WO2018084430A1 - Système destiné à souder un raccord de puits tubulaire et un tuyau - Google Patents

Système destiné à souder un raccord de puits tubulaire et un tuyau Download PDF

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Publication number
WO2018084430A1
WO2018084430A1 PCT/KR2017/010194 KR2017010194W WO2018084430A1 WO 2018084430 A1 WO2018084430 A1 WO 2018084430A1 KR 2017010194 W KR2017010194 W KR 2017010194W WO 2018084430 A1 WO2018084430 A1 WO 2018084430A1
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WO
WIPO (PCT)
Prior art keywords
pipe
socket
flange
welding
seam
Prior art date
Application number
PCT/KR2017/010194
Other languages
English (en)
Korean (ko)
Inventor
김준영
Original Assignee
(주)한결테크닉스
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from KR1020160145198A external-priority patent/KR101718503B1/ko
Priority claimed from KR1020160145199A external-priority patent/KR101718506B1/ko
Application filed by (주)한결테크닉스 filed Critical (주)한결테크닉스
Publication of WO2018084430A1 publication Critical patent/WO2018084430A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B17/00—Drilling rods or pipes; Flexible drill strings; Kellies; Drill collars; Sucker rods; Cables; Casings; Tubings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L23/00—Flanged joints
    • F16L23/02—Flanged joints the flanges being connected by members tensioned axially
    • F16L23/024—Flanged joints the flanges being connected by members tensioned axially characterised by how the flanges are joined to, or form an extension of, the pipes
    • F16L23/026—Flanged joints the flanges being connected by members tensioned axially characterised by how the flanges are joined to, or form an extension of, the pipes by welding

Definitions

  • the present invention relates to a welding system and a method for welding seams and pipes, and more particularly, it is possible to conveniently weld the seams for both ends of the pipes to be compatible with the inherent shape of the seams, as well as to automate welding.
  • the present invention relates to a welding system that can ensure convenient mass production and operation efficiency.
  • the groundwater pumping device extends the core pipe bundle which extends a plurality of pipes such as a pumping pipe, a water level measuring pipe, and a plurality of cables such as a water level measuring wire and an underwater motor cable to a depth of the core.
  • the bottom of the core pipe bundle is equipped with a submersible motor pump for the core and consists of a configuration for pumping the ground water by the operation of the upper and lower level switches mounted at a predetermined position.
  • the pumping pipe and other members are integrally formed by using a rope or tape, but in this case, the binding force is not good and the construction efficiency is very high.
  • damages were caused by friction between means such as flanges or sockets installed at the connection part between the pumps and the external level of the water level measurement cable / submersible motor cable to extend the length of the pump. .
  • the flange since the flange must be larger than the outer diameter of the pipe, almost all of them are temporarily connected to the end of the pipe, except that the pipe is manufactured by casting.
  • the joint is welded to form a flange integrally with the end of the pipe.
  • Korean Automatic Patent No. 10-2015-0144513 “Automatic welding device for pipe butt welding and flange welding” not only enables pipe butt welding and flange welding, but also enables four-axis control to weld all the way down. According to the present invention, the cost reduction and the welding quality are improved.
  • both pipes and flanges can be welded, but accordingly, a flange-specific welding process is provided, or, in particular, compared to a flange-specific welding device, such as a flange position correction and an automatic conveying process of the flange, the convenience is high.
  • a flange-specific welding device such as a flange position correction and an automatic conveying process of the flange
  • Korean Patent Publication No. 10-2014-0028466, "Pipe Pipe and Flange Welding Apparatus" is simple in construction. Although the technology of turning rollers is improved to improve welding quality at low cost, it does not pursue the automatic / semi-automatic process from the loading and discharging of pipes, but also controls the simple sensing of the turning rollers. Alternatively, unlike the socket, there is a problem in that it does not provide a separate welding function specialized in the peculiar structure of the pipe or the flange for the pipe.
  • the flange or socket applied to the pipe for pipe wells is more preferably provided with a functional space structure for accommodating the cable.
  • the present invention has been made to overcome the problems of the above techniques, by providing automatic or semi-automated throughout the overall process of welding the joint by joining the joint seam to the pipe, providing convenience of the production environment and at the same time
  • the main objective is to provide a welding system that can pursue a production base.
  • Another object of the present invention is to provide a plurality of sensor units over various parts of the system to perform accurate sensing as well as to secure the automation process according to the sensing.
  • a further object of the present invention is to smartly pick up and feed the well seam joints and transport them to the welding zone.
  • a welding system of pipes and pipes with a pipe inserting portion into which the pipe is inserted, a pipe loading device for loading a pipe and moving it to the pick-up area, and a pipe located in the pick-up area.
  • a base consisting of a bed type and a plurality of frames connected to each other in a state of including a pipe conveying device for transferring the gas to the welding area and a vise module provided on each of the left and right sides of the welding area and having a vise for fixing and rotating the pipe.
  • the wells supply unit for stacking and storing a plurality of wells for the wells and a transport robot for picking up the wells for the wells stored in the wells for the seam storage and coupling them to the ends of the pipes located in the weld zone.
  • Seam transport device and the above It is installed on one side of the case, and composed of a welding arm movable to the joint portion of the pipe and the pipe, and a torch mounted on the end of the welding arm to weld the joint of the pipe and the pipe joint when the pipe is rotated.
  • a welding robot wherein the welding system is mounted at the tip of the welding region where the seam for the pipe is coupled to the pipe, and is convexly protruding from the pipe, and is formed on the outer circumferential surface of the pipe by the transfer robot.
  • Pipe fittings and pipes characterized in that it further comprises a conical projection which is inserted and pressed into the pipe insertion portion of the pipe joint of the insert and the projection drive unit for driving the conical projection horizontally.
  • the seam for the seam includes a seam for flange and the seam socket
  • the seam flange is a grip groove formed in the outer surface of one side, and the grip extended to the open portion of the fixed groove at one inlet of the fixing groove
  • the bar is characterized in that it comprises a water level measuring tube mounting portion formed on the other side of the outer surface portion is formed with the fixing groove, wherein the socket for the pipe is formed protruding outward from one side of the outer peripheral surface, the direction opposite to the rounding progress direction of the socket
  • a water level measuring tube holder formed to be curvature, a vertical protrusion part protruding outward from the other side of the outer circumferential surface on which the water level measuring tube holder is formed, and a covering part that is bent at the protruding end of the vertical protrusion part and is ring-shaped Cable housing for accommodating water level measurement wires and underwater cables for underwater motors It is characterized by including the government.
  • the pipe loading device is arranged in plurality in a predetermined interval along the width direction of the base, the locking portion having a predetermined distance to the pickup area along the longitudinal direction of the base to the pickup area
  • a table driving unit configured to move the pipe to the pick-up area by elevating and horizontally moving the loading table and the loading table connected to at least one of the plurality of hanging frames.
  • the pipe conveying apparatus includes a conveying frame having a support for supporting the pipe, and a lifting cylinder for elevating the conveying frame, picking a pipe located in the pick-up area with the raising of the lifting cylinder to support the supporting part. And a transfer unit for lowering the lifting cylinder to seat the pipe in the welding region, a unit moving unit for horizontally moving the transfer unit from the pickup region to the welding region, and whether the pipe exists in the welding region. And a unit driving control unit for controlling driving of the elevating cylinder and the unit moving unit according to whether the sensor unit detects the pipe.
  • the transfer unit is composed of a plurality of lines extending in the base width direction at regular intervals in the longitudinal direction of the base to move the pipe to the welding area through any one of the said line and the other
  • the welded pipe is moved to a pipe discharge part, wherein the pipe discharge part is a standing surface which is a wall extending in a predetermined length along the base rear end direction in a state standing up at both rear end portions of the base, and from the standing surface to the base side.
  • a predetermined length is extended to the rear end side of the base in a protruding state, and the extended line includes an inclined surface formed of a surface inclined downward.
  • the vise includes at least one roller for rotating the pipe during welding by receiving the power of the roller drive unit
  • the vise module is a vise drive unit for moving the vise close to and spaced from the pipe located in the welding area It is characterized by including.
  • the welding system is installed around the pipe located in the welding area of the base, the reference bar is drawn in and out from the reference bar driving unit to the reference welding position of the pipe, mounted on one side of the reference bar in the state that the reference bar is drawn out
  • a sensor unit including a proximity sensor for sensing a distance to the pipe and installed around the other end of the pipe on the opposite side of the reference bar, wherein the detected distance is compared with the distance to the reference welding position, and the height of the mounting difference is compared.
  • a pipe position correction device comprising a pushing portion for pushing the pipe at differential pressure to contact the reference bar.
  • the seam joint supply unit is erected to a predetermined length and fitted to the pipe inserting portion of the seam joint, and the seam for the seam for stacking the seam joint, and the top end of the stacked seam joint
  • An elevating drive arm for supporting a lower surface of the lowermost well of the stacked wells, wherein the seam for wells is picked up to be picked up by the transfer robot, and the stacked wells
  • the upper end of the seam for the seam is composed of the arm drive unit and the photosensor or proximity sensor to raise the lift drive arm to the seam pickup position of the seam for detecting the presence of the seam for the seam at the seam pickup position for the seam
  • a sensor unit and the driving arm in accordance with a detection signal of the sensor unit
  • an arm drive control unit for controlling the differential drive.
  • the seam joint supply unit includes a well flange supply unit and a well socket supply unit, and the well flange supply unit is spaced apart from the seam storage part by a distance corresponding to the outer diameter of the flange. It is installed in, the auxiliary rising body standing up in parallel with the seam storage for the well and the contact with the outer surface of the flange, the extension extending from the one side of the auxiliary rising body in the outward direction is inserted into the fixing groove of the flange And an auxiliary support having a bent portion extending from an end portion of the extension portion and inserted into a fixed groove space inside the grip bar of the flange, wherein the sensor portion is mounted on each of the upper ends of the auxiliary standing body and the bent portion.
  • the socket socket supply unit has a distance corresponding to the outer diameter of the socket Installed in a spaced apart position from the joint holding portion for the support, the stand up and parallel to the joint holding portion for the contact and the auxiliary standing body in contact with the outer surface of the socket, and the socket in the outward direction from one side of the auxiliary standing body
  • an auxiliary support having a support portion in contact with the inner side of the part, wherein the sensor portion is mounted to each of an upper end of the auxiliary standing body and an end of the support portion.
  • the seam joint supply unit includes a storage table with a plurality of storage grooves formed in a plurality of inwardly radially sized to correspond to the outer diameter of the seam for the pipe joint in a state spaced apart a predetermined distance along the circumference from the center,
  • the joint fitting storage portion is erected in the storage groove, characterized in that the outer surface of the joint can be in contact with the inner surface of the storage groove.
  • the welding system is mounted on the lower side of the well for the welding area in front of the welding area in which the seam for seam is coupled to the pipe, the welding seam and the pipe seam when the pipe is rotated during welding It further comprises a support for supporting joint seam.
  • the seam support device for the wells includes a flange support device for the well and the socket support device for the well, the flange support device for the well is provided with a support tip protruding left and right upwards between the support grooves formed inwardly
  • a lift correction unit having a support piece, a lift rod connected to a lower surface of the support piece, and having a rod driving unit for moving up and down and a power for driving the lift rod, and a pressure sensor mounted on one side of the support piece;
  • a lift controller configured to control the lift distance of the rod driver according to a detection signal of the pressure sensor, wherein the socket support device for a well is provided with a support piece contacting an outer circumferential surface of the socket.
  • a horizontal extension driving part including a horizontal moving rod for horizontally moving the support piece.
  • a lift correction driving unit connected to a lower side of a driving unit and having a lift correction rod for lifting and lowering the support piece, a pressure sensor mounted on one side of the support piece, and the horizontal extension drive unit according to a detection signal of the pressure sensor; And a drive controller configured to perform differential driving control on a horizontal movement distance and a lift movement distance of the lift correction driver.
  • the flange support device for the well is a radius of curvature smaller than the radius of curvature of the outer surface of the flange in a state having a width corresponding to the width of the water level pipe mounting portion of the flange on each of the left and right sides of the support piece relative to the support groove It is characterized in that it comprises a pressing projection of the push-type switch structure protruding upwardly convex.
  • the terminal structure of the push projection is convex downward at the start of the protrusion, but the first curvature portion protruded to a first curvature smaller than the radius of curvature of the outer surface of the flange, and at the end of the first curvature portion
  • the second curvature has a curvature radius smaller than the first curvature, and has a bilateral symmetrical structure including a second curvature protrudingly protruding upward and a tip portion that is an end portion of the second curvature portion, wherein the pressure sensor is provided at the tip portion. Characterized in that it is mounted.
  • the socket support device for a well is a concave bent extension extending so that the end structure of the support piece is concave rounded outwardly, a horizontal extension extending horizontally outward from the end of the concave bend extension and the horizontal extension And an upward extension extending rounded upward in a direction shorter than the extension length of the horizontal extension in the outward direction at the end of the portion.
  • the pressure sensor is characterized in that mounted on the boundary portion of the concave bend extension and the horizontal extension of the support piece, and one side of the upward extension, respectively.
  • FIG. 1 is a perspective view showing a schematic structure of a flange for a well in the well joint of the present invention.
  • Figure 2 (a) and (b) is a perspective view showing a schematic structure of the well socket of the well joint of the present invention.
  • Figure 3 is a perspective view schematically showing the base of the welding system of the present invention.
  • FIG. 4 is a plan view schematically showing the main configuration of the welding system of the present invention.
  • FIG. 5 is a perspective view showing a pipe loading apparatus of the present invention.
  • Figure 6 is a perspective view showing a schematic configuration of the pipe conveying apparatus of the present invention.
  • FIG. 7 is a perspective view showing a pipe outlet of the present invention.
  • Figure 8 is a perspective view of the vise module mounted to the welding region of the present invention.
  • Figure 9 is a perspective view of the pipe position correction device and the pipe joint mounting device of the present invention.
  • FIG. 10 is a perspective view showing a flange supply unit of the joint supply unit for a pipe of the present invention.
  • FIG. 11 is a perspective view showing a transport robot for transporting the flange of the present invention.
  • Figure 12 is a perspective view of the socket supply unit of the joint supply unit for the present invention.
  • Figure 13 is a perspective view showing a transport robot for transporting the socket of the present invention.
  • FIG. 14 is a perspective view showing a schematic configuration of a welding robot of the present invention.
  • Figure 15 is a perspective view showing the structure of the flange support device of the seam support device for the present invention.
  • Figure 16 is a perspective view showing the structure of the socket support device of the seam support device for the present invention.
  • the system of the present invention is provided with various detailed configurations / modules according to the welding process, and the function and operation of the detailed configuration will be described together with the accompanying drawings according to the sequential process in which the welding proceeds.
  • the seam for seam includes a seam flange and a seam socket for securing the water level measurement wire, the water level pipe, and the underwater cable for the submersible motor to the positive pipe.
  • FIG. 1 is a perspective view showing a schematic structure of a flange for a well of a joint of the present invention
  • Figures 2 (a) and (b) shows a schematic structure of a socket for a well of a joint for the present invention
  • Figures 2 (a) and (b) shows a schematic structure of a socket for a well of a joint for the present invention
  • the pipe flange 5 (hereinafter referred to as the "flange") of the pipe joint 5a welded to the pipe of the present invention is a pipe insertion portion 5a penetrating from the top surface to the bottom surface
  • the cable fixing part 7h has a structure of a fixing groove 7a and a grip bar 7b so that the water level measuring wire and the submersible motor cable (not shown) are inserted and are not easily separated from the fixing part.
  • the fixing groove 7a means a space recessed at one side of the circumferential surface of the flange 2. In other words, a space is formed so that the water level measurement wire and the cable for the underwater motor can be located, and the recessed shape of the fixing groove 7a allows the cable for the underwater motor and the water level measurement wire to be mounted more stably. As shown in the figure may be a square shape, it may be implemented in various other shapes.
  • the grip bar 7b extends from the side inlet of the fixing groove 7a toward the opening of the fixing groove 7a, and serves as a screen for appropriately accommodating the cable in the fixing groove 7a.
  • the pipe socket 5 ' (hereinafter referred to as' socket') of the pipe joint 5a of the pipe joint welded to the pipe of the present invention (5) ') Equipped with a water level measuring tube mounting portion (3') and a cable fixing portion (4 ') protruding outward from one side of the outer circumferential surface in order to accommodate and fix the water level measuring tube and other installation installations such as cables It includes.
  • a thread is formed on the inner circumferential surface of the pipe inserting portion 5a 'of the socket 2' so that it can be combined with a separate socket.
  • the transfer robot can push the socket up to the step and conveniently engage it.
  • the water level measuring tube holder 3 ' is formed to protrude to have a predetermined height and thickness from one side of the outer circumferential surface of the socket 2', and is mounted on the water level measuring tube when viewed in a plane as shown in FIG.
  • the portion 3 ' is formed to be curved in a direction opposite to the cylindrical rounding direction of the socket 2', so that the water level measuring tube, which is a cylindrical tube having a constant diameter, can be disposed inside the curved portion. do.
  • the side of the water level measuring tube can be mounted and supported while abutting the outer surface of the water level measuring tube mounting portion (3 ').
  • the cable fixing part 4 ' is directed toward the water level measuring tube mounting part 3' from the other side of the outer circumferential surface of the socket 2 ', preferably at a portion adjacent to the water level measuring tube mounting part 3'. It protrudes in a shape similar to a ring, and consists of a vertical protrusion part 4a 'and a covering part 4b'.
  • the vertically projecting part 4a ' is a part protruding outwardly from one side of the outer circumferential surface of the socket 2', preferably a part spaced apart from the level gauge tube holder 3 ', and covering part ( 4b ') extends vertically bent at the protruding end of the vertically protruding part 4a' and extends in parallel to be rounded to maintain a spaced distance from the outer circumferential surface of the socket 2 '.
  • the cable fixing part 4 ' provides a space formed by the vertical protrusion part 4a' and the covering part 4b 'as shown in the figure, so that the water level measurement cable and the underwater motor cable are provided in the space. To accommodate.
  • the direction in which the covering part 4b 'is bent and extended from the extending end of the vertical protrusion part 4a' is preferably at the water level measuring tube holder 3 'side, wherein the water level measuring tube holder is It is preferable that the curvature direction of 3 'also faces toward the covering part 4b' so that the water level measuring tube is disposed toward the covering part 4b '.
  • the water level measuring tube holder 3 'and the cable fixing part 4' are formed to face each other, so that various installation members can be more stably mounted and supported.
  • the flange 2 of the pipe fitting according to the present invention is not a simple ring structure, but is formed with multiple recesses such as a cable fixing portion 7h and a water level pipe holder 8a.
  • the socket 2 ' is also not a simple ring structure, but the above-described additional configuration is formed on the outer circumferential surface so as to provide a pipe automatic welding device that can be specialized in the following.
  • Figure 3 is a perspective view schematically showing the base of the welding system of the present invention
  • Figure 4 is a plan view schematically showing the main configuration for the welding system of the present invention.
  • the welding system of the present invention discharges the pipe 5, which has been welded to the flange 2 or the socket 2 ', which is a seam for a well, from the entry area into which the pipe 5 enters.
  • a detailed configuration to be described below is mounted on a bed or table type base 1 in which a plurality of frames extending in a vertical / horizontal direction to extend to a discharge length to a predetermined length are assembled.
  • a plurality of devices / modules adjacent to the base 1 and interlocked with the base 1 are included.
  • the base 1 is described in terms of the longitudinal direction from the start end at which the pipe 5 is loaded to the end at which the welded pipe 5 is discharged from the entry area, the pickup area, the welding area, and the discharge area.
  • the welding region or the detailed configuration for welding in the vicinity thereof is mounted / arranged on both sides, respectively, so that the flanges 2 which are seam for pipes at both ends of the pipe 5 or It may provide a foundation for welding the socket 2 '.
  • the entry area is an area for loading the pipe 5 and transporting the pipe 5 to the welding area, and includes a pipe loading device 100 and a pipe feeding device 200.
  • the welding area is an area in which the pipe 5 is welded to the flange 2 or the socket 2 'which is a seam for pipe wells, and the robots 520 and 520' in the pipe seam transport device 500 located around the weld area.
  • the end of the pipe 5 to the pipe insert 5a of the flange 2 or the pipe insert 5a 'of the socket 2' by means of the transfer arms 522, 522 'of the welding robot Welding by means of 700, while ensuring pipe (5) rotation and at the same time correcting the welding position of pipe (5) and flange (2) or socket (2 ') and flange (2) or socket (2) during welding It is an area where various detailed configurations are provided that serve to support ').
  • the welding area welds the pipe 5 and the pipe for the pipe well (a structure added to the pipe for the pipe other than the flange, hereinafter referred to as a 'socket') as well as the area for welding the pipe 5 and the flange 2 to each other. It is also possible to provide a separate area to be provided at the same time to weld the pipe / flange in any one area for each area and the pipe / socket in the other area at the same time.
  • the discharge area is an area for discharging the welded pipe 5 to the rear side of the base 1, and according to the function of the pipe feeder 200 mentioned above, the end of the base where the pipe is discharged (rear). It can be moved to the direction side.
  • FIG. 5 is a perspective view showing a pipe loading apparatus of the present invention.
  • the pipe loading device 100 is provided in the entry area of the base 1, and the pipe loading device 100 has a loading table for seating the plurality of pipes 5 at regular intervals. And a table driving part 150 having a locking frame 120 and a driving control of the loading table 110 to move the pipe 5 to be welded to the pick-up area.
  • the pick-up area is the opposite side of the entry end of the base 1 and the portion adjacent to the pipe conveying apparatus 200 to be described later, that is, the pipe 5 to be welded is temporarily seated to be conveyed by the pipe conveying apparatus 200.
  • the locking portion 130 is located on the distal side of the locking frame 120 in this pickup area.
  • the catching frame 120 loads a plurality of pipes 5 in a state in which the catching portions 130 are continuously arranged at a predetermined interval along the rear side from one side of the base as well as the pipe conveying device 200. It provides a basis for moving the furnace pipe 5 to the welding area side.
  • the locking frame 120 may be mounted in plural as necessary as well as long and short length of the pipe (5), referring to Figure 5 is composed of a total of four left and right two based on the width direction of the base (1) It can be seen that. Of course, the number of the locking frame 120 is not limited thereto, and may be converted into various numbers according to circumstances.
  • a plurality of locking portions 130 arranged in the extending direction of the locking frame 120 are respectively erected upright portions 131 vertically standing up on opposite sides of the welding region and downward from the upper end of the standing portions 131 toward the welding region.
  • the inclined inclined portion 132 may be provided to accommodate one unit of the pipe 5 in a space between the adjacent standing portion 131 and the inclined portion 132 (a space having a shape similar to V).
  • the pipe 5 may be slightly rotated along the inclined portion 132 toward the pickup area without being unnecessarily detached to the outside, and thus may be naturally seated in the pickup area. Provide the characteristics.
  • the loading table 110 may be lifted and moved by the table driving unit 150 in a state in which the loading frame 111 and the support frames 112 are provided on both left and right sides of the loading frame 111, respectively.
  • the table driving unit 150 provides a function of controlling driving of the loading table 110, and specifically, includes a pipe confirmation sensor S and a lifting moving unit 151.
  • the pipe confirmation sensor S is mounted on one side of the support frame 112 in the pickup area, including at least one of a proximity sensor and a photo sensor (photo sensor), and whether or not the pipe 5 is present or not.
  • a sensor interface including a sensor for detecting a proximity distance and including at least one of a photo sensor, an optical sensor, and a proximity sensor is called a 'sensor part' S in the present invention.
  • Sensor unit (S) of the present invention provides a foundation for smoothly proceeding a continuous process automatically after each detailed process by the sensing and the control according to the sensing of the plurality of sensor units S.
  • the sensor to be described will also be expressed as a 'sensor part' (S).
  • the lifting moving unit 151 includes a loading control unit and a lifting unit 151a and a moving unit 151b each formed of a mechanical moving means such as a cylinder / rail in a horizontal or vertical form. Receive a detection signal for the presence of the) to raise the loading table 110 through the lifting unit 151a, and then through the moving unit 151b to move to the fixed locking frame 121 located in the pickup area, and then the lifting The loading table 110 is lowered through the unit 151a.
  • the lifting moving unit 151 lowers the loading table 110 to a position lower than the fixed locking frame 121, and as a result, the pipe 5 is attached to each of the locking portions 130 of the fixed locking frame 121.
  • the mobile unit 151b performs a function of returning the loading table 110 to its original position.
  • a plurality of pipes 5 positioned at a predetermined interval on each of the latching portions 130 are moved up together with the lifting of the loading table 110 and the movement to the pick-up area.
  • the pipe 5 is spaced apart from the fixed locking frame 121, but the pipe 5 is fixed to the moving locking frame 122 provided in the loading table 110, so that the pipe It can be moved to the pick-up area side with the lifting and moving of the loading table 110 stably without leaving (5).
  • the loading table 110 is lowered again to connect the pipe 5 to the end (end / rear) side locking portion 130 of the fixed locking frame 121 in the pick-up area. It seats and other pipes are also seated in the other catch 130. That is, the pipe 5 is lifted and moved from the loading table 110, and then the pipe is seated on the locking portion 130 of the fixed locking frame 121, and the loading table 110 is lowered without the pipe 5 to its original position. Can be returned.
  • the present invention as described above provides the pipe loading device 100, a feature that can automatically supply the pipe (5) to the pickup area more smoothly.
  • Figure 6 is a perspective view showing a schematic configuration of the pipe conveying apparatus of the present invention
  • Figure 7 is a perspective view showing a pipe discharge portion of the present invention
  • Figure 8 shows a vise module mounted in the welding region of the present invention. Perspective view.
  • the pipe conveying apparatus 200 of the present invention not only serves to raise the pipe 5 of the pick-up area while picking up and transporting the pipe 5 to the welding area while descending to the welding area. It provides a role of transferring the welded pipe (5) to the discharge area, specifically, it consists of a transfer unit 210, a unit moving unit 220, a unit driving control unit and a pipe discharge unit 230.
  • the conveying unit 210 is configured to be movable in a state in which a plurality of conveying frames 212 connected in a horizontal / vertical manner are combined.
  • the conveying frame 212 includes at least two bearings for supporting the pipe 5. It consists of the part 212a and the lifting cylinder 212b which raises and lowers the conveyance frame 212 in the frame fixed to the base 1.
  • the transfer unit 210 is provided with at least two support parts 212a at regular intervals to transfer only the pipe 5 located in the pickup area to the welding area, as well as the pipe discharged portion of the welded pipe 5.
  • the role of transferring to the end side of the base 1 may be performed at the same time.
  • the support portion 212a of the transfer unit 210 is located at a lower position than the locking portion 130 provided in the pickup area, and at the initial position, the pipe 5 located in the pickup area that is the upper side of the support portion 212a. While spaced apart from the, as the transfer unit 210 is raised by the lifting cylinder (212b) while the support portion 212a is also raised while lifting the pipe (5) of the upper end to perform the fixing and pickup.
  • the line in which the supporting part 212a is arranged in the transfer unit 210 may be formed up to three lines and more depending on the number and environment of the welding areas. It is also possible.
  • the unit moving part 220 has the LM rail 221 connected to the LM block 222 mounted in the bottom side of the both ends of the transfer unit 210, and the LM block 222 slides along this LM rail 221. It performs a function of horizontally moving the transfer unit 210 while being moved.
  • the unit driving control unit also includes a sensor unit S formed of at least one of a proximity sensor and a photo sensor, thereby detecting the presence / position of the pipe in the pickup area, thereby moving the lifting slender 212b and the unit moving unit 220. To control movement.
  • the LM block 222 is moved along the LM rail 221 in a state where the transfer unit 210 raises the lifting cylinder 212b.
  • the vise 310 is provided at both sides of the welding area, and the transfer unit 210 is a pipe 5 to be welded to the welding area which is a space between the vises 310. Ready to be transported by welding.
  • the pipe discharge part 230 serves to move the welded pipe to the distal side of the base 1 by lifting and moving the transfer unit 210, that is, the transfer unit 210.
  • the transfer unit 210 Has a plurality of lines (each line is provided with a supporting portion) extending in the base width direction at regular intervals in the longitudinal direction of the base, in which one of the lines to transfer the pipe (5) to be welded to the welding area In the other line, the welded pipe 5 is picked up and moved to the pipe outlet 230.
  • the pipe outlet 230 is a structure installed around both sides of the base 1 at the rear end portion of the welding area, and specifically includes a standing surface 231 and an inclined surface 232.
  • the standing surface 231 is a wall that stands in the vertical direction and extends a predetermined length in the rear side (discharge) direction of the base 1, and the inclined surface 232 is the rear end (discharge) direction of the base 1 at this standing surface 231. It extends to mean a structure in which the extension line forms a surface inclined downward downward.
  • a separate discharge unit is provided in the discharge area, so that the welded pipe 5 can be picked up from the discharge area and transported to a storage area at a specific position spaced apart from the base 1. It is also possible.
  • the pipe conveying apparatus 200 described above it is possible to ensure the efficiency of moving the pipe 5 to the welding region at the same time as the transfer to the welding region and to selectively weld the flange 2 and the socket 2 '. It can provide a property that can be transferred to the area.
  • the vise module 300 of the present invention performs position correction as well as fixing and rotating the pipe 5 through the vise 310 positioned between the welding regions where the pipe 5 to be welded is seated.
  • the vise 310, the vise drive unit. 320, a roller 330, a roller driver 340, and a driving controller may be provided.
  • the vise 310 is disposed at the position where the pipe 5 to be welded is seated, i.e., on both sides of the welding area, that is, the welding area where the pipe 5 to be welded is seated between the vises 310 on both sides. Prepared.
  • the vise 310 is provided with at least one pair of left and right sides of the welding region, and is moved to be adjacent to each other and spaced apart by the vise driving unit 320 with the pipe 5 therebetween.
  • the vise 310 is provided in two sets of left and right along the longitudinal direction of the pipe 5 around each of the front and rear ends of the pipe 5 so as to be held at least in two detailed positions of the pipe 5. Unnecessary flow can be prevented.
  • the number of the vise 310 may be installed in two or more (two sets) depending on the length of the pipe 5 or the production line situation.
  • the roller 330 rotatably mounted on the inner side of the vise 310 contacts the pipe.
  • the turning rollers ie, the rollers 330, are arranged in two (four in total) in each of the vise 310 in the vertical, horizontal and horizontal positions, at least one of which is a mechanical rotational power means such as a belt / pulley. In conjunction with the self-drive is driven and the other is rotatable dependent on the rotation of the roller 330 to provide a driving force without the power means.
  • rollers 330 are flanges 2 or sockets with the torch 720 of the welding robot 700 fixedly positioned in the welding area when the flanges 2 or sockets 2 'are welded to the pipe 5.
  • the flange 2 or socket 2 ' can be welded along the entire circumference of the pipe 5 while rotating the pipe 5 to which the 2' is coupled.
  • the vise driving unit 320 performs the drive of moving the vise 310 close to / off the pipe 5 and simultaneously controls the rotation of the roller 330.
  • the vise driving unit 320 is configured to control the movement of the vise 310.
  • a moving rod which is disposed on a line extending in a direction perpendicular to the longitudinal direction and a moving rod which is moved forward (nearly) and backwardly (separated) by forward / reverse driving of the motor while the vise 310 is coupled to an end thereof. Consists of
  • the moving rod may consist of various mechanical moving power means such as LM guides, screws, cylinders.
  • the roller driver 340 rotates the roller 330 during welding so that the flange 2 or the socket 2 'is welded along the entire circumference of the pipe 5 to which the flange 2 or the socket 2' is coupled.
  • the pipe 5 is mounted so that the flange 2 rests on the support piece 810 of the flange support device 800, which will be described later. It rotates a part or rotates the pipe 5 to partially seat the socket 2 'on the support piece 811' of the socket support device 800 'which will be described later.
  • the drive control unit controls the driving of the vise 310 and the roller 330.
  • the drive control unit includes a vise driving control unit and a roller driving control unit.
  • the vise drive control means moves the vise 310 close when the pipe 5 is seated in the welding area and then the pipe 5 is detected by the pipe position correction device 400 to be described later. In addition, by detecting that the welding of the pipe 5 is completed to perform a function of controlling the movement of the vise 310 to the original position.
  • Such a vise driving control means detects the position of the pipe 5 as well as the completion of welding due to the flame detection by the detection signal of the sensor unit S, such as the optical sensor or the proximity sensor, which are installed in the plural around the vise, including the frame. can do.
  • the roller driving control means also performs rotational control during welding as well as rotation for position correction of the pipe 5 to which the flange 2 or the socket 2 'is coupled by the above-described detection signal of the sensor unit S.
  • the pipe position correction device 400 further provided in the present invention detects whether the pipe 5 seated in the welding area is located at the welding position in the correct welding area, so that the pipe 5 is not located at the welding position. It serves to push the pipe 5 to the welding position.
  • the pipe position correcting apparatus 400 includes a reference providing unit, a sensor unit S, and a pushing unit.
  • the reference provider is located at one end of the welding position, and includes a reference bar 411 and a reference bar driver 412.
  • the reference bar 411 is slidably moved from the welding position to the position spaced apart from the front side by a predetermined distance, which is driven by the reference bar driver 412 to pull in and pull out.
  • the reference bar driver 412 slides out the reference bar 411 when the pipe 5 is seated in the welding area, and slides the reference bar 411 again after position correction (pushing) of the pipe 5. It consists of a sliding movement means such as a cylinder / drive rod.
  • the pushing part is made of a known mechanical push means and is installed on the opposite side of the reference bar drive part 412 (the other end side of the pipe when the reference bar drive part is located at one end of the pipe) and the pipe 5 To push the pipe in contact with the tip direction, that is, the reference bar, to correct the position of the pipe 5 to the correct welding position.
  • the pushing unit may also differentially adjust the push pressure according to the height of the distance at which the reference welding position (the position where the reference bar is drawn out, the normal welding position of the pipe) is sensed.
  • the pipe 5 is pushed until it touches the reference bar in the process of positioning the pipe by the pushing part. That is, the position where the reference bar 411 is located is an accurate welding position, and the reference bar 411 may serve as a physical barrier to prevent the pipe 5 from being pushed beyond the welding position. have.
  • the pipe position correction device 400 provides a characteristic that allows the pipe 5 to be pushed to the exact welding position more intuitively.
  • FIG. 10 is a perspective view showing a flange supply unit of the joint supply unit for the present invention of the present invention
  • Figure 11 is a perspective view showing a transport robot for conveying the flange of the present invention
  • Figure 12 is a joint supply unit for the well of the present invention Among them is a perspective view of the socket supply unit
  • Figure 13 is a perspective view showing a transport robot for transporting the socket of the present invention.
  • the pipe joint feeding device 500 of the present invention provides a function of transferring and coupling the flange 2 or the socket 2 'which is a pipe joint to the end side of the pipe 5, and specifically, a pipe joint supply It consists of a transfer robot that transports the unit and the seam joint.
  • the pipe joint supply unit for a pipe includes a flange supply unit 510 and a socket supply unit 510 ', and a transfer robot for conveying the flange supply unit 510 and the flange 2 with reference to FIGS. 10 and 11. 520 will be described.
  • the flange supply unit 510 takes an upright (vertical extension) structure such that the transfer robot 520 picks up the flange 2 at the top while storing the flange 2 in an upright direction, that is, in a stacked manner. At least one flange 515 and the rising portion 512 in the 515.
  • the storage table 515 provides a bottom surface or a support surface on which the flange storage portion 511 can stand, and a plurality of such flange storage portions 511 can be radially erected from the center of the storage table 515.
  • the socket storage portion 511 ' may be disposed adjacent to the flange storage portion 511 by storing the socket 2' instead of the flange 2 in the flange storage portion 511.
  • the storage table 515 is provided with a plurality of storage grooves 515a formed radially inwardly and spaced apart in a predetermined distance along the circumference, so that the flange storage portion 511 can stand in each storage groove 515a.
  • the storage groove 515a has a size corresponding to the outer diameter of the flange 2 and the flange 2 is fitted into the storage groove 515a. ), The flange 2 can be prevented from becoming unnecessary rotation or flow.
  • the flange storage portion 511 is formed of a standing structure that can be stacked in a stacked form while being fitted into the hollow space, that is, the pipe insertion portion 5a of the flange (2).
  • auxiliary support 516 may be formed in the periphery of the flange storage portion 511, preferably in the peripheral region of the flange storage portion 511 that is raised by the rising portion.
  • the auxiliary support 516 is composed of an auxiliary standing body 516a, an extension 516b and a bent portion 516c.
  • the auxiliary standing body 516a stands in parallel with the flange storage part 511 at a predetermined distance (a distance corresponding to the outer diameter of the flange or the socket), and stands in parallel to the outer peripheral surface of the flange 2 to contact one side.
  • the extension portion 516b is a structure that extends from one side of the auxiliary standing body 516a to a predetermined length (corresponding to the depth of the fixed groove) in the outward direction, and the bent portion 516c is formed of the extension portion 516b.
  • a bending extension at the end it is meant a structure which extends to a length corresponding to the grip bar 7b of the flange 2.
  • the auxiliary support 516 has a structure corresponding to and inserted into the fixing groove 7a and the grip bar 7b of the flange 2, and the auxiliary standing body 516a is one of the outer circumferential surfaces of the flange 2.
  • the bent portion 516c is inserted into the space inside the fixing groove 7a of the grip bar 7b while the extension portion 516b is inserted into the fixing groove 7a while being in contact with the side to prevent the rotation of the flange 2.
  • the sensor unit S may be mounted at each of the upper end portions of the auxiliary standing body 516a and the bent portion 516c.
  • the sensor unit S is preferably made of a touch sensing sensor.
  • the touch detection sensor detects the pick-up position of the flange 2 more precisely than the proximity sensor, that is, the presence of the flange 2 located at the top thereof, thereby controlling the lift of the lift unit 512 and the pick-up control of the transfer robot 520. It provides a basis for more intuitively judging whether to perform or not.
  • the rising portion 512 is picked up by the transfer robot 520 to pick up the flange 2 in a state in which it is spaced apart from the flange storage portion 511 by a predetermined distance (the distance corresponding to the distance from the center of the flange to the outer circumference).
  • a predetermined distance the distance corresponding to the distance from the center of the flange to the outer circumference.
  • the lift drive arm 513 includes a finger 513a for supporting the lower surface of the lowermost flange among the stacked flanges having an end extending in two branches, and a support 513b for connecting the pick-up finger 513a with the arm drive 514. have.
  • the support 513b may be equipped with a separate bracket for smooth coupling with the arm drive 514.
  • the arm drive unit 514 performs a function of raising and lowering the finger 513a by the power, and the upper surface of the rail 514a and the support part 513b extending in the height direction so that the support part 513b can be moved up and down.
  • a raised drive part 514b which is composed of mechanical means coupled to and provided with power to pull the finger 513a upwards.
  • the arm drive control unit detects the presence of the flange 2 at the pick-up position in a state in which the sensor unit S formed of the photosensor or the proximity sensor is provided on one side of the flange supply unit 510 and the flange 2 at the pick-up position. If there is no), the drive control function of the arm drive unit 514 is automatically performed so that the flange 2 moves up to the pick-up position.
  • the sensor unit S is preferably equipped with two touch sensors on a specific portion of the auxiliary support 516 to provide a more intuitive and accurate sensing base.
  • the flange pick-up position of the transfer robot 520 can be precisely adjusted by the flange supply unit 510, in particular, the rising part 512, and the unnecessary support of the flange 2 is prevented by the auxiliary support 516.
  • the characteristic which aims at the smoothness of can be provided.
  • the transfer robot 520 has a flange storage part 511 of the flange supply unit 510 in a state where the pipe 5 is located in the welding area and the position of the pipe 5 is additionally corrected by the pipe position correction device 400 described above.
  • the flange coupling portion 521 has a plurality of coupling pieces 524 having a plurality of stages 525 are radially arranged with respect to the center of the flange coupling portion 521 so that the width thereof becomes narrower as it extends downward.
  • Each engaging piece 524 is mounted at the end of the transfer arm 522 so as to be slidable from the center along the circumferential direction along a guide rail (not shown) mounted at its inner portion.
  • the stepped portions 525 of the plurality of coupling pieces 524 are in close contact with the inner surface of the pipe inserting portion 5a of the flange 2, and then the coupling pieces 524 are partially moved outward along the guide rail to form a flange ( 2) is firmly coupled so as not to escape, and after the flange is coupled to the end of the pipe 5, the coupling piece 524 is moved to collect inwardly along the guide rail so that the pipe insertion portion 5a of the flange 2 Depart from
  • the transfer arm 522 is composed of a plurality of links and pivots to perform the function of moving the pick-up of the flange 2 as well as the various paths to the end of the pipe 5, and the movement of the transfer arm 522 is It can be controlled by the driver.
  • the flange 2 may be temporarily fitted to the outer circumferential surface of the pipe 5 by the transfer arm 522 to the inner surface of the pipe insert 5a of the flange 2.
  • the socket supply unit 510 takes an upright (vertical extension) structure so that the transfer robot 520' picks up the uppermost socket 2 'while storing the socket 2' in an upright direction, that is, stacked in a stacked manner.
  • the storage table 515 ' includes at least one standing up socket storage part 511' and a rising part 512 '.
  • the storage table 515 ' provides a floor or support surface on which the socket storage portion 511' can stand, such that the socket storage portion 511 'is radial in the center of the storage table 515'. It may be formed in a plurality of standing, and furthermore, the flange storage portion 511 for storing the flange (2) may be disposed adjacent to the socket storage portion (511 ').
  • the storage table 515 ' is provided with a plurality of storage grooves 515a' formed radially inwardly spaced apart by a predetermined distance along the circumference so that the socket storage portion 511 'stands in each storage groove 515a'.
  • the storage groove 515a ' has a size corresponding to the outer diameter of the socket 2' so that the socket 2 'is fitted into the storage groove 515a', and thus, the external force (primary force) The pick-up of the transfer robot, etc.) can prevent the socket 2 'from becoming unnecessary to rotate or flow.
  • the socket storage part 511 ' is made of an upright structure that can be stacked in a hollow form while being fitted into a hollow space of the socket 2', that is, the pipe insertion part 5a ', and has a socket 2' at one side of the lower part. ) Is formed to support the support jaw.
  • auxiliary support 516 ' may be formed around the socket storage portion 511'.
  • the auxiliary support 516 ' is composed of an auxiliary standing body 516a', an extension 516b ', a bend 516c' and a support 516d '.
  • the auxiliary standing body 516a ' stands up parallel to the socket storage portion 511' at a predetermined distance (a distance corresponding to the outer diameter of the socket) and contacts one side of the outer circumferential surface of the socket 2 '.
  • the extension portion 516b ' is a structure that extends from one side of the auxiliary standing body 516a' to a length (corresponding to the protruding length of the vertically protruding part of the cable fixing portion), and the bent portion ( 516c ') is a structure which is bent at the end of the extension 516b' and extends to a length corresponding to the extension length of the covering part 4b 'of the cable fixing part 4' at the socket 2 ',
  • the support portion 516d ' means a structure in which the buffer member of the cushioning material is attached to the protruding surface while extending in both directions from the end of the bent portion 516c' and protruding convexly to the outer surface.
  • the auxiliary support 516 ' corresponds to the structure / shape of the level gauge tube holder of the socket 2' to appropriately support / combine it, and the auxiliary standing body 516a 'has a socket 2'.
  • the extension part 516b ' extends toward the outer circumferential surface of the socket 2' around the outside of the covering part 4b 'while contacting one side of the outer circumferential surface thereof to prevent rotation of the socket 2'.
  • the bent portion 516c ' is inserted into the covering part 4b' inner space in contact with the outer circumferential surface of 2 ').
  • the support portion 516d ' contacts the inner boundary portion of the covering part 4b' and the vertically protruding part 4a ', but the buffered contact is made by the buffer member, so that it more safely corresponds to the specific shape of the socket 2'.
  • the socket 2' While supporting the socket 2 'and the transfer robot 520' picks up the socket 2 ', the socket 2' is unnecessarily rotated so that the transfer robot 520 'picks up the socket 2'. It provides a property to more reliably prevent disturbing the position control for the.
  • the sensor unit S may be mounted at each of the upper end of the auxiliary standing body 516a 'and the end of the support unit 516c'.
  • the sensor unit S may be a touch sensing sensor. Do.
  • the touch sensing sensor detects the pick-up position of the socket 2 'more precisely than the proximity sensor, that is, whether the socket 2' located at the top is present, thereby controlling the lift of the lift 512 'and the transfer robot 520'. It provides a basis to more intuitively determine whether or not to perform the pickup control.
  • the rising part 512 ' is configured to move the socket 2' from the socket storage part 511 'at a predetermined distance (a distance corresponding to the distance from the center of the socket to the outer circumference). By moving up to the socket pick-up position which can be picked up, it is comprised by the raise drive arm 513 ', the arm drive part 514', and an arm drive control part.
  • the lift drive arm 513 ′ has a support portion for connecting the pick-up finger 513a 'and the pick-up finger 513a' for supporting the lower surface of the lowermost socket among the stacked sockets with two ends extending in two. 513b '.
  • the support 513b ' may be equipped with a separate bracket for smooth coupling with the arm drive 514'.
  • the arm driving unit 514 performs a function of raising and lowering the finger 513a' by the power, and the rail 514a 'extending in the height direction so that the support 513b' is moved up and down, and the support unit. It consists of a lift drive part 514b ', which is coupled to an upper surface of 513b' and consists of mechanical means for providing power to pull the finger 513a 'upwards.
  • the arm drive control unit detects the presence of the socket at the socket pick-up position with the sensor unit S including the photosensor or the proximity sensor on one side of the socket supply unit, so that the socket 2 'does not exist at the pick-up position. In this case, the socket 2 'automatically drives the arm driver 514' to move up to the pickup position.
  • the sensor unit S is preferably equipped with two touch sensors on a specific portion of the auxiliary support 516 ′ to provide a more intuitive and accurate sensing base.
  • the socket supply unit 510 ' in particular the raised portion 512', can accurately match the socket pick-up position of the socket transfer robot 520 ', and the unnecessary support of the socket 2' by the auxiliary support 516 '. It can prevent rotation and can provide the characteristic which promotes the smoothness of an automated process.
  • the transfer robot 520 ' is a socket storage portion of the socket supply unit 510' with the pipe 5 located in the welding area and additionally the position of the pipe 5 is corrected by the pipe position correction device 400 described above.
  • the uppermost socket 2 ' is picked up and transferred to the welding area, that is, the end of the pipe 5, as well as mounted at the end of the pipe 5 (primary coupling) ), And comprises a socket coupling portion 521 ′, a transfer arm 522 ′, and a transfer arm driver 523 ′.
  • the socket coupling portion 521 ' has a plurality of coupling pieces 524' having a plurality of stages 525 'arranged radially with respect to the center of the socket coupling portion 521' such that the socket coupling portion 521 'is narrower as it extends downward.
  • Each of the engaging pieces 524 ' is mounted at the end of the transfer arm 522' so as to be slidable from the center along the circumferential direction along a guide rail (not shown) mounted at the inner portion thereof.
  • the step 525 'of the plurality of coupling pieces 524' comes into close contact with the inner surface of the pipe insertion portion 5a 'of the socket 2', and then the coupling piece 524 'is moved outward along the guide rail.
  • the socket 2 ' is firmly coupled so as not to be separated, and after the socket 2' is coupled to the end of the pipe 5, the coupling piece 524 'is moved to collect inward along the guide rail. Departure from the pipe insert 5a 'of the socket 2'.
  • the transfer arm 522 ' consists of a plurality of links and pivots to perform the function of picking up the socket 2' as well as moving it to various ends up to the end of the pipe 5, and the movement of the transfer arm 522 '. Can be controlled by the transfer arm drive.
  • the socket 2 ' may be temporarily fitted with the inner surface of the pipe insert 5a' of the socket 2 'by the transfer arm 522'.
  • the seam mounting device 600 for a well is used by the transfer robots 520 and 520 'to make a primary coupling (temporary coupling) of the flange 2 or the socket 2' to the pipe end.
  • the flange 2 or the socket 2 ' is firmly pushed in the pipe joint direction for normal welding, thereby correcting the mounting position of the flange 2 or the socket 2'.
  • the seam mounting device 600 for the well is composed of a conical protrusion 610 and a protrusion driver 620.
  • the conical protrusion 610 has a convexly convex shape, in which the flange 2 or the socket 2 'is simply spread over the outer circumferential surface of the pipe 5 by the transfer robots 520 and 520'.
  • the complete flange (by pushing the flange 2 or the socket 2 'while being inserted into the pipe inserts 5a and 5a' of the flange 2 or the socket 2 'so as to be more firmly coupled to the temporary joint) 2) or mounting (secondary coupling) to correction to the mounting position of the socket 2 '.
  • the conical protrusion 610 is a horizontal reciprocating motion by the protrusion driver 620
  • the protrusion driver 620 is a plurality of support plate 621, the back of the support plate 621 coupled to the conical protrusion 610.
  • Consists of a control unit for controlling the reciprocating motion of the reciprocating rod 622 in accordance with the detection of the sensor unit (S) mounted on one side of the reciprocating rod 622 and the seam mounting device 600 for the male and female reciprocating motion is connected have.
  • the transfer robots 520 and 520 ′ pick up the flange 2 or the socket 2 ′ from the flange supply unit 510 or the socket supply unit 510 ′.
  • Temporarily mounted at the end of 5) may serve to ensure a more secure connection between the flange (2) or the socket (2 ') and the pipe (5) for normal welding.
  • the conical protrusion 610 is inserted into and coupled to the pipe inserts 5a and 5a 'of the flange 2 or the socket 2' in the welding process in which the pipe 5 is rotated by the roller 330. It is possible to maintain the state to prevent the flange (2) or the socket (2 ') from being released from the pipe (5), in this way the coupling of the pipe (5) and the flange (2) or socket (2') during welding In the configuration to ensure the relationship, in the present invention, there is such a joint seam mounting device 600 and a well supporting device for a well to be described later.
  • FIG. 14 is a perspective view showing a schematic configuration of a welding robot of the present invention.
  • the welding robot 700 moves the welding arm 710 from the initial position to the welding area and rotates the pipe 5 according to the rotation of the roller 330 described above. 2 ') and the joining portion of the pipe 5 are welded over the circumference of the pipe 5.
  • the welding robot 700 includes a welding arm 710, a torch 720 mounted at an end of the welding arm 710, and a reel 730 for providing solder to the torch 720, and the welding robot 700. It is composed of a welding control unit for controlling the driving of the reel / welding arm / torch according to the detection of the sensor unit (S) mounted on one side, because it is similar to the function of the known welding robot 700, Detailed description of the function is omitted.
  • Figure 16 is a perspective view showing the structure of the socket support device for supporting the socket of the joints of the present invention to be.
  • the flange 2 or the pipe 5 rotates while the flange 2 or the socket 2 ', which is a fitting for the pipe, is mounted at the end of the pipe 5;
  • the flange 2 or the socket 2 ' may be oriented downward or biased due to the load of the socket 2', so that the flange 2 or the socket 2 'with the rotation of the pipe 5 More preferably, welding can be carried out with the flange 2 or the socket 2 'supported in a more stable manner by means of supporting the flange 2 or the socket 2' to prevent downward deflection when rotated. Do.
  • a seam support device is provided as a support means for supporting the flange 2 or the socket 2 ', which is a seam for the well, and such a seam support device supports the flange 2 so as to support the flange 2.
  • a socket support device 800' to support the device 800 and the socket 2 '.
  • the flange support device 800 is a flange transfer robot 520 mounts the flange (2) to the end of the pipe (5) and then the seam mounting device for a well ( Supporting the flange (2) from the time when the flange (2) is coupled to the end of the pipe (5) by the 600, the support groove 811 is based on the base consisting of the support piece 810, In addition to the correction unit 820, the pressure sensing sensor 870 mounted on one surface of the support piece 810 and the lifting control unit may be further included.
  • the support piece 810 is supported from the floor spaced apart from the front side in the welding area of the base 1 by two support tips 812 between the support grooves 811 and the left and right sides as described above.
  • the support groove 811 may have a V groove structure or may have a structure similar to a U groove concave rounded to correspond to the outer circumferential surface shape of the flange 2.
  • the support piece 810 supports the flange 2 in the shape of the flange 2 in order to prevent the flange 2 from lowering, or if the flange ( When 2) is downwardly in contact with the support piece 810 plays a basic role of allowing the flange 2 to rise back to its original position.
  • the buffer pad 830 made of an elastic material may be laminated on the surface of the support piece 810 to reduce the repulsive force due to contact with the flange 2.
  • the shock absorbing pad 830 is formed of a plurality of fine projections (not shown) in a state made of an elastic material to increase the surface area to properly absorb the impact generated when the contact with the flange.
  • the pressure sensor 870 may be additionally mounted on the surface of the support piece 810 (or the surface of the buffer pad).
  • the pressure sensor 870 measures the pressure by the flange 2 applied to the surface of the support piece 810 to generate a numerical pressure sensing signal.
  • the elevating correction unit 820 includes an elevating rod 821 that moves up and down while being connected to a lower surface of the support piece 810, and a rod driving means 822 that provides power for driving the elevating rod 821. Thereby slightly supporting or lowering the support piece 810.
  • the lifting correction unit 820 may provide a base for raising / lowering the flange 2 to a fixed position, which is a welding position.
  • the elevating control unit includes a pressure determining unit and a differential driving control unit.
  • the pressure determining unit receives the pressure sensing signal detected by the pressure detecting sensor 870 and compares the reference pressure information with the preset reference pressure information.
  • the lifting correction unit 820 differentially raises or lowers the control according to the height of the numerical difference of the signals.
  • the flange is more precisely determined by controlling the upward and downward movement of the elevating rod 821 of the elevating correction unit 820 by determining the upward or downward inclination of the flange 2 according to the elevation of the pressure sensing signal.
  • amend the mounting position of (2) can be provided.
  • the flange 2 of the present invention is because the two grooves of the fixing groove (7a) and the water level measuring tube holder (8a) can be formed inward from the outer peripheral surface in the pressure sensor 870 If the flange 2 is pulled downward when the error of the pressure sensing signal is detected or when these two grooves are not in contact with the support piece 810, it is impossible to properly support the pulley 2. It can be pointed out.
  • the upper surface of the support piece 810 on the basis that the width of the fixing groove 7a of the fixing groove 7a of the flange 2 and the level pipe holder 8a is formed longer.
  • the entire length (or the total length of the contactable surface based on the moment when the flange is in contact with the support piece) has the same length as the circumference of the flange 2, but the left side of the support piece 810 with respect to the support groove 811.
  • the pressing projection 840 of the push switch structure protrudes upwardly as a reference to the support groove 811 of the support piece 810.
  • the side portion itself may be made of such a pressing protrusion 840.
  • the pressure sensor 870 is mounted on each of the surfaces of the two pressing protrusions 840.
  • the outer surface of the flange 2 maintains its pressing state when it comes in contact with the pressing protrusion 840, and the fixing groove 7a, the level gauge tube holder 8a, and the pressing protrusion 840 respectively contact each other.
  • the pressure change and period in this process are grasped to provide a basis for more precisely determining whether the pressing protrusion 840 coincides with the pressing pressure at a normal position in the pressing state. can do.
  • the rotational speed (welding speed) of the pipe 5 can also be provided with a basis for identifying and correcting.
  • the termination structure of the pressing protrusion 840 may include a first curvature portion 841 which protrudes downward into a first curvature and convex downward from a portion where the projection starts, and a first curvature at the end of the first curvature portion 841.
  • Right and left symmetrical structure including a second curvature having a smaller curvature radius (which is a more rapid curvature) and a second curvature 842 protrudingly protruding upward, and a tip 843 that is an end of the second curvature 842.
  • the tip portion 843 may be equipped with a pressure sensor 870.
  • the first curvature of the first curvature 841 is smaller than the radius of curvature of the outer circumference of the flange 2 to increase contact with the flange.
  • the pressing protrusion 840 is naturally inserted into the fixing groove 7a and the level gauge tube mounting portion 8a while contacting the outer surface of the flange 2 without any foreign matter or mounting distance caused by the rotation of the flange 2.
  • the change in pressure value delivered to the pressure sensing sensor 870 can also provide a basis for more accurate measurements.
  • the outer side of the grip bar 7b of the flange 2 protrudes outwardly or is further provided with a convex protrusion (not shown) on the outer side of the grip bar 7b.
  • the convex outer surface of the convex protrusion to the grip bar 7b preferentially grasps the pressure transmitted by being in contact with the support piece 810, thereby providing a foundation for smoothly detecting pressure without error.
  • the curvature of the outer circumferential surface of the flange 2 provides a function to more effectively prevent the problem that the pressure sensing is not properly made when contact or non-contact with the support piece 810 is repeated.
  • the socket support device 800 ' will be described with reference to FIG. 16.
  • the socket 2' of the present invention has a protruding configuration due to the water level pipe holder 3 'and the cable fixing part 4'. Since the welding robot 700 incorrectly detects this and may cause a malfunction during welding, the position of the socket 2 ′ in which the welding robot 700 is coupled to the pipe 5, as well as the level measuring tube holder 3 ')' And the socket (2 ') are combined to match the position of the level pipe holder (3') and the cable fixing part (4 ') in order to accurately determine the initial position before the start of welding of the cable fixing part (4'). There is a need to partially rotate correct the pipe 5 by the roller 330.
  • the socket support device 800 ' which is a socket position correction means and a socket support means provided for this, is a socket transport robot 520' which mounts the socket 2 'at the end of the pipe 5, By firmly coupling the socket 2 'to the end of the pipe 5 by means of 600, it is primarily operated to correct the position of the socket 2' and secondarily supports the socket 2 'during the welding process. It means a configuration that works.
  • the socket support device 800 ′ may be installed at one side of the outer periphery of the base 1 to face the pipe position correcting device 400 described above.
  • the socket support device 800 ' includes a socket support 810' and a horizontal correction driver 820 '.
  • the socket support 810 ' properly supports the three-dimensional outer circumferential surface projected by the water level tube holder 3' and the cable fixing part 4 'of the socket 2', and is used for welding without malfunction.
  • it is composed of a plurality of bar types, and specifically includes an extension bar 812 ', a support bar 813', and a support piece 811 '. .
  • the extension bar 812 ' is bent from the support plate 821' toward the base 1 and extends to reach the outer circumferential surface of the socket 2 'coupled to the pipe 5, and the support bar 813'
  • the extension bar 812 ' is bent in the direction of the socket and extends close to the socket 2', and the support piece 811 'is formed at the end of the support bar 813' to the outer circumferential surface of the socket 2 '. It is a configuration to be contacted.
  • the support piece 811 extends outwardly from the end of the support bar 813' with respect to the termination structure so as to appropriately correspond to the shape of the three-dimensional and curved outer circumferential surface of the socket 2 '.
  • 811a 'and the horizontal extension portion 811b' extending horizontally outward from the concave bend extension portion 811a 'and the horizontal extension portion 811b' outward from the ends of the horizontal extension portion 811b '.
  • It may be provided with an upward extension portion 811c 'extending rounded in the upper direction shorter than the extension length of.
  • the socket support part 810 includes one of the above-described photo sensor and a proximity sensor, and includes a sensor part S for detecting whether the socket 2' is in contact, a proximity position, and the like.
  • the concave bend extension 811a ' is formed to be concave so as to correspond to the shape of the three-dimensional outer circumferential surface of the socket 2' to accommodate a three-dimensional structure such as the water level tube holder 3 'to the cable fixing part 4'.
  • the horizontal extension 811b ' serves to substantially support or contact the outer circumferential surface of the socket 2', and the upward extension 811c 'serves as a socket (2). By extending in an upward direction corresponding to the curvature of the outer circumferential surface of '), it serves to increase the possibility of contact with the outer circumferential surface of the socket 2'.
  • the horizontal correction driving unit 820 ' horizontally moves the support piece 811', and extends in the horizontal direction so as to be horizontally movable from the support plate 821 'and the support plate 821' which contact the support piece 811 '.
  • the lifting correction driving unit 830 lifts and moves the support piece 811'.
  • the lifting correction driving unit 830 ' is mounted on the lower surface of the horizontal correction driving unit 820' to lift and lower the horizontal correction driving unit 820 '. 811 'can be moved up and down.
  • the lifting correction driving unit 830 ' is coupled to the lower surface of the horizontal correction driving unit 820' and the lifting correction rod 831 'for lifting and lowering, and the lifting correction function providing the lifting control function of the lifting correction rod 831'. It consists of a rod drive part 832 '.
  • the horizontal extension rod 822' of the horizontal correction drive unit 820 ' is pulled out horizontally to support the support piece ( 811 ') contacts the outer circumferential surface of the socket 2'.
  • the support piece 811 ' is to be brought into contact with the level measuring tube holder 3' and the cable fixing part 4 'in principle.
  • the roller 330 after the horizontal extension rod 822' is horizontally retracted.
  • the roller 330 When the support piece 811 'is brought into contact between the level measuring tube holder 3' and the cable fixing part 4 ', the roller 330 is partially rotated to end the level measuring tube holder 3'. Abuts against the support piece 811 '. In this process, the support piece 811 'acts as a barrier against the level measuring tube holder 3', so that the support piece 811 'and the level measuring tube holder 3' are in contact with each other. The part S may detect this and stop the rotation of the roller 330.
  • the correction can be performed to a position where the socket 2 'can be welded.
  • the support piece 811 ' when rotating the pipe 5 to which the socket 2 'is coupled by rotating the roller 330 while performing welding, the three-dimensional shape of the level pipe holder 3' and the cable fixing part 4 'is fixed. Accordingly, by detecting the distance or contact with the support piece 811 'by the sensor unit S, the horizontal correction driving unit 820' and the elevation correction driving unit 830 'of the socket support device 800' are operated in real time. While continuously changing the position of the support piece 811 ', the support piece 811' can be appropriately positioned under the socket 2 '.
  • the socket 2 ' is rotated and caught by the support piece 811', or the outer peripheral surface of the socket 2 '. And the support piece 811 'is unnecessarily widened to provide a property that can prevent the problem of not properly supporting the socket 2' in real time.
  • the support piece 811 ' not only can the contact sensing of the sensor S be reinforced, but the support piece 811' is caught on the outer circumferential surface of the socket 2 '. It can also provide a property that can prevent at the same time.
  • a buffer pad (not shown) made of an elastic material may be stacked on the surface of the support piece 811 'to reduce the repulsive force due to contact with the socket 2'.
  • the shock absorbing pad is formed of an elastic material so that a plurality of fine protrusions are formed to increase the surface area so as to appropriately absorb the shock generated when contacting the socket 2 '.
  • the pressure sensor 870 ′ measures the pressure by the socket 2 ′ applied to the surface of the support piece 811 ′ to generate a digitized pressure sensing signal. Furthermore, the pressure sensor 870 ′ is disposed at the boundary between the concave bend extension 811 a ′ and the horizontal extension 811 b ′ of the support piece 811 ′ and on one side of the upward extension 811 c ′. It is more desirable to be equipped with each so as to perform more detailed pressure sensing.
  • the horizontal correction driver 820 ′ and the lift correction rod driver 832 ′ may further include a pressure determiner and a differential drive controller, respectively, by the pressure sensor 870 ′ in the pressure determiner.
  • the horizontal extension rod 822 'and the elevating correction rod 831' are respectively differentiated according to the height of the numerical difference between the reference pressure information and the pressure sensing signal. It performs the function of controlling up / down or left / right movement.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mining & Mineral Resources (AREA)
  • Fluid Mechanics (AREA)
  • Geochemistry & Mineralogy (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Environmental & Geological Engineering (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

La présente invention concerne un système destiné à souder un raccord de puits tubulaire et un tuyau, un raccord de puits tubulaire, tel qu'une bride de puits tubulaire ou une douille de puits tubulaire, servant à être fixé à un tuyau de pompage, à un fil de mesure de niveau d'eau, à un tuyau de mesure de niveau d'eau et à un câble immergé destiné à un moteur immergé, étant soudé à un tuyau dans un processus automatisé. Par conséquent, le système de soudage assure une utilisation pratique et offre une base de production de masse en raison d'un processus automatique de couplage d'un raccord de puits tubulaire, tel qu'une bride de puits tubulaire ou une douille de puits tubulaire, à un tuyau.
PCT/KR2017/010194 2016-11-02 2017-09-18 Système destiné à souder un raccord de puits tubulaire et un tuyau WO2018084430A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2016-0145199 2016-11-02
KR1020160145198A KR101718503B1 (ko) 2016-11-02 2016-11-02 관정용 소켓과 파이프의 용접 시스템
KR10-2016-0145198 2016-11-02
KR1020160145199A KR101718506B1 (ko) 2016-11-02 2016-11-02 관정용 플랜지와 파이프의 용접 시스템

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WO2018084430A1 true WO2018084430A1 (fr) 2018-05-11

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CN110026701A (zh) * 2019-03-22 2019-07-19 昆山华恒焊接股份有限公司 用于管件的多工位全自动组对焊接系统
CN112461541A (zh) * 2020-11-25 2021-03-09 宁夏天地奔牛实业集团有限公司 精密减速器回差精度检验装置
CN112975224A (zh) * 2021-03-08 2021-06-18 广西焊杰机器人技术有限公司 一种钢模板自动化焊接系统
CN113414583A (zh) * 2021-07-06 2021-09-21 上海中船临港船舶装备有限公司 一种管子自动对中定位装置及其使用方法
CN114734169A (zh) * 2022-04-18 2022-07-12 仪征市永辉散热管制造有限公司 一种散热管自动化焊接设备及工艺
CN115574148A (zh) * 2022-11-02 2023-01-06 中电建地热开发有限公司 一种地源热泵系统筏板下地埋管施工定位装置及施工方法
CN117415551A (zh) * 2023-11-24 2024-01-19 深圳市精创科技有限公司 一种工装支撑机架及其制备工艺

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Publication number Priority date Publication date Assignee Title
CN110026701A (zh) * 2019-03-22 2019-07-19 昆山华恒焊接股份有限公司 用于管件的多工位全自动组对焊接系统
CN110026701B (zh) * 2019-03-22 2024-04-26 昆山华恒焊接股份有限公司 用于管件的多工位全自动组对焊接系统
CN112461541A (zh) * 2020-11-25 2021-03-09 宁夏天地奔牛实业集团有限公司 精密减速器回差精度检验装置
CN112975224A (zh) * 2021-03-08 2021-06-18 广西焊杰机器人技术有限公司 一种钢模板自动化焊接系统
CN113414583A (zh) * 2021-07-06 2021-09-21 上海中船临港船舶装备有限公司 一种管子自动对中定位装置及其使用方法
CN114734169A (zh) * 2022-04-18 2022-07-12 仪征市永辉散热管制造有限公司 一种散热管自动化焊接设备及工艺
CN114734169B (zh) * 2022-04-18 2023-03-10 仪征市永辉散热管制造有限公司 一种散热管自动化焊接设备及工艺
CN115574148A (zh) * 2022-11-02 2023-01-06 中电建地热开发有限公司 一种地源热泵系统筏板下地埋管施工定位装置及施工方法
CN117415551A (zh) * 2023-11-24 2024-01-19 深圳市精创科技有限公司 一种工装支撑机架及其制备工艺

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