the width direction of the circumferential body 11 Positioned on the same line to face each other, the other first roller shaft 33 and the other second roller shaft 53 are the length of the circumferential body 11 from the other side in the width direction of the circumferential body 11 They are located on the same line in the direction and face each other.

Bearings 67 are respectively mounted on the ends of the first and second roller shafts 33 and 53 facing each other, and the first roller shaft 33 and the second roller shaft 33 are located on both side lower surfaces of the cover plate 28 in the width direction. Bearing support brackets 69 for supporting the bearings 67 respectively mounted at the ends of the two roller shafts 53 are respectively mounted.

The first attachment roller driving unit 34 includes a plurality of first connection pulleys 35 respectively mounted on the first roller shafts 33 of the plurality of first attachment rollers 32 ; a first connecting belt 36 connecting the first connecting pulleys 35; a first driven pulley 37 mounted on any one of the first roller shafts 33 among the plurality of first roller shafts 33; A second attachment facing the first attachment roller 32 connected to the first driven pulley 37 and the first attachment roller 32 connected to the first driven pulley 37 in the longitudinal direction of the pipe to be welded (1) a first circumferential driving motor 38 mounted on one side of the cover plate 28 in the width direction to be positioned between the rollers 53; a first drive pulley 40 mounted on the drive shaft 39 of the first circumferential drive motor 38 and positioned above the first driven pulley 37; and a first driving belt 41 connecting the first driven pulley 37 and the first driving pulley 40 .

In addition, the second attachment roller driving unit 54 includes a plurality of second connection pulleys 55 respectively mounted on the second roller shafts 53 of the plurality of second attachment rollers 52 ; a second connecting belt 56 connecting the second connecting pulleys 55; a second driven pulley 57 mounted on a second roller shaft 53 that does not face the first attachment roller 32 connected to the first driven pulley 37; A first attachment facing the second attachment roller 52 connected to the second driven pulley 57 and the second attachment roller 52 connected to the second driven pulley 57 in the longitudinal direction of the pipe to be welded (1) a second circumferential driving motor 58 mounted on the other side of the moving frame 11 to be positioned between the rollers 32; a second driving pulley 60 mounted on a driving shaft (not shown) of the second circumferential driving motor 58 and positioned above the second driven pulley 57; and a second driving belt 61 connecting the second driven pulley 57 and the second driving pulley 60 .

The first circumferential driving motor 38 is mounted on one side in the width direction of the cover plate 28 , and the driving shaft 39 of the first circumferential driving motor 38 is disposed on one side in the longitudinal direction of the cover plate 28 in the width direction. It is mounted to be positioned above the belt through hole 29 formed on one side.

The first drive belt 41 penetrates the belt through hole 29 formed on one side in the width direction from one side in the longitudinal direction of the cover plate 28, and is mounted on the drive shaft 39 of the first circumferential drive motor 38 . It is connected to the first driving pulley (40).

The second circumferential drive motor 58 is mounted on the other side in the width direction of the cover plate 28 , and the drive shaft of the second circumferential drive motor 58 is formed on the other side in the width direction from the other side in the longitudinal direction of the cover plate 28 . It is mounted to be positioned above the belt through hole (29).

The second driving belt 61 penetrates the belt through hole 29 formed on the other side in the width direction from the other side in the longitudinal direction of the cover plate 28, and is mounted on the driving shaft of the second circumferential driving motor 58 in the second direction. It is connected to the driving pulley (60).

In addition, the circumferential driving unit 31 includes a plurality of tension adjusting units 42 for adjusting the tension of the first connecting belt 36 and the second connecting belt 56 .

The tension adjusting part 42 protrudes to enter the tension adjusting hole 18 of the first roller support plate 16 or the second roller support plate 20, and a movement guide projection extending to a length smaller than the tension adjusting hole 18 ( 43a) is formed and the moving block 43 is movably mounted on the first roller support plate 16 or the second roller support plate 20 in the width direction of the first roller support plate 16 or the second roller support plate 20 And, one side is fixedly mounted on the moving guide protrusion and enters the inner space of the circumferential moving body 11, and the first connecting belt 36 or the second connecting belt 56 is extended below the tension adjusting shaft 45 and , and a tension roller 46 mounted on the tension control shaft 45 to support the first connection belt 36 or the second connection belt 56 .

The moving block 43 penetrates through both sides of the moving guide protrusion 43a, respectively, and extends in a direction in which the magnet support plate 25 and the cover plate 28 are spaced apart, the first roller support plate 16 or the second roller support plate 20 A coupling position adjustment hole 44 through which a bolt 47 coupled to the is penetrated is formed, respectively.

In addition, the circumferential drive unit 31 accommodates the first circumferential drive motor 38 , the first drive pulley, and one side of the first drive belt 41 connected to the first drive pulley 40 ; open downward to receive the second circumferential drive motor 58 , the second drive pulley 60 , and one side of the second drive belt 61 connected to the second drive pulley 60 ; A plurality of motor covers 65 coupled to be alternately arranged with each other are provided on one side and the other side in the longitudinal direction of the cover plate 28 .

In order to attach and detach the circumferential body 11 to the pipe 1 to be welded, the magnet rotation operation unit 70 has the magnet 90 accommodated in the circumferential body 11 face-to-face in parallel with the bottom of the moving frame 11 or , it is possible to rotate the magnet 90 so that the other side of the magnet 90 has a larger separation distance from the bottom surface of the moving frame 11 than one side.

The magnet rotation operation unit 70 includes a magnet coupling block 71 , a handle shaft 76 , a handle 77 , a link piece 78 , a rotation guide shaft 79 , and a plurality of rotation shafts 80 . And, it is provided with a rotation limiting jaw (92).

The magnet coupling block 71 is coupled to the magnet 90 and rotates together with the magnet 90 , and is accommodated in the inner space of the circumferentially movable body 11 .

The magnet coupling block 71 is formed in a plate shape, and the block body 72 in which a groove is formed in which the upper part of the magnet is inserted and coupled is formed by being drawn upwardly at the bottom, and a plurality of first attachment rollers 32 are spaced apart from each other. The block body 72 in the width direction of the circumferential moving body 11, which is the direction, is formed to protrude from one side of the block body 72 toward the cover plate 28 located above, and protrudes downward from the lower surface of the cover plate 28, and A plurality of pivoting pieces 73 overlapping each other in the longitudinal direction of the cover plate 28 on a plurality of pivoting support pieces 30 spaced apart from each other in the longitudinal direction, that is, in the longitudinal direction of the pipe to be welded (1), and a circumferential moving body (11) is formed to protrude toward the cover plate 28 located above on the other side of the block body 72 in the width direction, penetrate in the longitudinal direction of the cover plate 28 and extend in the width direction of the circumferentially movable body 11 It has a binding ring 74 in which a rotation guide hole 75 in the form of a long hole is formed.

The plurality of rotation shafts 80 pass through one rotation piece 73 and one rotation support piece 30 , respectively.

One side of the handle shaft 76 rotatably penetrates through the handle shaft through hole (not shown) of the second roller support plate 20 and the other side extends in the longitudinal direction of the welding target pipe 1 into the circumferential movement body 11 . It is entered and positioned between the rotating piece 73 and the binding ring 74 from the upper side of the magnetic coupling block 71 .

One side of the handle 77 is coupled to the handle shaft 76 protruding outward with respect to the second roller support plate 20 and extended so as to be gripped by the user, thereby rotating the handle shaft 76 by the user's manipulation. .

One side of the link piece 78 is fixedly coupled to the other side of the handle shaft 76 , and the other side extends to overlap with the rotation guide hole 75 of the binding ring 74 in the longitudinal direction of the pipe 1 to be welded.

The rotation guide shaft 79 is fixedly coupled to the other end of the link piece 78 and extends through the rotation guide hole 75 . The rotation guide shaft 79 is movably penetrated in the longitudinal direction of the rotation guide hole 75, and the handle shaft 76 and the link piece 78 by the user's handle 77 operation are based on FIG. 7 , It is possible to lift the binding ring 74 while rotating and rotating in the counterclockwise direction.

The rotation limiting jaw 92 is spaced apart with the rotation piece 73 and the binding ring 74 therebetween, and extends downward from the other lower surface of the cover plate 28 in the width direction to face the binding ring 74, The lower end protrudes below the magnet coupling block body 72 protruding with respect to the side of the magnet, and supports the magnet coupling block body 72 .

The magnet coupling block 71 and the magnet 90 can rotate so that the other side is spaced apart from one side in the width direction by the rotation of the handle 77, but one side in the width direction by the rotation limiting jaw 92 It is restricted to rotate so that the other side is adjacent to the pipe to be welded (1).

On the other hand, the magnet 90 is accommodated in the circumferential body 11 to be positioned on the center side in the longitudinal and width directions of the circumferential body 11 . Specifically, the magnet 90 is disposed between the first attachment roller 32 and the second attachment roller 52 spaced apart from each other in the longitudinal direction of the pipe to be welded (1) in the circumferential direction of the pipe to be welded (1). It is positioned between a plurality of spaced apart first attachment rollers 32 and between a plurality of second attachment rollers 52 spaced apart from each other.

The first and second level sensors 81 and 84 may be mounted on the first side plate 13 or the second side plate 14 . Preferably, the first and second level sensors 81 and 84 are respectively mounted on both sides in the longitudinal direction of the first side plate 13 positioned on the side in the direction in which the circumferential body 11 moves.

As the first and second level sensors 81 and 84, a known distance sensor for measuring a distance using an infrared reflection angle capable of detecting a separation distance in the range of 2 to 15 cm may be applied, respectively. Such a distance sensor can output the distance between the sensor and the outer peripheral surface of the welding object tube (1) by measuring the angle of the infrared rays reflected from the outer peripheral surface of the welding object tube (1) after transmitting infrared rays.

The first and second level sensors 81 and 84 are welded when the longitudinal direction of the circumferential body 11 is orthogonal to the welding line (a) and the circumferential body 11 is attached to the welding target pipe 1 . The distances spaced apart from the outer peripheral surface of the tube 1 are output equally. However, when the longitudinal direction of the circumferential body 11 forms an acute or obtuse angle in the longitudinal direction of the circumferential body 11 with respect to the welding line (a), the first level sensor 81 and the second level sensor 84 ), the distance from the outer circumferential surface of the pipe to be welded (1) sensed is output differently.

When the measured values transmitted from the first level sensor 81 and the second level sensor 84 are different from each other, the control unit 100 is a welding target detected by the first level sensor 81 and the second level sensor 84 . The driving of the first circumferential direction driving motor 38 and the second circumferential direction driving motor 58 may be controlled so that the spaced distance from the outer circumferential surface of the tube 1 is the same.

For example, when the measured value of the first level sensor 81 is greater than the measured value of the second level sensor 84 , the control unit 100 rotates the drive shaft 39 of the first circumferential drive motor 38 . The speed may be reduced or the rotation speed of the drive shaft of the second circumferential drive motor 58 may be controlled to be accelerated. Conversely, when the measured value of the second level sensor 84 is greater than the measured value of the first level sensor 81 , the control unit 100 controls the rotation speed of the drive shaft 39 of the first circumferential drive motor 38 . is accelerated or the rotational speed of the drive shaft of the second circumferential drive motor 58 may be controlled to be decelerated.

The angle sensor 87 is mounted on the upper part of the circumferential body 11, and measures the inclination changed while the circumferential body 11 moves in the circumferential direction on the outer circumferential surface of the pipe 1 to be welded. The angle sensor 87 may be a MEMS-based tilt sensor, such as a known MSENS-IN product.

The control unit 100 compares the inclination of the initial position of the circumferential body 11 and the inclination changed as the circumferential body 11 is moved, and the circumferential body 11 is the outer peripheral surface of the pipe to be welded (1). The distance moved in the circumferential direction can be calculated.

The longitudinal torch position adjustment unit 110 is a first fixed frame 111 that is fixedly mounted on the upper surface of the circumferential moving body 11, and the first fixed frame 111 in the longitudinal direction of the pipe to be welded (1). It includes a movable first moving frame 121 and a longitudinal movement driving unit 131 for moving the first moving frame 121 .

The first fixing frame 111 has a rectangular column shape extending in the longitudinal direction of the pipe to be welded 1 corresponding to the center side of the cover plate 28, and is coupled to the upper surface of the center side of the cover plate 28 and welded. The first frame body 112 in which the first sliding space 113 opened in the direction away from the target tube 1 is formed, and the first frame body 112 coupled to the first frame body 112 and partially accommodated in the first sliding space 113 A first cover plate 116 sealing the first sliding space 113 is provided so that the first moving frame 121 is restrained.

The first frame body 112 is penetrated in communication with the first sliding space 113 at one end in the longitudinal direction in the direction of the welding torch 200, and is opened in a direction away from the welding target pipe, and the welding target pipe 1 in the transverse direction. A shaft through which a plurality of openings 114 spaced apart from each other and a first driving shaft (not shown) of the longitudinal movement driving motor 134 that is penetrated in the center at the other end in the longitudinal direction and coupled with a first screw shaft to be described later extend through A through hole 115 is formed.

The longitudinal movement driving unit 131 is mounted on the inner bottom surface of the first fixed frame 111 to be located in the first sliding space 113, and extends in parallel in the longitudinal direction of the welding target pipe 1 and includes a plurality of products spaced apart from each other. 1 rail 133; a plurality of first sliders 135 respectively mounted on the plurality of first rails 133 and spaced apart from each other and coupled to one lower surface of the first moving frame 121 accommodated in the first sliding space 113; Doedoe coupled to the first fixed frame 111, a longitudinal movement driving motor 139 that penetrates through the first fixed frame 111 and is connected to the first screw shaft 137 that is screwed through to the first moving frame 121 ); is provided.

The first moving frame 121 is coupled to a plurality of first sliders 135 on both sides in the transverse direction of the pipe to be welded 1 , and a first screw shaft coupling in which the first screw shaft 137 is threaded through the center side. A plurality of openings 114 that extend in parallel with each other in the direction of the welding torch 200 from the first screw shaft coupling part 122 and are spaced apart from each other in the transverse direction of the pipe to be welded (1) are formed, respectively. A plurality of moving rods 124 penetrating through and protruding with respect to the first fixed frame 11, and a plurality of moving rods 124 facing the welding torch 200 are coupled to respective ends of the transverse torch control unit ( 150) and is provided with a plurality of plate-shaped advancing and retreating heads 126 extending in the transverse direction of the pipe to be welded (1). The plurality of moving rods 124 have scales 125 formed on each side so that the operator can check the length protruding with respect to the first fixed frame 111 and precisely adjust it.

The lateral torch position adjustment unit 150 is coupled to a plurality of advancing and retreating head parts 126 and having a second sliding space 152 extending longitudinally in the transverse direction of the pipe to be welded (1), a second fixed frame (151) And, a second moving frame 161 that is partially accommodated in the second sliding space 152 and movable in the transverse direction of the pipe to be welded 1 with respect to the second fixed frame 152, and a second moving frame 161 and a lateral movement driving unit 171 that provides a driving force for the movement of the .

The second fixed frame 151 is coupled to the plurality of advancing and retreating head parts 126 and has a rectangular prism shape extending in the transverse direction of the pipe to be welded (1), and is opened in the direction toward the welding torch (200). The second sliding space 153 is coupled to the second frame body 152 and the second frame body 152 so that the second moving frame 161 partially accommodated in the second sliding space 153 is restrained. A second cover plate 156 sealing the space 153 is provided.

The second frame body 152 has one end in the longitudinal direction and a width smaller than the lower end on both sides in the width direction, so that the supporting jaw 155 for supporting the side of the second moving frame 180 and the supporting jaw 155 are second than the supporting jaw 155 . The first moving guide ribs 154 positioned inside the frame body 152 and protruding with a predetermined width in the direction of the welding torch rather than the supporting jaws 155 are formed to extend in parallel in the longitudinal direction, respectively, and the upper end, that is, the length A shaft through hole (not shown) through which a second screw shaft 164 to be described later extends through is formed in the center of the other end.

The second cover plate 156 extends lengthwise in the longitudinal direction of the second frame body 152 , and is bent toward the second frame body 152 on both sides in the width direction with respect to the plurality of first moving guide ribs 154 . A second movement guide rib 158 positioned outside is formed.

The second moving guide ribs 158 are spaced apart from each other at regular intervals with respect to the facing support jaws 155 .

The lateral movement driving unit 171 is mounted on the retracted side of the second frame body 152 to be located in the second sliding space 153, and extends in parallel in the lateral direction of the welding target pipe 1 and is a plurality of spaced apart from each other. The second rail 173 and the plurality of second sliders respectively mounted on the plurality of second rails 173 and spaced apart from each other and coupled to one side of the second moving frame 161 accommodated in the second sliding space 153 . (175) and a second screw shaft 177 that penetrates through the upper end of the second frame body 152 and is screw-coupled to the second moving frame 161, one side of which is partially accommodated in the second frame body 152, and; The first bevel gear 179 coupled to the second screw shaft 177 protruding from the upper end of the second frame body 152, the second bevel gear 180 meshed with the first bevel gear 179, , the second bevel gear 180 is mounted on the driving shaft (not shown) and provided with a lateral movement driving motor 182 that provides a driving force necessary for rotation of the second screw shaft 177 .

The lateral movement driving motor 182 has an internal space open downward and is fixed to one side of the gear housing 185 in which the first and second bevel gears 179 and 180 are accommodated.

The gear housing 185 includes a housing body 186 having an open inner space at a lower end facing the second fixing frame 151 and a side facing the handle 77 direction, and on the open side of the housing body 186 . It is coupled to cover the open side of the housing body 186, and a motor coupling plate 187 through which the central side of the driving shaft of the lateral movement driving motor 182 extends through is provided.

The second moving frame 161 extends longer than the second cover plate 156 and is formed in a rectangular shape having a width in the longitudinal direction of the second fixed frame 151 .

The second moving frame 161 is partially accommodated in the second frame body 152 and covers the screw shaft coupling frame 162 to which the second screw shaft 177 is screwed, and the second cover plate 156 to cover the second It is coupled to the screw shaft coupling frame 162 protruding with respect to the cover plate 156 and includes a torch support frame 167 to which the torch support 190 for supporting the welding torch 200 is coupled.

Referring to FIG. 8, the screw shaft coupling frame 162 is a welding torch 200 direction so that the first moving guide ribs 154 are accommodated on both sides in the longitudinal direction from one side facing the second frame body 152. The second movement guide ribs 158 are accommodated on both sides in the longitudinal direction on the other side facing the first rib accommodating slit 164 and the torch support frame 167 that are formed and extend open to both sides in the width direction. The slits 165 for second ribs that are drawn in in the direction of the frame body 152 and extend to be opened to both sides in the width direction are formed.

The torch support frame 167 has a length and a width corresponding to the screw shaft coupling frame 162, and a cover drawn in with a width corresponding to the second cover plate 156 on one surface facing the screw shaft coupling frame 162. A plate receiving groove 168 is formed.

The torch support part 190 is rotatably coupled to a torch rotation support shaft 191 mounted to protrude from the center side of the other surface of the torch support frame 167, and the rotation support shaft 191, and a rotation frame to which a welding torch is coupled. (193) is provided.

The rotation frame 193 is formed in a plate shape orthogonal to the longitudinal direction of the rotation support shaft 191, and a rotation support shaft coupling part formed with a first gripping hole 195 penetrating inside so that the torch rotation support shaft 191 is through-coupled. (194) and a second gripping hole ( 197) and a torch coupling portion 196 having a.

A pipe support bracket 199 for supporting a wire supply pipe 198 for supplying a welding wire (not shown) to the welding torch 200 is mounted on one side of the rotating frame 193 .

The rotation support shaft coupling portion 194 is formed with a first cut-out portion to be easily attached to and detached from the rotation support shaft 191 to be opened on one side of the first gripping hole 195, and the torch coupling portion 196 is a welding torch. The second cut-out portion is formed so as to be easily fixed and released at one side of the second gripping hole 197 .

The torch support part 190 is screwed to the rotation support shaft coupling part 194 to penetrate the first cut-out part in the transverse direction of the rotation support shaft coupling part 194, and adjust the width of the first cut-out part according to the screwed direction. Or, a plurality of tightening bolts 192 that are screwed to the torch coupling part 196 so as to penetrate the second cut-out part in the transverse direction of the torch coupling part 196 and adjust the width of the second cut-out part according to the screwed direction. have more

On the other hand, the orbital rail-free welding carriage 10 for a narrow portion according to the first embodiment of the present invention includes a tracking sensor 210 disposed to face the welding line (a); One side is fixed to the circumferential body 11, and the other side is the circumferential body so that the tracking sensor 210 faces the welding line (a) according to the position of the circumferential body 11 attached to the pipe to be welded (1). It further includes; a sensor position control unit 220 movable in the longitudinal direction of (11).

The tracking sensor 210 tracks the welding line (a), and although not specifically shown, a laser oscillator for scanning a band-shaped laser on its surface while moving along the welding line (a), and the scanned laser When is reflected, a general laser vision sensor including a CCD camera with a built-in CCD sensor that receives the laser again, processes the received light energy into an image image, and then digitizes it can be applied. The tracking sensor 210 is not limited to the proposed structure as long as it can track the welding line (a).

The control unit 100 calculates the distance from the welding line (a) by three-dimensional spatial coordinates of the video image of the outer peripheral surface of the pipe to be welded (1, 1') digitized by the CCD camera, and a preset welding line (a) By comparing with the distance and, it can be determined whether the welding torch 200 is moving in parallel along the welding line (a) in the circumferential direction.

The sensor position adjusting unit 220 includes a base part 221 , a third fixed frame, a third moving frame 227 , and a sensor moving driving unit 280 .

The base portion 221 has a lower end mounted on one side in the width direction of one side in the longitudinal direction of the cover plate 28 , and extends upward with respect to the cover plate 28 , and an upper surface thereof is formed in a flat shape.

The third fixed frame includes a third frame body 223 and a frame cover 226 .

The third frame body 223 includes a motor coupling part 224 in the shape of a square plate having a width in the width direction of the circumferential moving body 11 and the direction in which the cover plate 28 and the magnet support plate 25 are spaced apart from each other, and the motor At one end of the width direction of the circumferential body 11 of the coupling part 224, the cover plate 28 and the magnet support plate 25 have a width in a direction spaced apart from each other and extend in a direction away from the circumferential body 11 It is provided with a plate-shaped movable support (225).

The frame cover 26 is formed in the shape of a rectangular column extending in length to correspond to the moving support 225, one end in the longitudinal direction facing the motor coupling unit 224 and one side facing the moving support unit 225 in an open inner space. and a third moving frame 227, which has one end in the longitudinal direction adjacent to the welding torch 200, which will be described later, is partially opened so as to extend therethrough.

The third moving frame 227 has one side accommodated in the third fixed frame and the other side is extended in length to protrude. A tracking sensor 210 is mounted on the other side of the third moving frame 227 .

The third moving frame 227 is parallel to the motor coupling part 224, and a third screw shaft coupling part 228 to which an end of a third screw shaft 285 to be described later is coupled, and a third screw shaft coupling part ( 228) extends in parallel with the moving support 225 from one end of the circumferential moving body 11 in the width direction and includes a sensor coupling unit 229 to which the tracking sensor 210 is mounted.

The sensor movement driving unit 280 includes a third rail 281 extending along the longitudinal direction of the movement support unit 225, and a third slider movably mounted on the third rail and coupled to the sensor coupling unit 229 ( 283), coupled to the motor coupling unit 224 and the drive shaft 288 passing through the motor coupling unit 224, and the sensor moving driving motor 287 and the driving shaft 288 of the sensor moving driving motor 287 are coupled and a third screw shaft 285 extending into the third fixing frame and screwed to the third screw shaft coupling portion 228 .

The control unit 100 is accommodated in a drive case 105 having a rectangular parallelepiped shape that has an inner space and is coupled to be supported by the first cover plate 116 . The angle sensor 87 is accommodated together in the drive case 105 .

As described above, the control unit 100 is configured such that the values transmitted to the first and second level sensors are different from each other, or the movement speed of one side or the other side of the circumferential movement frame 11 is accelerated or decelerated, the first and second The driving of the attachment roller driving parts 34 and 54 can be individually controlled.

In addition, if the value calculated by the distance from the welding line (a) in the tracking sensor 210 is different from the preset value, the control unit 100 includes the longitudinal movement driving motor 139 and the lateral movement driving motor 182. The position of the welding torch 200 can be adjusted by controlling the driving of the .

In addition, the control unit 100 may control the position of the tracking sensor 210 by driving the sensor movement driving motor 287 according to the position where the circumferential movement body 11 is mounted on the welding target pipe 1 .

Although not shown, the orbital rail-free welding carriage 10 for the narrow part according to the first embodiment of the present invention is connected to a cable (not shown) coupled to the drive case 105 to be electrically connected to the control unit, so as to be in a weaving state and A separate monitoring unit (not shown) including a plurality of digital display units for digitally displaying welding conditions and a manipulation unit provided with a plurality of buttons for manipulating the weaving state and welding condition set values may be further provided.

More specifically, the operation unit may be provided with a start button and a stop button for controlling the power supply to the welding torch, and in order for the operator to directly move the position of the welding torch 200, each of the driving motors 38, 58, 139, 182, 287 It may include a welding target pipe longitudinal movement operation unit provided as a button or lever for driving, a welding target tube circumferential direction movement operation unit, a welding target tube lateral movement operation unit, and a tracking sensor position control unit.

In addition, although not shown, the monitoring unit further includes a plurality of weaving display units that display the weaving width, the weaving speed set value, the weaving operation state display, and the current and voltage values during welding, the weaving width, the weaving speed and the weaving driving and A plurality of weaving setting buttons for the stop setting may be provided. The control unit 100 may be set to check the current and voltage values of the welding torch 200 every set time (eg, 15 seconds) and display it on the weaving display unit.

The orbital rail-free welding carriage 10 for a narrow part according to an embodiment of the present invention is attached to the welding target pipe 1 through a magnet 90 to facilitate mounting and detachment, and the longitudinal direction of the welding target pipe 1 The first attachment roller 32 and the second attachment roller 32 and the second attachment are respectively sensed by the distance between the one side and the other side of the outer peripheral surface of the pipe to be welded and moved in parallel to the welding line (a) extending in the circumferential direction during welding. Since the rotation speed of the roller 52 can be individually controlled, there is an advantage that welding can be performed stably while moving in parallel to the welding line (a) is maintained.

In addition, in the orbital railless welding carriage 10 for a narrow part according to an embodiment of the present invention, the magnet 90 is located in the lower part of the center side in the circumferential direction between the first attachment roller 32 and the second attachment roller 52 . There is an advantage that can be stably moved in the circumferential direction on the outer circumferential surface of the pipe to be welded (1).

Above, the orbital rail-free welding carriage for the narrow portion of the present invention has been described with reference to the embodiment shown in the drawings, but this is only an example, and those of ordinary skill in the art can perform various modifications and equivalent other It will be appreciated that embodiments are possible. Accordingly, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

10: orbital railless welding carriage for narrow parts
11: circumferential movement body 31: circumferential drive unit
32: first attachment roller 52: second attachment roller
70: magnet rotation operation unit 81: first level sensor
84: second level sensor 87: angle sensor
90: magnet 100: control unit
110: longitudinal torch positioning unit 150: transverse torch positioning unit
200: welding torch 210: tracking sensor
220: sensor position control unit

Claims (6)

A welding torch for welding a welding line formed along the circumferential direction of the pipe to be welded is connected to one side, a magnet is embedded to be attached to the outer circumferential surface of the pipe to be welded, and a circumferential moving body movable in the circumferential direction of the pipe to be welded. Wow;
A plurality of first attachment rollers spaced apart from each other in the circumferential direction of the pipe to be welded on one side of the circumferential body in the longitudinal direction of the pipe to be welded and capable of rolling motion in the circumferential direction in contact with the outer circumferential surface of the pipe to be welded, and the first A first attachment roller driving part for rotating the attachment rollers and the other side of the circumferential movement body in the longitudinal direction of the welding target pipe are spaced apart from each other in the circumferential direction of the welding target pipe, and in contact with the welding target pipe, the circumference of the welding target pipe A circumferential driving unit for moving the welding torch in a circumferential direction along the welding line, including a plurality of second attachment rollers capable of rolling in the direction, and a second attachment roller driving part for rotating the second attachment rollers; ;
First and second level sensors respectively mounted on one side and the other side in the longitudinal direction of the circumferential moving body to sense the outer circumferential surface and the separation distance of the pipe to be welded, respectively;
Movement of one side or the other side of the pipe to be welded in connection with the first and second level sensors so that the distance value from the outer peripheral surface of the pipe to be welded transmitted from the first and second level sensors is maintained the same Orbital railless welding carriage for narrow parts comprising a; a control unit for individually controlling the driving of the first and second attachment roller driving part so that the speed is accelerated or decelerated. The method of claim 1,
A longitudinal direction comprising a first fixed frame having one side fixed to the other side of the circumferential movable body in the longitudinal direction of the pipe to be welded, and a first moving frame movable in the longitudinal direction of the pipe to be welded with respect to the first fixed frame. a torch positioning unit;
A transverse direction comprising a second fixed frame mounted on the first moving frame, and a second moving frame movable in the transverse direction of the pipe to be welded with respect to the second fixed frame so as to move away from or closer to the pipe to be welded. Torch position control unit; characterized in that it comprises The method of claim 1,
a tracking sensor disposed to face the welding line;
One side is fixed to the circumferential body, and the other side is movable in the longitudinal direction of the circumferential body so that the tracking sensor faces the welding line according to the position of the circumferential body attached to the pipe to be welded. Sensor position adjustment Unit; Orbital rail-free welding carriage for narrowing, characterized in that it further comprises. According to claim 1, wherein the magnet is
Between the first attachment roller and the second attachment roller spaced apart from each other in the longitudinal direction of the pipe to be welded, between the plurality of first attachment rollers spaced apart from each other in the circumferential direction of the pipe to be welded, and a plurality of mutually spaced apart Orbital rail-free welding carriage for narrow parts, characterized in that located between the second attachment rollers of the. 5. The method of claim 4,
In order to attach and detach the circumferential body to the pipe to be welded, the magnet accommodated in the circumferential body is parallel to the bottom surface of the movable frame, or the other side of the magnet is spaced apart from the bottom of the movable frame. A magnet rotation operation unit capable of rotating the magnet to become larger; further comprising:
The magnet rotation operation part
It is accommodated in the circumferential body, a magnet is fixedly coupled to the lower portion, an upper side of the plurality of first attachment rollers in a direction spaced apart from each other is axially connected to the circumferential body, and a plurality of the first attachment rollers are spaced apart from each other A magnet coupling block penetrating in the longitudinal direction of the pipe to be welded on the other side of the upper side of the direction in which a rotation guide hole in the form of a long hole extending in a direction spaced apart from each other is formed so as to be rotatable together with the magnet;
One side rotatably penetrates one end of the circumferential body in the longitudinal direction of the pipe to be welded, extends in the longitudinal direction of the pipe to be welded, enters the circumferential body, and is positioned above the magnetic coupling block. class,
a handle having one side coupled to the handle shaft protruding outward with respect to one end of the circumferential movable body and capable of rotating the handle shaft by a user gripping it;
A link piece having one side coupled to the other side of the handle shaft and extending so that the other side overlaps the rotation guide hole;
Orbital railless welding carriage for narrow parts, characterized in that it comprises a rotation guide shaft penetrating the other side of the link piece and the rotation guide hole. According to claim 1, wherein the first attachment roller driving part
a plurality of first connection pulleys respectively mounted on the first roller shafts of the plurality of first attachment rollers; a first connecting belt connecting the first connecting pulleys; a first driven pulley mounted on any one of the plurality of first roller shafts; The pipe-attached housing to be positioned between the first attachment roller connected to the first driven pulley and the second attachment roller facing the first attachment roller connected to the first driven pulley in the longitudinal direction of the pipe to be welded A first circumferential driving motor mounted on one side of the; a first drive pulley mounted on a drive shaft of the first circumferential drive motor and positioned above the first driven pulley; and a first drive belt connecting the first driven pulley and the first drive pulley;
The second attachment roller driving part
a plurality of second connection pulleys respectively mounted on second roller shafts of the plurality of second attachment rollers; a second connecting belt connecting the second connecting pulleys; a second driven pulley mounted on the second roller shaft that does not face the first attachment roller connected to the first driven pulley; The moving frame is positioned between the second attachment roller connected to the second driven pulley and the first attachment roller facing the second attachment roller connected to the second driven pulley in the longitudinal direction of the pipe to be welded. a first circumferential driving motor mounted on the other side; a second drive pulley mounted on a drive shaft of the second circumferential drive motor and positioned above the second driven pulley; Orbital rail-free welding carriage for narrow parts comprising a; a second drive belt connecting the second driven pulley and the second drive pulley.

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