WO2024034615A1 - Beveling method, method for manufacturing connection pipe, beveling device, and automatic welding system equipped with same - Google Patents

Abstract

This beveling method uses a cutting tool to form a bevel on one end section of a pipe, the method comprising: a measurement step for measuring the shape of one end section of a pipe; a tool path setting step for setting a tool path of the cutting tool on the basis of the measurement result of the measurement step; and a machining step for controlling the movement of the cutting tool on the basis of the tool path set in the tool path setting step, thereby forming a bevel on the one end section of the pipe.

Description

Beveling method, joint pipe manufacturing method, beveling device, and automatic welding system equipped with the same

The present disclosure relates to a beveling method for forming a bevel at one end of a pipe using a cutting tool, and a joint pipe manufacturing method for manufacturing a joint pipe by welding one ends of the pipe together.

The present disclosure also relates to a beveling device that forms a bevel in one end of a pipe, and an automatic welding system equipped with the same.

When manufacturing a joint pipe by welding the ends of pipes together, a bevel is formed at the end of the pipe. As an example of a beveling device that forms a beveling at the end of a pipe, a beveling device described in Patent Document 1 is known, for example. In the beveling device disclosed in Patent Document 1, the amount of eccentricity and amount of deformation strain of the pipe is measured. Further, the beveling device calculates cutting specifications based on the amount of eccentricity and the amount of deformation strain. The beveling device then controls the movement of the processing tool based on the cutting specifications.

Japanese Patent Application Publication No. 57-27609

In the beveling device of Patent Document 1, cutting specifications are calculated based on the amount of deformation strain. The amount of deformation distortion is considered to be calculated as the amount of distortion from the nominal dimension, for example. However, in the shape of piping, tolerances are generally allowed with respect to the nominal dimensions. For example, in the outer circumferential length, outer diameter, thickness, etc. of a tube, a tolerance of about ±10% is allowed with respect to the nominal dimensions. Therefore, even if the cutting specifications are calculated based on the amount of deformation strain, the groove shape may not be the desired shape due to tolerances and the like. That is, it is conceivable that variations occur in the groove shape. If there are variations in the groove shape, it is necessary to absorb the variations in the groove shape using the welding skill during welding. However, when welding is automated or when welding skills are low, it is difficult to absorb variations in welding skills. Therefore, it is necessary to reduce the variation in groove shape. Therefore, it is desired to suppress variations in the groove shape.

Therefore, the present disclosure aims to provide a groove processing method, a joint manufacturing method, a groove processing apparatus, and an automatic welding system that can suppress the occurrence of variations in groove shape.

The beveling method of the present disclosure is a method of forming a bevel at one end of a pipe using a cutting tool, and includes a measurement step of measuring the shape of the one end of the pipe, and a measurement result of the measurement step. a tool path setting step of setting a tool path of the cutting tool based on the tool path setting step; and controlling the movement of the cutting tool based on the tool path set in the tool path setting step. This method includes a processing step of forming a tip.

According to the present disclosure, a tool path is set based on the measurement results of the shape of one end of the tube. A bevel is then formed at one end of the tube by controlling the movement of the cutting tool based on the tool path. Therefore, the bevel can be formed according to the actual shape of one end of the tube. This suppresses variations in the groove shape compared to the case where the groove is formed without considering the actual shape of the pipe. That is, the groove shape can be formed into a desired shape.

The joint manufacturing method of the present disclosure is a joint pipe manufacturing method for manufacturing a joint pipe by butting and welding one end portions of the pipes, and the method includes forming a bevel at one end of the pipe using the beveling method described above. This method includes a groove processing step of forming a groove, and a welding step of butting and welding one end portions of the pipes in which the grooves have been formed in the groove processing step.

According to the present disclosure, a joint pipe is manufactured by butting and welding one end portions in which a groove is formed by the groove processing method described above. Since the bevel is formed by the beveling method described above, the bevel is formed according to the actual shape of one end of the tube. Therefore, variations in the groove shape can be suppressed. Therefore, since it can be easily welded, the joint pipe can be manufactured by automatic welding, for example.

The beveling device of the present disclosure forms a beveling at one end of a pipe, and includes a measuring instrument that measures the shape of the one end of the pipe, and a cutting tool that cuts the one end of the pipe using a cutting tool. The controller includes a processing machine and a controller that controls the movement of the cutting tool, and the controller sets a tool path of the cutting tool based on the measurement result of the measuring device, and controls the cutting tool based on the tool path. It controls the movement of the tool.

According to the present disclosure, a tool path is set based on the measurement result of measuring the shape of one end of the pipe, and a bevel is formed at one end of the pipe by controlling the movement of a cutting tool based on the tool path. . Therefore, the groove can be formed according to the shape of one end of the tube to be actually processed. This suppresses variations in the groove shape compared to the case where the groove is formed without considering the actual shape of the pipe. That is, the groove shape can be formed into a desired shape.

The automatic welding system of the present disclosure is a system for welding one end portions of pipes against each other, and includes the above-mentioned beveling device and one end portion of the tube in which the bevel is formed by the beveling device. This system includes a welding device that butts and welds the two.

According to the present disclosure, the welding device welds the one ends on which the grooves have been formed by the groove processing device described above butt against each other. Since the bevel is formed by the beveling device described above, the bevel can be formed in accordance with the shape of one end of the pipe to be actually machined. Therefore, the groove can be formed into a desired shape with high precision. Therefore, since it can be easily welded, the joint pipe can be manufactured by automatic welding.

According to the present disclosure, it is possible to suppress the occurrence of variations in groove shape.

The above objects, other objects, features, and advantages of the present disclosure will become apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings.

FIG. 1 is a perspective view showing a welding robot of the automatic welding system of the present disclosure. FIG. 3 is a perspective view showing a state in which pipes are beveled by the beveling system of FIG. 2 and the pipes are butted against each other. 2 is a front view showing a beveling device included in the automatic welding system of FIG. 1. FIG. FIG. 4 is a front view showing a state in which the shape of the pipe is being measured by the beveling device shown in FIG. 3; FIG. 4 is a front view showing a state in which the outer surface of the pipe is being cut by the beveling device shown in FIG. 3; FIG. 4 is a front view showing a state in which the inner surface of the pipe is being cut by the beveling device shown in FIG. 3; FIG. 2 is an enlarged sectional view showing a welded portion of the pipe shown in FIG. 1. FIG. 2 is a flowchart showing the procedure of a joint pipe manufacturing method for manufacturing the joint pipe shown in FIG. 1. FIG. 8 is a flowchart showing the procedure of groove processing in the joint pipe manufacturing method of FIG. 7. FIG. It is a figure which shows the end of the piping in which the groove was created by the groove processing process, (a) shows the state where the outer surface and the inner surface of the piping are appropriately processed, and (b) shows the state where the outer surface is shallowly processed. (c) shows a state in which the inner surface is deeply processed, and (c) shows a state in which the outer surface is deeply processed and the inner surface is not processed. It is a front view which shows the bevel processing apparatus of other embodiment.

Hereinafter, a groove processing method, a joint pipe manufacturing method, an automatic welding system 1, and a groove processing apparatus 2 according to embodiments of the present disclosure will be explained with reference to the above-mentioned drawings. Note that the concept of direction used in the following explanation is used for convenience in explanation, and does not limit the orientation of the structure of the invention to that direction. Moreover, the groove processing method, the joint pipe manufacturing method, the automatic welding system 1, and the groove processing apparatus 2 described below are only one embodiment of the present disclosure. Therefore, the present disclosure is not limited to the embodiments, and additions, deletions, and changes can be made without departing from the spirit of the invention.

<Automatic welding system>
An automatic welding system 1, a portion of which is shown in FIG. 1, is used when manufacturing a joint pipe 3 through which liquid or the like flows. As shown in FIG. 2, the joint pipe 3 is manufactured by butting one end portions 4a, 5a of two pipes 4, 5 against each other and welding them together (see the shaded area in FIG. 1). To explain in more detail, when welding the pipes 4 and 5, the automatic welding system 1 forms grooves 4b and 5b at one end portions 4a and 5a of each of the pipes 4 and 5, respectively. One end portions 4a and 5a of the two pipes 4 and 5 are butted against each other. The automatic welding system 1 manufactures the joint pipe 3 by welding the two pipes 4 and 5 at the butt portion 3a. In this embodiment, the groove shape is U-shaped. However, the shape of the groove may be V-shape, X-shape, K-shape, etc., and the shape is not limited. More specifically, the automatic welding system 1 includes a welding robot 6 and a beveling device 2.

<Welding robot>
A welding robot 6, which is an example of a welding device, is, for example, an articulated robot, as shown in FIG. The welding robot 6 has an attachment at its tip. For example, a welding rod 6a is attached to the attachment. The welding robot 6 brings the tip of the welding rod 6a into contact with the butt portion 3a by moving each joint. Thereafter, the welding robot 6 welds the two pipes 4 and 5 by generating an arc at the butt portion 3a. In this embodiment, a case has been described in which the welding robot 6 welds the pipes 4 and 5 by arc welding, but the welding method is not limited to arc welding, and other welding methods may be used.

<Bevel processing equipment>
The groove processing device 2 shown in FIG. 3 forms grooves 4b and 5b on one end portions 4a and 5a of the pipes 4 and 5, respectively. In the present embodiment, the beveling device 2 forms bevels 4b and 5b on one end portions 4a and 5a of the pipes 4 and 5, respectively, using cutting tools 24 and 25, which will be described in detail later. To explain in more detail, the beveling device 2 measures the shape of one end portions 4a, 5a of the pipes 4, 5. The bevel processing device 2 then sets tool paths for the cutting tools 24 and 25 based on the measurement results. Here, the tool path is information indicating a path followed by the blade portions 24a, 25a of the cutting tools 24, 25, which will be described in detail later. Further, the beveling device 2 controls the movement of the cutting tools 24 and 25 based on the set tool path. Thereby, the groove processing device 2 forms grooves 4b, 5b at the one end portions 4a, 5a of the pipes 4, 5. More specifically, the beveling device 2 includes a cutting machine 11, a measuring device 12, and a controller 13.

<Cutting machines>
The cutting machine 11 has cutting tools 24 and 25. The cutting machine 11 uses cutting tools 24 and 25 to cut one end portions 4a and 5a of the pipes 4 and 5. By doing so, the cutting machine 11 forms grooves 4b and 5b at one end portions 4a and 5a of the pipes 4 and 5. Further, the cutting machine 11 forms the pipes 4 and 5 into perfect circles. To explain in more detail, the cutting machine 11 includes a mounting jig 21, a rotary surface plate 22, a holder 23, and cutting tools 24 and 25.

The mounting jig 21 can attach the pipes 4 and 5. To explain in more detail, the pipes 4 and 5 are attached to the attachment jig 21 so that their axes L1 extend in the first direction. Here, the first direction is a direction intersecting the vertical direction. In this embodiment, the first direction is a direction perpendicular to the up-down direction. Further, the mounting jig 21 forms the pipes 4 and 5 into perfect circles. Note that a perfect circle is not limited to a perfect circle, but also includes a state that is close to a perfect circle. To explain in more detail, the mounting jig 21 includes, for example, a chuck 21a and a core adjustment mechanism 21b.

The chuck 21a grips the pipes 4 and 5 from the outside. In this embodiment, the chuck 21a grips the pipes 4 and 5 from the outside by moving inward in the radial direction perpendicular to the first direction. Then, the mounting jig 21 forms the pipes 4 and 5 into perfect circles by moving the chuck 21a to reduce the diameter. Further, the chuck 21a does not necessarily have to move to reduce the diameter, and may grip the pipes 4 and 5 from the outside by moving in a second direction or an up-down direction, which will be described later.

The core adjustment mechanism 21b moves the chuck 21a in the vertical direction and the second direction. Here, the second direction is a direction that intersects the vertical direction and the first direction. In this embodiment, the second direction is a direction perpendicular to the vertical direction and the first direction. More specifically, the core adjustment mechanism 21b adjusts the position of the axis of the chuck 21a by moving the chuck 21a. In the present embodiment, in the mounting jig 21, the pipes 4 and 5 are formed into a perfect circle, so that the axis L1 of the pipes 4 and 5 and the axis of the chuck 21a coincide with each other. Therefore, the core adjustment mechanism 21b can adjust the position of the axis L1 of the pipes 4 and 5 by moving the chuck 21a. In this embodiment, the positions of the axis L1 of the pipes 4 and 5 in the vertical direction and the second direction can be adjusted.

The rotating surface disc 22 is formed into a disc shape and rotates around its axis L2. To explain in more detail, the rotary surface plate 22 is rotatably attached to a movable base (not shown). The rotary surface plate 22 is arranged so that its main surface 22a faces the chuck 21a and is spaced apart from the chuck 21a in the first direction. Thereby, the rotary surface plate 22 is arranged with its main surface 22a facing one end portions 4a, 5a of the pipes 4, 5 to be attached. Further, the rotary surface plate 22 is configured to be movable in three axial directions by a movable base. In this embodiment, the three axial directions are an up-down direction, a first direction, and a second direction. Further, the rotary surface plate 22 is connected to an electric motor (not shown). The rotary surface plate 22 is rotated around the axis L2 by an electric motor.

The holder 23 is attached to the rotary surface plate 22. The holder 23 holds cutting tools 24 and 25. Furthermore, the holder 23 moves relative to the rotary surface plate 22. To explain in more detail, the holder 23 has a slider mechanism (not shown). The slider mechanism slides the holder 23 in the radial direction on the rotary surface plate 22.

The cutting tools 24 and 25 cut one end portions 4a and 5a of the pipes 4 and 5 by rotating around the pipes 4 and 5. To explain in more detail, the two cutting tools 24 and 25 are detachably attached to the holder 23 while being separated from each other in the radial direction. Further, the two cutting tools 24 and 25 are arranged on the rotary face plate 22 so as to face each other in the radial direction. In this embodiment, one of the cutting tools 24, the outer surface cutting tool 24, is arranged radially outward from the other cutting tool 25, the inner surface cutting tool 25. The two cutting tools 24 and 25 extend in the first direction. Further, the two cutting tools 24 and 25 have blade portions 24a and 25a at their tips, respectively. The two cutting tools 24 and 25 have blade portions 24a and 25a facing each other. The external cutting tool 24 rotates around the outer circumferential surfaces 4c, 5c of the one ends 4a, 5a of the pipes 4, 5 as the rotary surface disc 22 rotates. Then, the outer surface cutting tool 24 cuts the outer peripheral surfaces 4c, 5c of the one end portions 4a, 5a of the pipes 4, 5 over the entire circumference using the blade portion 24a. Further, the inner surface cutting tool 25 rotates along the inner circumferential surfaces 4d and 5d of the one end portions 4a and 5a of the pipes 4 and 5 as the rotary surface plate 22 rotates. Then, the inner surface cutting tool 25 cuts the inner peripheral surfaces 4d and 5d of the one end portions 4a and 5a of the pipes 4 and 5 over the entire circumference using the blade portion 25a.

<Measuring instrument>
The measuring instrument 12 measures the shape of one end portions 4a, 5a of the pipes 4, 5. To explain in more detail, the measuring instrument 12 measures the circumferential length or diameter of the one end portions 4a, 5a of the pipes 4, 5. In this embodiment, the measuring device 12 measures the diameters of the outer circumferential surfaces 4c and 5c of the pipes 4 and 5, that is, the outer diameter R. To explain in more detail, the measuring instrument 12 is attached to the beveling device 2, for example. In this embodiment, the measuring instrument 12 is attached to a holder 23. The measuring instrument 12 is arranged radially outward of the two cutting tools 25 in the holder 23. Moreover, the measuring device 12 extends in the first direction. The measuring device 12 has a measuring section 12a at its tip. The measuring instrument 12 is, for example, a contact-type measuring instrument, and is a probe. That is, the measuring device 12 measures the outer diameter R of the pipes 4 and 5 by bringing the measuring portion 12a into contact with the outer peripheral surfaces 4c and 5c of the pipes 4 and 5. In this embodiment, the measuring device 12 measures the outer diameter R of the pipes 4 and 5 according to the amount of movement of the holder 23 in the radial direction. Specifically, when the measuring portion 12a contacts the outer circumferential surfaces 4c, 5c, the measuring device 12 outputs the coordinates of the contact position on the outer circumferential surfaces 4c, 5c based on the distance from the axis L2 of the holder 23.

<Controller>
Controller 13 controls the movement of cutting tools 24 and 25. To explain in more detail, the controller 13 controls the operation of the cutting machine 11. That is, the controller 13 controls the operations of the moving base, the electric motor, the slide mechanism, and the mounting jig 21. For example, the controller 13 can move the rotary surface board 22 in the second direction and in the vertical direction by operating the moving base. Thereby, the position of the axis L1 of the rotary surface plate 22 can be changed. Further, the controller 13 moves the rotating base plate 22 closer to or away from the one ends 4a, 5a of the pipes 4, 5 by moving the movable base in the first direction. That is, the controller 13 moves the movable base in the first direction to move the cutting tools 24, 25 closer to or away from the ends 4a, 5a of the pipes 4, 5.

Furthermore, the controller 13 rotates the rotary surface plate 22 around the axis L2 by driving the electric motor. The controller 13 can change the position of the measuring device 12 around the outer circumferential surfaces 4c, 5c of the ends 4a, 5a of the pipes 4, 5 by rotating the rotary surface plate 22. Thereby, the measuring device 12 can measure coordinates at a plurality of locations on the outer circumferential surfaces 4c and 5c (see FIG. 4). Further, the controller 13 rotates the external cutting tool 24 along the outer circumferential surfaces 4c, 5c of the one ends 4a, 5a of the pipes 4, 5 (see FIG. 5). As a result, the outer peripheral surfaces 4c and 5c are cut by the blade portion 24a. Furthermore, the controller 13 rotates the inner surface cutting tool 25 along the inner peripheral surfaces 4d and 5d of the pipes 4 and 5 (see FIG. 6). As a result, the inner circumferential surfaces 4d and 5d are cut by the blade portion 25a.

Furthermore, the controller 13 can slide the holder 23 in the radial direction with respect to the rotary surface plate 22 by operating the slide mechanism. More specifically, the controller 13 can move the holder 23 in the radial direction with respect to the axis L2 by operating the slide mechanism. Thereby, the measuring instrument 12 can be moved close to and away from the outer surfaces of the pipes 4 and 5. Furthermore, the controller 13 can change the radial positions of the two rotating cutting tools 24 and 25 by moving the slide mechanism.

Further, the controller 13 causes the mounting jig 21 to grip the pipes 4 and 5. More specifically, the controller 13 grips the pipes 4 and 5 by reducing the diameter of the chuck 21a of the mounting jig 21. Thereby, the pipes 4 and 5 are formed into perfect circles. Further, the controller 13 moves the mounting jig 21 in the vertical direction and in the second direction. To explain in more detail, the controller 13 moves the core adjustment mechanism 21b in the vertical direction and the second direction. Thereby, the controller 13 adjusts the position of the axis of the chuck 21a, that is, the axis L1 of the pipes 4 and 5 in the vertical direction and the second direction.

Additionally, the controller 13 acquires the measurement results of the measuring device 12. That is, the controller 13 acquires measurement results regarding the shapes of the one end portions 4a, 5a of the pipes 4, 5. In this embodiment, the controller 13 moves the measuring device 12 radially inward using the holder 23, thereby bringing the measuring portion 12a into contact with the outer circumferential surfaces 4c, 5c of the pipes 4, 5. Then, the controller 13 acquires the coordinates of the contact position from the measuring device 12. Thereby, the controller 13 calculates the outer diameter R of the one end portions 4a, 5a of the pipes 4, 5 based on the coordinates of the contact position. Further, the controller 13 causes the measurement unit 12a to come into contact with a plurality of locations (in this embodiment, three locations) on one end portions 4a and 5a of the pipes 4 and 5 to measure coordinates. For example, the controller 13 moves the measuring instrument 12 around the axis L2 by a predetermined angle (120 degrees in this embodiment) using the rotary surface plate 22. Then, the controller 13 brings the measuring section 12a into contact with the outer circumferential surfaces 4c and 5c at each position. Thereby, the controller 13 can acquire the coordinates of the contact position at three locations. Then, the controller 13 calculates the outer diameter R of the pipes 4, 5 and the coordinates of the axis L1 of the one ends 4a, 5a of the pipes 4, 5, ie, the core coordinates of the pipes 4, 5, based on the three coordinates.

Furthermore, the controller 13 sets tool paths for the cutting tools 24 and 25 based on the measurement results. To explain in more detail, the controller 13 sets the tool path of the external surface cutting tool 24 in external surface machining. The external surface machining is, for example, a cutting process (more specifically, a facing process) in which the outer circumferential surfaces 4c and 5c are cut by rotating the external cutting tool 24. In this embodiment, the controller 13 sets the radial position of the outer surface cutting tool 24 as a tool path in outer surface machining based on the measurement results. The controller 13 also sets a tool path for the inner surface cutting tool 25 in inner surface machining. The inner surface processing is, for example, cutting processing (more specifically, thinning processing) in which the inner peripheral surfaces 4d and 5d are cut by rotating the inner surface cutting tool 25. In this embodiment, the controller 13 sets the radial position of the inner surface cutting tool 25 as a tool path in inner surface machining based on the measurement results.

To explain in more detail, the controller 13 sets the tool path for each of the outer surface machining and the inner surface machining so that the root surface r shown in FIG. 7 becomes a predetermined value r0. To explain specifically how to set the tool path, the controller 13 selects two cutting tools based on the groove shape (U-shaped in this embodiment) and the outer diameter R of the outer circumferential surfaces 4c and 5c, which are the measurement results. Set tool paths 24 and 25. For example, in the joint pipe 3, the inner surface processing extends beyond the grooves 4b, 5b to the inner surface processing portions 4e, 5e, which are the portions on the other end side. The tool path for the inner surface processing is set so that the thickness t of the inner surface processing portions 4e and 5e becomes a predetermined thickness t0. Specifically, the controller 13 sets the radial position of the inner surface cutting tool 25 based on a value obtained by subtracting the predetermined thickness t0 from a value multiplied by 1/2 the outer diameter R of the pipes 4 and 5. Furthermore, the controller 13 sets a tool path for inner surface machining so that the inner surface cutting tool 25 is pushed in the first direction from one end surface of the pipes 4 and 5 to a predetermined inner surface machining distance α. Further, the tool path for external surface machining is set so that the root surface r of the pipes 4 and 5 becomes a predetermined value r0. Specifically, the controller 13 sets the radial position of the external cutting tool 24 based on the groove depth d obtained by subtracting the predetermined value r0 from the predetermined thickness t0 described above. Then, the controller 13 pushes the outer surface cutting tool 24 from one end surface of the pipes 4 and 5 in the first direction to a predetermined outer surface machining distance β, and then moves the outer surface cutting tool 24 radially outward while pushing it in the first direction. Set the toolpath for external machining to move to .

<Joint pipe manufacturing method>
Below, a joint pipe manufacturing method for manufacturing the joint pipe 3 using the automatic welding system 1 will be explained with reference to the flowchart of FIG. 8. In the joint pipe manufacturing method, the joint pipe 3 is manufactured by welding two pipes 4 and 5. When welding the pipes 4 and 5, grooves 4b and 5b are formed at one end portions 4a and 5a of the pipes 4 and 5, respectively. In the joint pipe manufacturing method, when manufacturing of the joint pipe 3 is started, the process moves to step S1. In step s1, a beveling process is performed. The bevel processing process will be described below with reference to the flowchart in FIG. 9 .

In the groove processing, grooves 4b, 5b are formed at one ends 4a, 5a of the pipes 4, 5 by a groove processing method. The groove processing method is a method of forming grooves 4b, 5b at one end portions 4a, 5a of the pipes 4, 5 using cutting tools 24, 25. When the groove processing process is executed, the process moves to step S11.

In step S11, which is a pipe installation process, one of the pipes 4 and 5, for example, the pipe 4, is mounted on the mounting jig 21. To explain in more detail, the pipe 4 is placed in the chuck 21a of the mounting jig 21. Note that the arrangement of the pipes 4 may be performed manually by an operator or automatically by a device such as a robot. Furthermore, in this embodiment, a portion of the piping 4 closer to the other end than the one end 4a is disposed within the chuck 21a. When the pipe 4 is placed, the controller 13 reduces the diameter of the chuck 21a radially inward. Thereby, the pipe 4 is attached to the mounting jig 21 and the pipe 4 is formed into a perfect circle. Then, the process moves to step S12.

In step S12, which is a measurement process, the shape of one end portion 4a, 5a of the pipe 4 is measured. To explain in more detail, in the mounting process, after the pipe 4 is formed into a perfect circle by the mounting jig 21, the shapes of the one ends 4a and 5a of the pipe 4 are measured. Further, in this embodiment, the outer diameter R of the pipe 4 is measured by the measuring instrument 12. Specifically, the controller 13 moves the measuring instrument 12 around the axis L2 by a predetermined angle (120 degrees in this embodiment) using the rotary surface plate 22. Thereby, the controller 13 acquires the coordinates of the contact positions at three locations. Then, the controller 13 calculates the outer diameter R of the pipe 4 and the core coordinates of the pipe 4 based on the three coordinates. Then, the process moves to step S13.

In step S13, which is a center position adjustment step, the center coordinates of the rotary face plate 22 are adjusted so that the axis L2 of the rotary face plate 22 is aligned with the axis L1 of the piping 4. To explain in more detail, the controller 13 adjusts the center coordinates of the rotary surface plate 22 by moving the movable base based on the center coordinates of the piping 4 calculated in the measurement process. Thereby, the controller 13 aligns the axis L2 of the rotary surface plate 22 with the axis L1 of the piping 4. In this embodiment, the center coordinates of the rotary surface plate 22 are adjusted by the movable base, but the center coordinates of the piping 4 may be adjusted by operating the center adjustment mechanism 21b of the mounting jig 21. Once the axis L2 of the rotary surface plate 22 is aligned with the axis L1 of the piping 4, the process moves to step S14.

In step S14, which is a tool path setting step, the tool paths of the cutting tools 24 and 25 are set based on the measurement results of the measurement step. To explain in more detail, the tool paths in each of the outer surface machining and the inner surface machining are set so that the root surface r becomes a predetermined value r0. Moreover, the tool path in the inner surface processing is set so that the thickness t of the inner surface processing portion 4e becomes a predetermined thickness t0.

Specifically, the radial position of the inner surface cutting tool 25 is set as a tool path in inner surface machining based on the measurement result, and in this embodiment, the outer diameter R of the pipe 4. For example, the controller 13 sets the radial position of the inner surface cutting tool 25 as a tool path for inner surface machining based on a value obtained by subtracting a predetermined thickness t0 from a value multiplied by 1/2 the outer diameter R of the pipes 4 and 5. Set. Furthermore, the controller 13 sets a tool path for inner surface machining so as to advance the inner surface cutting tool 25 in the first direction to a predetermined inner surface machining distance α. On the other hand, the radial position of the outer surface cutting tool 24 is set as a tool path in the outer surface machining based on the measurement result, and in this embodiment, the outer diameter R of the pipe 4. For example, the controller 13 sets the radial position of the inner surface cutting tool 25 as the tool path for outer surface machining based on the groove depth d obtained by subtracting the predetermined value r0 from the predetermined thickness t0. Furthermore, the controller 13 is configured to advance the external surface cutting tool 24 in the first direction to a predetermined external surface machining distance β (<α), and then move the external surface cutting tool 24 radially outward while being pushed in the first direction. Set the toolpath for external machining. Once the tool path is set, the process moves to step S15.

In step S15, which is a machining process, a groove 4b is formed in one end 4a of the pipe 4 by controlling the movement of the cutting tools 24 and 25 based on the tool path set in the tool path setting process. To explain in more detail, in the machining process, the controller 13 performs external surface machining using the external surface cutting tool 24 . That is, the controller 13 moves the external cutting tool 24 according to the tool path for external processing while rotating the rotary surface plate 22 using the electric motor. As a result, the outer circumferential surface 4c of the pipe 4 is cut to form the groove 4b. Further, the controller 13 performs inner surface machining using the inner surface cutting tool 25 . That is, the controller 13 moves the inner surface cutting tool 25 according to the tool path for inner surface machining while rotating the rotary surface plate 22 using the electric motor. As a result, the inner circumferential surface 4d of the pipe 4 is cut to form the groove 4b. In addition, in the processing step, the outer surface processing and the inner surface processing may be performed in any order, or may be performed simultaneously. When the outer peripheral surface 4c and the inner peripheral surface 5d of the pipe 4 are cut in this way, a groove 4b is formed at one end 4a of the pipe 4 (see FIG. 10(a)). Once the groove 4b is formed, the process moves to step S16.

In step S16, which is a bevel processing presence/absence confirmation step, it is determined whether or not bevel processing has been performed on both one end portions 4a, 5a of the two pipes 4, 5 to be welded. If only one end 4a of one of the two pipes 4 and 5 is beveled, the process returns to step S11 in order to also bevel the one end 5a of the other pipe 5. Then, from step S11 onwards, the one end 5a of the pipe 5 is beveled in the same way as the one end 4a of the pipe 4 is beveled. That is, in step S11, the pipe 5 is attached to the attachment jig 21. Thereby, the pipe 5 is formed into a perfect circle. In step S12, the shape of one end 5a of the pipe 5 is measured. In step S13, the center coordinates of the rotating surface plate 22 are adjusted so that the axis L2 of the rotating surface disk 22 is aligned with the axis L1 of the piping 5. In step S14, tool paths of the cutting tools 24 and 25 with respect to the pipe 5 are set based on the measurement results. In step S15, a groove 5b is formed at one end 5a of the pipe 5 by controlling the movement of the cutting tools 24 and 25 based on the tool path. Then, in step S16, when it is confirmed that both ends 4a and 5a of the two pipes 4 and 5 to be welded have been beveled, the beveling process ends. Then, when the bevel processing process is completed, the process moves to step S2.

In step S2, which is an automatic welding process, one ends 4a and 5a of the pipes 4 and 5, in which grooves 4b and 5b have been formed in the groove processing process, are butted against each other and welded. To explain in more detail, the two pipes 4 and 5 are arranged so that the grooves 4b and 5b are butted against each other. In addition, when abutting, the two pipes 4 and 5 are arranged so that the internally processed inner circumferential surfaces 4d and 5d are flush with each other. Then, the welding robot 6 manufactures the joint pipe 3 by welding the butt portion 3a. To explain in more detail, the welding robot 6 brings the tip of the welding rod 6a into contact with the butt portion 3a by moving each joint. Thereafter, the welding robot 6 welds the two pipes 4 and 5 by generating an arc at the butt portion 3a. When the joint pipe 3 is manufactured by welding the pipes 4 and 5 in this manner, the joint pipe manufacturing method is completed.

In the groove processing method of this embodiment, a tool path is set based on the measurement results of the shapes of the one end portions 4a, 5a of the pipes 4, 5. Bevels 4b, 5b are formed at one ends 4a, 5a of the pipes 4, 5 by controlling the movement of the cutting tools 24, 25 based on the tool path. Therefore, the grooves 4b, 5b can be formed according to the actual shapes of the one ends 4a, 5a of the pipes 4, 5. This suppresses variations in the groove shapes compared to the case where the grooves 4b, 5b are formed without considering the actual shapes of the pipes 4, 5. That is, the groove shape can be formed into a desired shape.

In addition, in the beveling method of this embodiment, the radial position of the outer surface cutting tool 24 is set as a tool path in outer surface processing based on the measurement results. Therefore, the outer surfaces of the pipes 4 and 5 can be processed according to their actual outer shapes. This prevents the depths of the grooves 4b and 5b from becoming smaller or larger depending on the external shape of the pipes 4 and 5 (for example, see FIGS. 10(b) and 10(c)). Therefore, the depth of the grooves 4b, 5b can be ensured regardless of the external shape of the pipes 4, 5.

Furthermore, in the beveling method of this embodiment, the radial position of the inner surface cutting tool 25 is set as a tool path in inner surface processing based on the measurement results. Therefore, the inner surface can be processed according to the actual external shape and thickness of the pipes 4 and 5, that is, the shape of the pipes 4 and 5. Thereby, the size of the root surface r can be ensured regardless of the shape of the pipes 4 and 5.

Furthermore, in the groove machining method of this embodiment, the tool paths in each of the outer surface machining and the inner surface machining are set so that the root surface r becomes a predetermined value r0. Therefore, a root surface r of a desired size can be formed at one end portion 4a, 5a of the pipes 4, 5.

In addition, in the groove processing method of this embodiment, outer surface processing and inner surface processing are performed so that the thickness t on the other end side of the pipes 4 and 5 on the other end side than the grooves 4b and 5b becomes a predetermined thickness t0 or more. A tool path is set for each. Therefore, it is possible to prevent the thickness t of the one end portions 4a, 5a of the pipes 4, 5 on the other end side from the grooves 4b, 5b from becoming less than the predetermined thickness t0 (see FIG. 10(a)). This makes it possible to ensure the strength at the one end portions 4a, 5a of the pipes 4, 5 even after the beveling process.

Furthermore, in the beveling method of this embodiment, a tool path is set based on the outer diameter R measured in the measurement process. Therefore, measurements for setting tool paths are easy. Thereby, beveling can be easily performed.

Furthermore, in the groove processing method of this embodiment, the grooves 4b and 5b are formed after the pipes 4 and 5 are formed into perfect circles using the mounting jig 21. Therefore, the grooves 4b, 5b can be formed with high accuracy, so the grooves 4b, 5b can be formed into a desired shape with higher accuracy.

In the joint pipe manufacturing method of the present embodiment, the joint pipe 3 is manufactured by butting and welding one end portions 4a, 5a on which grooves 4b, 5b are formed by the above-mentioned groove processing method. Since the grooves 4b, 5b are formed by the groove processing method described above, the grooves 4b, 5b are formed according to the actual shape of the one ends 4a, 5a of the pipes 4, 5. Therefore, variations in the groove shape can be suppressed. Therefore, since it can be easily welded, the joint pipe 3 can be manufactured, for example, by automatic welding or the like. Thereby, the lead time regarding the joint pipe 3 and equipment provided with it is shortened.

In the beveling device 2 of this embodiment, a tool path is set based on the measurement results of the shapes of the one end portions 4a, 5a of the pipes 4, 5. Bevels 4b, 5b are formed at one ends 4a, 5a of the pipes 4, 5 by controlling the movement of the cutting tools 24, 25 based on the tool path. Therefore, the grooves 4b, 5b can be formed according to the actual shapes of the one ends 4a, 5a of the pipes 4, 5. This suppresses variations in the groove shapes compared to the case where the grooves 4b, 5b are formed without considering the actual shapes of the pipes 4, 5. That is, the groove shape can be formed into a desired shape.

In addition, in the beveling device 2 of this embodiment, the radial position of the outer surface cutting tool 24 is set as a tool path in outer surface machining based on the measurement results. Therefore, the outer surfaces of the pipes 4 and 5 can be processed according to their actual outer shapes. This prevents the depths of the grooves 4b and 5b from becoming smaller or larger depending on the external shape of the pipes 4 and 5 (for example, see FIGS. 10(b) and 10(c)). Therefore, the depth of the grooves 4b, 5b can be ensured regardless of the external shape of the pipes 4, 5.

Furthermore, in the bevel processing apparatus 2 of this embodiment, the radial position of the inner surface cutting tool 25 is set as a tool path in inner surface processing based on the measurement results. Therefore, the inner surface can be processed according to the actual external shape and thickness of the pipes 4 and 5, that is, the shape of the pipes 4 and 5. Thereby, the size of the root surface r can be ensured regardless of the shape of the pipes 4 and 5.

In addition, in the beveling device 2 of this embodiment, the outer diameter R is calculated based on the positions of multiple locations on the circumferential surfaces of the one end portions 4a, 5a of the pipes 4, 5 measured by the measuring instrument 12. Then, a tool path is set based on the outer diameter R. Therefore, measurement using the measuring instrument 12 is easy, and calculation of the outer diameter R is easy. This makes it easy to set the tool path.

In the automatic welding system 1 of this embodiment, the welding robot 6 welds the ends 4a and 5a, on which the grooves 4b and 5b have been formed by the groove processing device 2 described above, butt against each other. Since the grooves 4b and 5b are formed by the groove processing device 2 described above, the grooves 4b and 5b can be formed according to the actual shapes of the one ends 4a and 5a of the pipes 4 and 5. Therefore, the grooves 4b and 5b can be formed into desired shapes with high precision. Therefore, since welding can be performed easily, the joint pipe 3 can be manufactured by automatic welding. Thereby, by automatically performing welding using the plurality of welding robots 6, the lead time regarding the joint pipe 3 and the equipment provided therewith is shortened.

<Other embodiments>
In the beveling method of this embodiment, in the measurement step, the outer diameter R of the pipes 4, 5 is measured as the shape of one end portion 4a, 5a of the pipes 4, 5, but the circumferential length of the pipes 4, 5 is May be measured. In this case, the beveling device 2A of the automatic welding system 1A includes, for example, a cutting machine 11, a measuring device 12A, and a controller 13, as shown in FIG. The measuring device 12A has a measuring section 12a. The measuring device 12A measures the shape of the one end portions 4a, 5a of the pipes 4, 5 by operating the measuring portion 12Aa around the axis L1. The measuring device 12A is, for example, a laser irradiation type measuring device, but may also be a contact type measuring device or a camera type measuring device. More specifically, the measuring device 12A measures the circumferential lengths of the outer peripheral surfaces 4c, 5c of the pipes 4, 5 by being operated. The controller 13 sets tool paths for the cutting tools 24 and 25 based on the circumference. For example, the controller 13 calculates the outer diameter R of the pipes 4 and 5 based on the circumferential length. Then, the controller 13 sets the tool paths of the cutting tools 24 and 25 based on the outer diameter R. Note that the controller 13 may set the tool paths of the cutting tools 24 and 25 based on the circumferential length without calculating the outer diameter R. Further, the measuring device 12A may measure the inner diameter regardless of the outer diameter R, and the controller 13 may measure the radius of the outer circumferential surfaces 4c, 5c or the radius of the inner circumferential surfaces 4d, 5d as the diameter. Good too. Furthermore, the measuring instrument 12A may be a 3D measuring instrument, and the measuring instrument 12A may be a 3D measuring instrument, and the measuring instrument 12A may be a 3D measuring instrument, and the shape of the one end portions 4a, 5a of the pipes 4, 5 itself (specifically, the coordinates of each point group arranged on the one end portions 4a, 5a). ) may be measured.

In the beveling method and beveling device 2 of this embodiment, the tool path includes the radial position centered on the axis L2, the movement distance in the first direction, etc. May contain. Moreover, the tool path does not necessarily need to be set so that the thickness t at the other end of the pipes 4, 5 at the other end than the grooves 4b, 5b becomes a predetermined thickness t0. In addition, in the beveling method and beveling device 2 of this embodiment, the mounting jig 21 grips the pipes 4 and 5 from the outside by reducing the diameter of the chuck 21a, but is configured as follows. It's okay. That is, by expanding the diameter of the chuck inside the pipes 4 and 5, the pipes 4 and 5 may be attached to the mounting jig 21 in such a way that they are pushed apart from the inside. Further, although the movement of the mounting jig 21 is controlled by the controller 13, it may be controlled by a controller other than the controller 13.

Furthermore, in the groove processing method of this embodiment, both outer surface processing and inner surface processing are performed in the processing step, but only outer surface processing may be performed. Furthermore, in the groove processing method, grooves 4b and 5b are formed on both the pipes 4 and 5 in order to form a U-shaped groove in the joint pipe 3. However, the grooves 4b, 5b may be formed only in one of the pipes 4, 5 to form, for example, a K-shaped groove in the joint pipe 3. Further, the pipes 4 and 5 may be formed by cutting one end surface, which is the end surface of the one end portions 4a and 5a, with the cutting tools 24 and 25 so that the one end surface is perpendicular to the axis L1. Furthermore, the processing of the grooves 4b, 5b in the processing step is not limited to the processing method described above, but may be any other processing method as long as the grooves 4b, 5b are formed. Further, in this embodiment, facing processing is employed as the outer surface processing, and thinning processing is employed as the inner surface processing, but other processing may be employed.

Furthermore, in the beveling method of this embodiment, the pipes 4 and 5 are formed into perfect circles by the mounting jig 21, but the pipes 4 and 5 may be formed into perfect circles by a separate forming process. Moreover, if the pipes 4 and 5 are formed into a perfect circle in advance, there is no need to use the mounting jig 21 or a separate forming process to form the pipes 4 and 5 into a perfect circle.

In the beveling method of this embodiment, the measurement process, tool path setting process, and machining process are performed in the beveling apparatus 2, but each of the measurement process, tool path setting process, and machining process is performed separately. It may also be performed by the device. Further, the welding device does not necessarily have to be the welding robot 6, and may be, for example, an automatic welding machine in all positions. The all-position automatic welding machine includes a welding section arranged to surround the butt section 3a. In the all-position automatic welding machine, the pipes 4 and 5 are welded by moving the welding part around the abutting part 3a while applying the welding rod to the abutting part 3a. Furthermore, in the welding process, the pipes 4 and 5 do not necessarily need to be welded using a welding device, but may be performed by an operator. Further, the welding process does not need to be automatically performed by the welding robot 6, and may be performed by an operator operating the welding device.

Furthermore, the beveling device 2 of this embodiment is also not limited to the configuration described above. For example, the cutting machine 11 of the beveling device 2 has a movable base that allows the cutting tools 24 and 25 to move forward and backward in the first direction, but may be configured such that the cutting tools 24 and 25 move forward and backward in the radial direction.

<Exemplary Embodiment>
The beveling method in the first aspect is a method of forming a bevel at one end of a pipe using a cutting tool, and includes a measuring step of measuring the shape of the one end of the pipe, and a measuring step of the measuring step. a tool path setting step of setting a tool path of the cutting tool based on the result; and controlling the movement of the cutting tool based on the tool path set in the tool path setting step. The method includes a processing step of forming the groove.

According to the above aspect, the tool path is set based on the measurement result of the shape of one end of the pipe. A bevel is then formed at one end of the tube by controlling the movement of the cutting tool based on the tool path. Therefore, the bevel can be formed according to the actual shape of one end of the tube. This suppresses variations in the groove shape compared to the case where the groove is formed without considering the actual shape of the pipe. That is, the groove shape can be formed into a desired shape.

The beveling method according to the second aspect is the beveling method according to the first aspect, in which, in the machining step, the cutting tool rotates along the outer circumferential surface of the one end of the tube. The groove is formed in the pipe by external processing in which the outer peripheral surface of the part is cut, and in the tool path setting step, the radial position of the cutting tool is set as a tool path in the external processing based on measurement results. It's okay.

According to the above aspect, the radial position of the cutting tool is set as a tool path in external surface machining based on the measurement results. Therefore, the outer surface can be processed according to the actual outer shape of the tube. This prevents the depth of the groove from becoming smaller or larger depending on the external shape of the pipe. Therefore, the depth of the groove can be ensured regardless of the external shape of the pipe.

The beveling method according to the third aspect is the beveling method according to the second aspect, in which, in the machining step, the cutting tool rotates along the inner circumferential surface at one end of the tube, thereby cutting the tube. The root surface of the tube is adjusted by internal machining in which the inner peripheral surface of one end is cut, and in the tool path setting step, the radial position of the cutting tool is set as a tool path in the internal machining based on the measurement results. may be done.

According to the above aspect, the radial position of the cutting tool is set as a tool path in inner surface machining based on the measurement results. Therefore, the inner surface can be processed according to the actual external shape and thickness of the tube, that is, the shape of the tube. Thereby, the size of the root surface can be ensured regardless of the shape of the tube.

The beveling method according to the fourth aspect is the beveling method according to the third aspect, in which, in the tool path setting step, the tool path in each of the outer surface machining and the inner surface machining is set such that the root surface has a predetermined value. May be set.

According to the above aspect, the tool paths in each of the outer surface machining and the inner surface machining are set so that the root surface has a predetermined value. Therefore, a root surface of a desired size can be formed at the end of the tube.

The beveling method according to the fifth aspect is the beveling method according to the third or fourth aspect, wherein in the machining step, the inner surface machining is performed longer in the axial direction than the outer surface machining, and in the tool path setting step, the inner surface machining is performed longer in the axial direction. The tool path for each inner surface processing may be set such that the thickness of one end of the tube on the other end side is a predetermined thickness from the groove.

According to the above aspect, the tool paths in each of the external surface processing and the internal surface processing are set so that the thickness t on the other end side from the groove at one end of the tube is greater than or equal to a predetermined thickness. Therefore, at one end of the tube, the thickness t on the other end side of the groove can be prevented from becoming less than a predetermined thickness. This makes it possible to ensure strength at one end of the tube even after beveling.

A beveling method according to a sixth aspect is the beveling method according to any one of the first to fifth aspects, wherein in the measuring step, the circumference or diameter, which is the shape of one end of the pipe, is measured; In the tool path setting step, the tool path may be set based on the circumference or diameter measured in the measurement step.

According to the above aspect, the tool path is set based on the circumference or diameter measured in the measurement process. Therefore, measurements for setting tool paths are easy. Thereby, beveling can be easily performed.

The beveling method according to a seventh aspect is the beveling method according to any one of the first to sixth aspects, wherein in the measuring step, the shape of the pipe is calculated after forming the pipe into a perfect circle with a jig. may be done.

According to the above aspect, the groove is formed after the tube is formed into a perfect circle using a jig. Therefore, the shape of the tube can be measured with high accuracy. As a result, the groove can be formed with high accuracy, so that the groove can be formed into a desired shape with higher accuracy.

A method for manufacturing a joint pipe according to an eighth aspect is a method for manufacturing a joint pipe by butting and welding one ends of the pipes, wherein the pipe is formed by the beveling method according to any one of the first to seventh aspects. This method includes a beveling step of forming the groove at one end, and a welding step of butting and welding the ends of the tubes on which the groove has been formed by the beveling step.

According to the above aspect, the joint pipe is manufactured by butting and welding the one end portions in which the grooves have been formed by the groove processing method described above. Since the bevel is formed by the beveling method described above, the bevel is formed according to the actual shape of one end of the tube. Therefore, variations in the groove shape can be suppressed. Therefore, since it can be easily welded, the joint pipe can be manufactured by automatic welding, for example.

A beveling device according to a ninth aspect forms a beveling at one end of a pipe, and includes a measuring instrument for measuring the shape of the one end of the pipe, and a cutting tool to cut the one end of the pipe. a cutting machine that controls the movement of the cutting tool; and a controller that controls the movement of the cutting tool, the controller that sets a tool path of the cutting tool based on the measurement result of the measuring device, and It controls the movement of the cutting tool.

According to the above aspect, a tool path is set based on the measurement results of the shape of one end of the pipe, and a bevel is formed at one end of the pipe by controlling the movement of the cutting tool based on the tool path. . Therefore, the groove can be formed according to the shape of one end of the tube to be actually processed. This suppresses variations in the groove shape compared to the case where the groove is formed without considering the actual shape of the pipe. That is, the groove shape can be formed into a desired shape.

A bevel processing apparatus according to a tenth aspect is the bevel processing apparatus according to the ninth aspect, in which the cutting machine rotates the cutting tool along an outer circumferential surface at one end of the pipe. The groove is formed in the pipe by external processing of cutting the outer peripheral surface of one end, and the controller determines the radial position of the cutting tool as a tool path in the external processing based on the measurement result of the measuring device. May be set.

According to the above aspect, the radial position of the cutting tool is set as a tool path in external surface machining based on the measurement results. Therefore, the outer surface can be processed according to the actual outer shape of the tube. This prevents the depth of the groove from becoming smaller or larger depending on the external shape of the pipe. Therefore, the depth of the groove can be ensured regardless of the external shape of the pipe.

The bevel processing apparatus according to an eleventh aspect is the bevel processing apparatus according to the tenth aspect, in which the cutting machine rotates the cutting tool along an inner circumferential surface at one end of the pipe. The root surface of the pipe is adjusted by an inner surface machining that cuts an inner circumferential surface of one end, and the controller sets a radial position of the cutting tool as a tool path in the inner surface machining based on the measurement result. Good too.

According to the above aspect, the radial position of the cutting tool is set as a tool path in inner surface machining based on the measurement results. Therefore, the inner surface can be processed according to the actual external shape and thickness of the tube, that is, the shape of the tube. Thereby, the size of the root surface can be ensured regardless of the shape of the tube.

A beveling device according to a twelfth aspect is the beveling device according to any one of the ninth to eleventh aspects, wherein the measuring device measures positions at a plurality of locations on a circumferential surface of one end of the pipe, and The controller may calculate the circumferential length or diameter of the pipe based on the positions of the plurality of locations measured by the measuring device, and may set the tool path based on the circumferential length or diameter.

According to the above aspect, the circumferential length or diameter is calculated based on the positions of multiple locations on the circumferential surface of one end of the pipe measured by a measuring instrument. A tool path is then set based on the circumference or diameter. Therefore, it is easy to measure with a measuring instrument, and it is easy to calculate the circumference or diameter. This makes it easy to set the tool path.

The automatic welding system according to a thirteenth aspect is a system for welding one end portions of pipes against each other, and includes the beveling device according to any one of the ninth to twelfth aspects, and the beveling device. This system includes a welding device that butts and welds one end portions of the tubes formed with the pipe.

According to the above aspect, the welding device welds the one ends in which the grooves have been formed by the groove processing device described above butt against each other. Since the bevel is formed by the beveling device described above, the bevel can be formed in accordance with the shape of one end of the pipe to be actually processed. Therefore, the groove can be formed into a desired shape with high precision. Therefore, since it can be easily welded, the joint pipe can be manufactured by automatic welding.

From the above description, many modifications and other embodiments of the invention will be apparent to those skilled in the art. Accordingly, the above description is to be construed as illustrative only, and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. Substantial changes may be made in the structural and/or functional details thereof without departing from the spirit of the invention.

Claims (13)

1. A beveling method for forming a bevel at one end of a pipe using a cutting tool,
   a measuring step of measuring the shape of one end of the pipe;
   a tool path setting step of setting a tool path of the cutting tool based on the measurement results of the measurement step;
   A beveling method comprising: forming the bevel at one end of the pipe by controlling movement of the cutting tool based on the toolpath set in the toolpath setting step.
2. In the machining step, the groove is formed in the tube by external processing in which the outer circumferential surface of the one end of the tube is cut by rotating the cutting tool along the outer circumferential surface of the one end of the tube,
   The beveling method according to claim 1, wherein in the tool path setting step, a radial position of the cutting tool is set as a tool path in external surface machining based on a measurement result.
3. In the machining step, the root surface of the tube is adjusted by internal machining in which the inner circumferential surface of one end of the tube is cut by rotating the cutting tool along the inner circumferential surface of the one end of the tube. ,
   The beveling method according to claim 2, wherein in the tool path setting step, the radial position of the cutting tool is set as a tool path in inner surface machining based on a measurement result.
4. The beveling method according to claim 3, wherein in the tool path setting step, tool paths for each of the outer surface processing and inner surface processing are set so that the root surface has a predetermined value.
5. In the machining process, the inner surface is processed longer in the axial direction than the outer surface.
   4. The opening according to claim 3, wherein in the tool path setting step, a tool path for each inner surface processing is set so that the thickness of the other end of the tube is a predetermined thickness from the groove at one end of the tube. Tip processing method.
6. In the measuring step, the circumferential length or diameter, which is the shape of one end of the tube, is measured,
   The beveling method according to claim 1, wherein in the tool path setting step, a tool path is set based on the circumference or diameter measured in the measuring step.
7. The beveling method according to claim 1, wherein in the measuring step, the shape of the pipe is calculated after forming the pipe into a perfect circle using a jig.
8. A joint pipe manufacturing method for manufacturing a joint pipe by butting and welding one ends of the pipes, the method comprising:
   A beveling step of forming the bevel at one end of the tube by the beveling method according to claim 1;
   A method for manufacturing a joint pipe, comprising: a welding step of butting and welding one end portions of the tubes in which the grooves have been formed in the groove processing step.
9. A beveling device for forming a bevel at one end of a pipe,
   a measuring device that measures the shape of one end of the tube;
   a cutting machine that cuts one end of the tube with a cutting tool;
   a controller that controls movement of the cutting tool;
   The bevel processing apparatus, wherein the controller sets a tool path of the cutting tool based on a measurement result of the measuring device, and controls movement of the cutting tool based on the tool path.
10. The cutting machine forms the bevel in the tube by an external surface machining process that cuts the outer circumferential surface of one end of the tube by rotating the cutting tool along the outer circumferential surface of the one end of the tube,
    The bevel processing apparatus according to claim 9, wherein the controller sets a radial position of the cutting tool as a tool path in external surface processing based on a measurement result of the measuring device.
11. The cutting machine adjusts the root surface of the tube by internal processing that cuts the inner circumferential surface of one end of the tube by rotating the cutting tool along the inner circumferential surface of the one end of the tube. ,
    The bevel processing apparatus according to claim 10, wherein the controller sets a radial position of the cutting tool as a tool path in internal processing based on a measurement result.
12. The measuring device measures positions at multiple locations on the circumferential surface of one end of the pipe,
    The controller calculates the circumference or diameter of the pipe based on the positions of the plurality of locations measured by the measuring device, and sets the tool path based on the circumference or diameter. bevel processing equipment.
13. An automatic welding system that butts and welds one end of pipes,
    The beveling device according to claim 9;
    An automatic welding system comprising: a welding device that butts and welds one end portions of the pipes in which the grooves have been formed by the groove processing device.

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