KR20220149287A - Robot apparatus for cutting of the adjustment pipe - Google Patents

Abstract

The present invention relates to an adjustable pipe cutting robot device. The cutting robot device is provided as a cutting robot device for cutting and shaping an adjustable pipe installed and provided between both fixed pipes when shaping a pipeline line, comprising: a multi-joint robot turning and rotating in multiple directions; a digitizer provided in the multi-joint robot to measure the coordinates of three arbitrary points on the outer circumference of the adjustable pipe to find the center point of the adjustable pipe; and a cutting device provided in the multi-joint robot to be able to move up and down and rotate, and cutting the outer circumferential surface of the adjustable pipe based on the center point of the adjustable pipe found through the digitizer. The present invention enables precise and quick molding and supplying of adjustable pipes in a complex shape such as a three-dimensional shape.

Description

Robot apparatus for cutting of the adjustment pipe

The present invention relates to an adjustment tube cutting robot apparatus, and more particularly, to an adjustment tube cutting robot apparatus capable of accurately and rapidly reproducing and supplying an adjustment tube required in a complex shape.

In general, ships are manufactured and installed in units of blocks, and internal piping is also manufactured and installed in units of blocks to form a piping line so that all engines can operate normally during final construction.

However, when various engines are manufactured in block units as in the case of large ships, installation errors are inevitably generated due to manufacturing based on the initial design, and errors in the piping line are inevitably generated.

However, when forming a piping line, a long-length fixed pipe connecting various organs is manufactured and installed according to the initial design drawing, and by cutting off between each fixed pipe to leave room, installation errors of various engines can be overcome. . At this time, an adjustment pipe of a relatively short length that connects between each fixed pipe is manufactured and installed through post-work.

The manufacturing method of such an adjustment tube is divided into three main types, and there is a method of using in kind, a method of using a jig, and a method of reproducing measurement. Among the manufacturing methods of such an adjustment tube, recently, a measurement reproduction method that can easily and simply manufacture an adjustment tube and reduce the production cost by reducing logistics movement is in the spotlight.

In the measurement reproduction method, the forming element of the adjustment tube to be formed between a pair of fixed tubes is measured using a measuring device, and the measured value is input to the adjustment tube reproduction apparatus and reproduced. The control tube manufactured in this way will be taken to the site and installed.

In the measurement reproduction method, the forming elements of the adjusting pipe connecting between a pair of fixed pipes can be divided into four types: the length of the pipe, the face angle of the flange, the position of the bolt hole of the flange, and the step of the pipe line.

Therefore, the measurement method of the coordinator should include all the above four elements, and the expression methods include a method of representing with relative three-dimensional coordinates, a method of representing with an angle and length, a method of representing with a length, and a method of representing with an angle.

On the other hand, as described above, the ship building process is manufactured and installed in units of blocks. Each member is assembled to form small blocks, and the small blocks are again assembled into medium and large blocks, transported to the dock, and mounted. is assembled

A number of piping lines are installed in ships that go through this drying process, and although many piping lines are manufactured and mounted in blocks, the adjustment pipe, which is a joint pipe connecting the piping lines installed in each block, requires post-work. manufactured and installed.

That is, the adjusting pipe is a connecting pipe for connecting two pipes disposed with different distances or angles between the two pipes to be connected and a pipe for connecting the pipes on both sides, and the connecting pipe provided with such an adjusting pipe fixedly has a shape It is classified into a straight pipe, a curved pipe (or an elbow), a tee pipe, and the like, and the bent angle of the curved pipe may have various shapes, such as 90 degrees to 135 degrees.

However, when the block is assembled with the piping line mounted on each block, the height difference between the two pipes and the distance or angle between the two pipes are frequently misaligned.

Therefore, in order to connect the two pipes with a connecting pipe, a margin is left in the longitudinal direction of the pipe that comes into contact with both ends of the connecting pipe, and both ends of the adjusting pipe are cut to fit both the pipe and the connecting pipe, and finally through butt welding. The installation work of the coordinator is completed.

In this case, if the two pipes are three-dimensionally misaligned, it becomes very difficult to cut the pipe so that the adjustment tube to be installed fits the three-dimensional shape. There is a disadvantage in that the installation process is delayed due to the excess of the number of cutting times because it is necessary to go through a check to see if it is installed.

Accordingly, the present applicant measured the shape of the fixed tube in which the adjustment tube is to be installed as rotation angle and distance data in Republic of Korea Patent Registration No. 10-1977555, and using the measured results, the adjustment tube shape is accurately and quickly measured in consideration of the wrong angle and length. A universal control tube reproduction device that can be reproduced was proposed.

However, when the end of the pipe is cut and formed into an adjustment tube according to the results measured in Korean Patent Registration No. 10-1977555 registered by the present applicant, when the required shape of the adjustment tube is complicated, that is, the end of the pipe is 3D When it is necessary to cut in a shape (oval shape), there is a problem that it cannot be cut with a standard orbital cutting robot.

For this reason, the operator creates and connects the orbit points using a stone pen and a tape measure to create an approximate three-dimensional elliptical orbit, and the operator directly cuts it using a manual plasma cutter. Due to this, the quality of the cut surface becomes uneven, and the defect of the cut surface has to be resolved by the grinding process using a grinding machine, so that workability and productivity are lowered as it takes a lot of work time.

Republic of Korea Patent Registration No. 10-1977555

Therefore, the present invention has been devised to solve the problems of the prior art as described above, and the end of the adjustment tube for connecting the cut pipe is precisely and quickly molded and supplied with a complicated shape such as a three-dimensional shape. An object of the present invention is to provide an adjustable tube cutting robot device that can

In order to achieve the above object, the robot cutting robot device for adjusting pipe according to the present invention is a cutting robot device for cutting and forming the adjusting pipe installed between both fixed pipes when forming a piping line, and the cutting robot device is rotated in various directions. and a rotating articulated robot; a digitizer provided in the articulated robot to measure the coordinates of three arbitrary points on the outer circumferential surface of the coordinator to find the center point of the coordinator; It is characterized in that it is characterized in that the control tube cutting robot device comprising a; a cutting device that is provided in the articulated robot to move vertically and rotatably to cut the outer circumferential surface of the adjustment tube based on the center point of the adjustment tube found through the digitizer.

In addition, the articulated robot includes: a lower arm provided in the base block to pivot in the Z-axis direction and to rotate up and down based on the X-axis direction; an upper arm provided on the lower arm to be rotated up and down in the X-axis direction; a fixing block provided on the upper arm to pivot with respect to the Y-axis direction and to rotate up and down based on the X-axis direction while having a digitizer coupled to the front thereof; It may include a; while being provided by being coupled to move up and down in the fixed block, a cutting device is coupled to the front surface of the elevating block.

In addition, the digitizer includes a fixed arm coupled to the fixed block; a first rotating arm provided on the fixed arm to pivot in the Y-axis direction and vertically rotate in the X-axis direction; a second rotary arm provided on the first rotary arm to be vertically rotated in the X-axis direction; It may include; a probe bar that is fixed to the second rotating arm and is in contact with the outer circumferential surface of the adjustment tube to measure the corresponding coordinates.

In addition, the fixing arm of the digitizer may be provided to be positioned in the same line as the upper arm.

In addition, the cutting device includes: a main link provided on the front surface of the elevating block to rotate up and down based on the X-axis direction; Auxiliary link provided to rotate up and down based on the X-axis direction on the main link; It may include a; plasma cutter provided to be fixed on the auxiliary link to cut the outer peripheral surface of the adjustment tube.

According to the control tube cutting robot apparatus of the present invention, the adjustment tube is reproduced by rapidly and precisely cutting and molding the adjustment tube required to have a complex shape such as a three-dimensional shape at the end of the adjustment tube installed to connect between the two fixed tubes cut during the forming of the piping line. There is an advantage that productivity can be improved by shortening the working time according to

1 is a block diagram of an adjustment tube cutting robot device according to the present invention.
2 is a block diagram of a center point measuring device according to the present invention.
3 is a block diagram of a cutting device according to the present invention.
4 is a view showing the internal configuration of the cutting device according to the present invention.
5 is an operation diagram of the control tube cutting robot apparatus according to the present invention when measuring the center point of the adjustment tube.
6 is an operation view showing the cutting process of the adjusting tube by the adjusting tube cutting robot device according to the present invention. It is a view of the state moved to the cutting surface of the, Figure 6c is a view of the state in which the adjusting tube is cut by the plasma cutter of the cutting device.

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

The terms used in the present invention are terms defined in consideration of the functions in the present invention, which may vary depending on the intention or custom of the user or operator, so the definitions of these terms correspond to the technical matters of the present invention and should be interpreted as a concept.

In addition, the embodiments of the present invention do not limit the scope of the present invention, but are merely exemplary matters of the constituent elements presented in the claims of the present invention, and are included in the technical spirit throughout the specification of the present invention and the scope of the claims. It is an embodiment including a substitutable component as an equivalent in the component.

In addition, optional terms in the examples below are used to distinguish one component from other components, and the components are not limited by the terms.

Accordingly, in describing the present invention, detailed descriptions of related known technologies that may unnecessarily obscure the gist of the present invention will be omitted.

1 to 6 are views showing the control tube cutting robot apparatus according to the present invention, and each of the components and operating states thereof.

As shown in the figure, the robot adjusting pipe cutting apparatus according to the present invention is a device for cutting and forming the adjusting pipe 600 connected between both fixed pipes of the pipe when forming the pipe line.

As shown in FIG. 1, the cutting robot device is provided separately from the articulated robot 100 and the articulated robot 100, which rotates and rotates in various directions, so that the adjusting tube 600 in the state before cutting is seated. A fixed jig block 500, a center point measuring device provided in the articulated robot 100 to find the center point of the adjusting tube 600, and a center point measuring device provided in the articulated robot 100 based on the center point of the adjusting tube 600 and a cutting device 400 for cutting the outer circumferential surface of the end of the adjustment tube 600 at a face angle corresponding to the fixed tube.

The articulated robot 100 is a base block 110 installed to have a ground clearance of a certain height, and the upper surface of the base block 110 is pivoted in the Z-axis direction while being rotated up and down based on the X-axis direction. The lower arm 120 , the upper arm 130 provided to be vertically rotated in the X-axis direction at the upper end of the lower arm 120 , and the Y-axis direction at the distal end of the upper arm 130 while pivoting The fixed block 200 is provided to be rotated up and down based on the X-axis direction and a digitizer 300, which is a central point measuring device to be described later, is coupled to the front surface thereof, and the fixed block 200 is coupled to be movable up and down in the front of the fixed block 200. On the other hand, the front side includes a lifting block 230 provided with a cutting device 400 coupled thereto.

The base block 110 is provided by being divided into upper and lower blocks, and the upper and lower blocks have joint parts 111 hinged in the Z-axis direction at the center thereof. Accordingly, the upper block is provided to be rotated in a planar manner based on the joint portion 111 with the lower block. At this time, the joint part 111 may be configured with a turntable-type rotation means for rotating the upper block from the lower block by the servo motor, but is not limited thereto, and any rotation is provided as long as the operation of rotating the upper block from the lower block is satisfied. All means are applicable.

In addition, the upper block of the upper block protrudes in a structure inclined upward from the center of the upper block toward the outer periphery, and the lower joint portion 121 to which the lower end of the lower arm 120 is hinged in the X-axis direction is provided at the upper end. Accordingly, the lower arm 120 is vertically rotatably coupled to the base block 110 and the lower joint portion 121 as an axis.

The lower arm 120 is a link having a certain length, the upper end of which is provided to have a ground clearance of a certain height from the ground, and the rear end of the upper arm 130 is hinged to the upper end of the lower arm 120 in the X-axis direction. An upper joint portion 122 is provided. Accordingly, the upper arm 130 is provided to rotate up and down about the upper joint portion 122 with the lower arm 120 as an axis.

The upper arm 130 is divided into a first upper arm and a second upper arm, and the rear end of the first upper arm positioned at the rear is hinged to the upper joint 122 of the lower arm 120 , and the first A first joint portion 131 to which the second upper arm is hinged in the Y-axis direction is provided at the distal end of the upper arm. Accordingly, the upper arm 130 is provided to rotate in place about the first joint part 131 between the first and second upper arms while rotating up and down about the upper joint part 122 with the lower arm 120 as an axis. .

In addition, a second joint portion 132 to which the rear portion of the fixing block 200 is hinged in the X-axis direction is provided at the distal end of the second upper arm, and the fixing block 200 is provided with the second joint portion 132 as an axis. It is provided to rotate up and down at the front end of the arm 130 .

Accordingly, the fixing block 200 provided with the digitizer 300 and the cutting device 400, which will be described later, is rotated planarly on the base block 110 by the joint part 111 of the base block 110, and the lower arm 120 ) is rotated at a large angle up and down by the upper and lower joint parts 121 and 122 of the upper arm 130 , and rotation in place and precise rotation in the vertical direction are performed by the first and second joint parts 131 and 132 of the upper arm 130 . it becomes possible

At this time, each joint portion of the articulated robot 100 is provided with a motor for rotating the corresponding joint portion, and this motor is preferably provided as a servomotor capable of precise control.

On the other hand, the fixing block 200 is provided in a state in which its rear lower end is hinged to the second joint portion 132 of the upper arm 130 to stand vertically, and the elevating block 230 is provided on the front side of the fixing block 200 . It is provided coupled to be movable up and down.

A mounting portion 210 to which a digitizer 300 to be described later is mounted is formed on the lower front end of the fixing block 200 , and a plurality of mounting pins 211 are formed to protrude from the mounting portion 210 . Accordingly, there is an advantage in that the digitizer 300 to be described later is coupled to and temporarily fixed to the plurality of mounting pins 211 , thereby simplifying the mounting and dismounting of the digitizer 300 .

In addition, a screw shaft 220 is rotatably installed inside the fixed block 200 , and the lifting block 230 is screwed to the screw shaft 220 .

The elevating block 230 is provided on the outside of the fixed block 200 while being coupled and fixed to the inner block provided to be moved up and down by being screwed with the screw shaft 220 on the inside of the fixed block 200 . It includes an outer block that becomes

Accordingly, as the screw shaft 220 rotates forward and backward in the fixed block 200 , the lifting block 230 is linearly moved in the vertical direction in the fixed block 200 .

In addition, a pair of hinge frames 231 are formed on the front surface of the lifting block 230 , and a cutting device 400 to be described later is rotatably coupled between both hinge frames 231 .

On the other hand, the center point measuring device for finding the spatial center point of the adjustment tube 600 is composed of a digitizer (300).

The digitizer 300 is provided in the fixed block 200 of the articulated robot 100 as shown in FIG. 2 , and measures the coordinates of three arbitrary points on the outer peripheral surface of the adjustment tube 600 to determine the center point of the adjustment tube 600 . It is a device for measuring.

Specifically, the digitizer 300 includes a fixed arm 320 coupled to and fixed to the lower front end of the fixed block 200 , and an axial direction of the fixed arm 320 , that is, the Y-axis direction at the tip of the fixed arm 320 . A first rotary arm 330 that is provided to be swiveled with respect to the X-axis direction while being provided to be rotated up and down based on the X-axis direction, and a second rotation provided at the tip of the first rotary arm 330 to be rotated up and down based on the X-axis direction. It includes an arm 340 and a probe bar 341 which is fixedly provided at the tip of the second rotary arm 340 and is in contact with the outer peripheral surface of the adjustment tube 600 to measure the corresponding coordinates.

The fixing arm 320 may be provided as a hollow cylindrical tube, and the rear end thereof is provided with a base plate 310 coupled and fixed to the mounting portion 210 of the front surface of the fixing block 200 . The base plate 310 has a plurality of through-holes to which a plurality of mounting pins 211 are fitted and coupled, respectively, so that the fixing arm 320 is mounted on the mounting portion 210 of the fixing block 200 by the base plate 310 . By being temporarily fixed to the non-rotatable state, the digitizer 300 can be easily mounted and detached from the fixed block 200 .

In addition, the rear end of the first rotating arm 330 is coupled to the front end of the fixed arm 320 via a separate hinge block 331 , and the hinge block 331 is formed of a “L”-shaped block. .

The hinge block 331 is provided with a first joint part 332 hingedly coupled to the distal end of the fixing arm 320 in the Y-axis direction at one side parallel to the base plate 310, and the other side perpendicular thereto. A second joint portion 333 to which the rear end of the first rotary arm 330 is hinged in the X-axis direction is provided.

In addition, a third joint part 334 hingedly coupled to the rear end of the second rotary arm 340 in the X-axis direction is provided at the front end of the first rotary arm 330 .

A probe bar 341 is provided at the front end of the second rotary arm 340 to be the same as or parallel to the axis of the second rotary arm 340, and the probe bar 341 is the second of the digitizer 300, 3 The joint parts 333 and 334 are rotated up and down at a fine angle to be precisely adjusted, and the upper and lower joint parts 121 and 122 of the lower arm 120 provided in the articulated robot 100 are used as the axes. It is rotated up and down by a large angle to adjust its position.

Such a probe bar 341 may measure the coordinates of the contact point while being in contact with any three points on the outer peripheral surface of the end of the adjustment tube 600 and display it through the display.

As described above, it can be calculated by calculating the spatial center point of the control tube 600 in the digitizer 300 through the coordinates of the three points measured through the corresponding probe bar 341, or 3 in a separate controller (not shown) The coordinate value of the point may be input and calculated by calculating the spatial center point of the adjustment tube 600 .

Meanwhile, the fixing arm 320 of the digitizer 300 as described above is preferably provided to be positioned in the same line as the upper arm 130 . This is by sharing the turning center of the digitizer 300 and the turning center of the cutting device 400 to be described later equally, so that the spatial center point of the adjusting tube 600 measured by the digitizer 300 is used as it is in the cutting device 400. This is for use in three-dimensional cutting of the end of the adjustment tube 600 .

In addition, when the probe bar 341 is in contact with any three points on the outer peripheral surface of the adjustment tube 600 and each coordinate is measured, the position information of the upper arm 130 of the articulated robot 100, which is the center of the axis at the time of measurement, is also measured. Since the three-point positions are calculated, and the spatial center point of the adjustment tube 600 is calculated based on the measured positions of the three points, the cutting device 400 accurately measures the outer circumferential surface of the adjustment tube 600 through this center point. Precise cutting is possible.

In addition, it is preferable that each joint portion of the digitizer 300 is provided with each servomotor for rotational operation of the joint portion as in the aforementioned articulated robot 100 .

The cutting device 400 is provided in the articulated robot 100 so as to be vertically movable and rotatable, and is a device for cutting the outer circumferential surface of the adjusting tube 600 based on the center point of the adjusting tube 600 measured through the digitizer 300 .

As shown in FIGS. 3 and 4, the cutting device 400 includes a main link 410 provided to rotate up and down in the X-axis direction between both hinge frames 231 of the elevating block 230 and, A plasma cutter ( 430).

A first joint portion 411 provided between both hinge frames 231 of the elevating block 230 and hinged in the X-axis direction is provided at the rear end of the main link 410, and the auxiliary link 420 is provided at the front end. A second joint portion 412 hinged in the X-axis direction is provided.

Accordingly, the main link 410 is provided to rotate in the vertical direction in the hinge frame 231 of the lifting block 230 about the first joint portion 411 as an axis, and the auxiliary link 420 is the second joint portion 412. It is provided to rotate in the vertical direction in the main link 410 on the axis.

At this time, each of the servo motors is provided on both hinge frames 231 of the lifting block 230, and the servo motor on one side rotates the main link 410 up and down in the hinge frame 231, and the servo motor on the other side It is provided so that it can be precisely adjusted by finely rotating the auxiliary link 420 in the main link 410 .

In particular, the servomotor for rotating the auxiliary link 420 may be provided connected to the second joint portion 412 and a chain, and the chain is preferably provided rotatably while being inserted into the main link 410 .

In addition, the plasma cutter 430 is fixed to the auxiliary link 420 , so that the plasma cutter 430 is rotatably provided with the auxiliary link 420 .

Meanwhile, the cutting robot apparatus of the present invention further includes a jig block 500 installed separately from the articulated robot 100 as shown in FIG. 1 .

The jig block 500 includes a base plate 510 provided to rotate in a turntable manner on its upper surface, and a plurality of jig plates 520 provided to be arranged at regular intervals on the base plate 510 .

In particular, the jig plate 520 is formed with a "∨"-shaped groove in which the adjustment tube 600 can be seated and mounted on its upper surface, thereby stably supporting and supporting the adjustment tube 600 .

In addition, the U-bolt clamp is provided to the jig plate 520 to firmly restrain the adjustment tube 600 in the groove of the jig plate 520 to prevent flow.

The operation relationship of the adjusting tube cutting robot device according to the present invention as described above will be described.

First, this cutting robot device is an adjustment tube fixed to the jig block 500 while the digitizer 300 provided at the tip of the upper arm 130 is rotated in the X, Y, and Z axis directions by the articulated robot 100 ( 600) is measured.

That is, the probe bar 341 of the digitizer 300 includes the joint part 111 between the base block 110 and the lower arm 120 of the articulated robot 100 and the upper and lower joint parts of the lower arm 120 ( It is rotated at a large angle at 121 and 122 and is quickly positioned close to one end of the control tube 600 .

In this state, as shown in FIG. 5, the probe bar 341 of the digitizer 300 is finely rotated in the first, second, and third joint parts 332, 333, and 334, while the outer peripheral surface of one end of the adjustment tube 600 is Each coordinate of the point of contact of the three points is measured while contacting the three points in the The position of the point is calculated, and the center point existing in the space of the adjustment tube 600 can be calculated based on the measured positions of the three points.

Thereafter, the outer peripheral surface of the adjustment tube 600 is three-dimensionally cut through the cutting device 400 based on the measured central island of the adjustment tube 600 .

That is, first, as in FIG. 6A , in the state in which the digitizer 300 is detached and removed from the fixed block 200, the lifting block 230 is moved up and down on the fixed block 200 to move the plasma cutter 430 in FIG. 6B. It is positioned so as to be in contact with one side of the outer circumferential surface of the adjustment tube 600 to be cut as shown.

After starting cutting by operating the plasma cutter 430 in this state, the adjustment tube ( 600) is cut in three dimensions.

Therefore, by rapidly and precisely cutting and molding the adjustment tube 600 required to have a complex shape such as a three-dimensional shape, it is possible to shorten the working time according to the reproduction of the adjustment tube 600, thereby improving productivity, and the cutting surface of the adjustment tube 600 It is possible to achieve quality improvement by eliminating defects.

Although the present invention has been described in detail through specific examples, it is intended to describe the present invention in detail, and the present invention is not limited thereto, and by those of ordinary skill in the art within the technical spirit of the present invention. It is clear that the modification or improvement is possible.

All simple modifications and variations of the present invention fall within the scope of the present invention, and the specific protection scope of the present invention will be clarified by the appended claims.

100: articulated robot 110: base block
111: joint 120: lower arm
121,122: joint 130: upper arm
131,132: joint 200: fixed block
210: mounting part 211: mounting pin
220: screw shaft 230: elevating block
231: hinge frame 300: digitizer
310: base plate 320: fixed arm
330: first rotating arm 331: hinge block
332,333,334: joint 340: second rotary arm
341: probe 400: cutting device
410: main link 411,412: joint part
420: auxiliary link 430: plasma cutting machine
500: jig block 510: base plate
520: jig plate 600: adjuster

Claims (5)

A cutting robot device for cutting and molding an adjustment tube installed between both fixed tubes when forming a piping line,
The cutting robot device includes: an articulated robot that rotates and rotates in several directions;
a digitizer provided in the articulated robot to measure the coordinates of three arbitrary points on the outer circumferential surface of the coordinator to find the center point of the coordinator;
Adjuster tube cutting robot device comprising a; a cutting device provided in the articulated robot to move up and down and rotatably to cut the outer peripheral surface of the adjustment tube based on the center point of the adjustment tube found through a digitizer.
The method according to claim 1,
The articulated robot includes: a lower arm provided to rotate in the base block in the Z-axis direction and vertically rotate in the X-axis direction;
an upper arm provided on the lower arm to be rotated up and down in the X-axis direction;
a fixed block provided on the upper arm to pivot with respect to the Y-axis direction and to rotate up and down based on the X-axis direction while having a digitizer coupled to the front thereof;
Adjuster tube cutting robot device including; elevating block provided by being coupled to move up and down in the fixed block while the cutting device is coupled to the front thereof.
3. The method according to claim 2,
The digitizer includes a fixed arm coupled to and fixed to the fixed block;
a first rotating arm provided on the fixed arm to pivot in the Y-axis direction and vertically rotate in the X-axis direction;
a second rotary arm provided on the first rotary arm to be vertically rotated in the X-axis direction;
Adjuster tube cutting robot device comprising a; probe bar which is fixed to the second rotating arm and is in contact with the outer circumferential surface of the adjustment tube to measure the corresponding coordinates.
4. The method according to claim 3,
The fixed arm of the digitizer is an adjustment tube cutting robot device that is provided to be positioned on the same line as the upper arm.
3. The method according to claim 2,
The cutting device includes: a main link provided on the front surface of the elevating block to rotate up and down in the X-axis direction;
Auxiliary link provided to rotate up and down based on the X-axis direction on the main link;
A control tube cutting robot device comprising a; a plasma cutter that is fixed to the auxiliary link and cuts the outer circumferential surface of the control tube.

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