US20230241701A1 - Automatic welding method - Google Patents
Automatic welding method Download PDFInfo
- Publication number
- US20230241701A1 US20230241701A1 US17/874,821 US202217874821A US2023241701A1 US 20230241701 A1 US20230241701 A1 US 20230241701A1 US 202217874821 A US202217874821 A US 202217874821A US 2023241701 A1 US2023241701 A1 US 2023241701A1
- Authority
- US
- United States
- Prior art keywords
- welding
- robot
- connection member
- pipe
- point
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 238000003466 welding Methods 0.000 title claims abstract description 283
- 238000000034 method Methods 0.000 title claims abstract description 47
- 239000000463 material Substances 0.000 claims abstract description 49
- 238000004519 manufacturing process Methods 0.000 claims abstract description 13
- 238000005259 measurement Methods 0.000 claims description 13
- 230000007423 decrease Effects 0.000 claims description 9
- 238000012360 testing method Methods 0.000 claims description 7
- 238000010586 diagram Methods 0.000 description 14
- 230000008878 coupling Effects 0.000 description 9
- 238000010168 coupling process Methods 0.000 description 9
- 238000005859 coupling reaction Methods 0.000 description 9
- 239000011324 bead Substances 0.000 description 5
- 230000035515 penetration Effects 0.000 description 4
- 101100004393 Arabidopsis thaliana BHLH148 gene Proteins 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 3
- 102100040121 Allograft inflammatory factor 1 Human genes 0.000 description 2
- 101000890626 Homo sapiens Allograft inflammatory factor 1 Proteins 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000007519 figuring Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004021 metal welding Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 1
- 229910052721 tungsten Inorganic materials 0.000 description 1
- 239000010937 tungsten Substances 0.000 description 1
Images
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
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
- B23K9/0282—Seam welding; Backing means; Inserts for curved planar seams for welding tube sections
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
- B23K37/0229—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member being situated alongside the workpiece
-
- 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
- B23K37/0538—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 for rotating tubes, e.g. rollers
-
- 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
- B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
-
- 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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/10—Pipe-lines
Definitions
- the present disclosure relates to an automatic welding method. More specifically, the present disclosure relates to an automatic welding method capable of automatically welding a pipe and a connection member.
- Oil & gas plants, industrial plants, buildings, etc., include complex pipe facilities.
- a plurality of pipe spools which will constitute a pipe facility are prefabricated in a pipe spool fabrication shop. Then, a plurality of prefabricated pipe spools are moved to a site such as an oil & gas plant, an industrial plant, a building, etc., and the plurality of pipe spools are connected to each other in the site.
- a plurality of pipe spools connected to each other are installed in a steel frame or civil structure that constitute an oil & gas plant, an industrial plant, a building, etc., by using a support and the like, and the plurality of pipe spools connected to each other are finally connected to a stationary equipment such as a column, vessel, tank, or a heat exchanger, or to a rotating machinery such as a compressor, or a pump, and the entire pipe facility is constructed in an oil & gas plant, industrial plant, building, etc.
- a stationary equipment such as a column, vessel, tank, or a heat exchanger
- a rotating machinery such as a compressor, or a pump
- each of the pipe spools that constitute an oil & gas plant, industrial plant, building, etc. has a different form and size.
- pipe spools are a typical small quantity batch product, and automation of manufacture has been difficult. Accordingly, in the past, it was only possible to apply an automated device in some manufacturing processes that produce pipe spools of a simple shape, and pipe spools of a complicated shape were manufactured by manually cutting, processing, and moving members such as pipes, and by manually welding pipes and fitting members in each workshop.
- welding is needed in order to connect a pipe to another pipe or a pipe to a hollow connection member such as a fitting member, and because welding operation has been done manually or semi-automatically, not only a lot of time and manpower have been required in a welding operation, but also there have been issues of welding defects.
- An embodiment of the present disclosure provides an automatic welding method capable of automatically welding pipes and connection members.
- an automatic welding method including:
- the steps (S 130 ) to (S 150 ) may be performed in a state in which the pipe is fixed at the fit-up position in the welding station, and the hollow connection member is gripped by the material transport robot.
- the GT welding robot may include a GT welding robot A and a GT welding robot B, and the step (S 140 ) may include (S 140 - 1 ) welding the left semi-circle area of the entire root welding area by using the GT welding robot A and (S 140 - 2 ) welding the right semi-circle area of the entire root welding area by using the GT welding robot B.
- the GT welding robot may include a first sensor and a first welder, the first sensor being configured to continuously measure a position of a root weld seam, and the first welder being configured to continuously perform a root welding according to a predetermined sequence based on the results of measurement of the first sensor.
- the step (S 150 ) is performed in a state in which the root-welded pipe and the root-welded hollow connection member are simultaneously rotated by a plurality of rollers installed in the welding station, and the GM welding robot may perform a filling and cap welding in a flat welding position.
- the weld groove includes: a 1 - 1 curved surface, a 1 - 2 curved surface, a 1 - 3 curved surface and a 1 - 4 curved surface formed each on the outer wall of the pipe and on the outer wall of the hollow connection member, the 1 - 1 curved surface being slantly formed so that a thickness at a first point relatively far from a side end of the hollow connection member is relatively thick, and a thickness at a second point relatively close to the side end of the hollow connection member is relatively thin, the 1 - 2 curved surface being slantly formed so that a thickness at the second point relatively close to the side end of the hollow connection member is relatively thick, and a thickness at a third point relatively closer to the side end of the hollow connection member is relatively thin, the 1 - 3 curved surface being slantly formed so that a thickness at the third point relatively closer to the side end of the hollow connection member is relatively thick, and a thickness at a fourth point relatively even more closer to the side end of the hollow connection member is relatively
- a vertical surface formed each between the inner wall and the outer wall of the pipe and between the inner wall and the outer wall of the hollow connection member; and a 2 - 1 curved surface and a 2 - 2 curved surface formed each on the inner wall of the pipe and on the inner wall of the hollow connection member, the 2 - 1 curved surface being formed so that a thickness is constant from the side end of the pipe or the hollow connection member to a fifth point separated from the side end of the pipe or the hollow connection member, and the 2 - 2 curved surface being slantly formed so that a fifth point separated from the side end of the pipe or the hollow connection member is relatively thin, and a thickness at a sixth point relatively far from the side end of the pipe or the hollow connection member is relatively thick.
- the 1 - 1 curved surface may be formed so that a thickness decreases at a constant rate from the first point to the second point.
- the 1 - 2 curved surface may be formed so that a thickness decreases at a constant rate from the second point to the third point.
- the 1 - 3 curved surface may be formed so that a thickness decreases according to a predetermined radius of curvature from the third point to the fourth point.
- a length of the 1 - 4 curved surface may be 2 mm to 3 mm.
- a thickness of the vertical surface formed each on the side end of the pipe and the side end of the hollow connection member may be 1 mm to 2 mm.
- the 2 - 2 curved surface may be formed so that a thickness increases at a constant rate from the fifth point to the sixth point.
- the first point may be positioned relatively far from the side end of the pipe or the hollow connection member than the sixth point, and the second point may be relatively closer to the side end of the pipe or the hollow connection member than the fifth point.
- a thickness between the inner wall and the outer wall of the pipe at the second point may be 87.5% to 95% with respect to 100% of the thickness between the inner wall and the outer wall of the pipe at the first point, and a thickness between the inner wall and the outer wall of the hollow connection member at the second point may be 87.5% to 95% with respect to 100% of the thickness between the inner wall and the outer wall of the hollow connection member at the first point.
- an automatic welding method including:
- the GT welding robot may include a GT welding robot A and a GT welding robot B, and the step (S 260 ) may include (S 260 - 1 ) welding the left semi-circle area of the entire root welding area by using the GT welding robot A and (S 260 - 2 ) welding the right semi-circle area of the entire root welding area by using the GT welding robot B.
- the GM welding robot may include a GM welding robot A and a GM welding robot B, and the step (S 270 ) may include: (S 270 - 1 ) welding the left semi-circle area of the entire filling and cap welding area from bottom to top by using the GM welding robot A; (S 270 - 2 ) grinding the weld starting part of the step (S 270 - 1 ) by using a grinding robot; and (S 270 - 3 ) welding the right semi-circle area of the entire filling and cap welding area by using the GM welding robot B.
- the GM welding robot may include a second sensor and a second welder, the second sensor being configured to continuously measure the position of a filling and cap weld seam, and the second welder being configured to continuously perform a filling and cap welding according to a predetermined sequence based on the results of measurement of the second sensor.
- An automatic welding method may reduce welding time and manpower requirements, and may prevent welding defects.
- FIG. 1 is a diagram schematically illustrating a weld groove to which an automatic welding method according to embodiments of the present disclosure is applied, and the weld groove is formed at a side end of a pipe in a form of a true circle.
- FIG. 2 is a diagram schematically showing a portion of a pipe on which a weld groove is formed in a form of a true circle.
- FIG. 3 is a diagram schematically showing a portion of a hollow connection member on which a weld groove is formed in a form of a true circle.
- FIG. 4 is a diagram for explaining a method of welding to each other a weld groove formed in a pipe in a form of a true circle and a weld groove formed in a hollow connection member in a form of a true circle.
- FIG. 5 is a diagram for explaining an automatic welding method according to a first embodiment of the present disclosure.
- FIGS. 6 to 10 are diagrams for explaining an automatic welding system for performing the automatic welding method according to the first embodiment of the present disclosure.
- FIGS. 11 and 12 are diagrams for explaining an automatic welding method according to a second embodiment of the present disclosure.
- welding groove refers to a processed portion formed between to-be-weld base materials (i.e., pipes, hollow connection members and hollow members) for an efficient welding.
- welding groove is a concept collectively referring to all cut surfaces formed at an inner wall, side end, and outer wall of one end or both ends of each base material.
- welding station refers to a place where a welding facility is installed.
- the term “hollow member” refers to a member having a penetration hole extending from one end to the other end. Specifically, the “hollow member” is a term collectively referring to pipes, 2D spools, and hollow connection members.
- side end of a hollow member refers to an end portion on an entrance side or an exit side of a penetration hole among end portions of the hollow member.
- the term “sensor robot (vision sensor)” refers to a device having a function of scanning a side end of the hollow member in 2D or 3D, a function of storing the scanned image of the hollow member as a measured image, a function of forming a virtual image in a form of an annular ring, a function of overlapping the virtual image with the measured image and figuring out whether the thickness portion of the virtual image is completely included in the thickness portion of the measured image, and also the ratio of the thickness of the virtual image to the average thickness of the measured image satisfies a reference value, a function of determining that the side end of the hollow member may be processed into a form of a true circle when the thickness portion of the virtual image is completely included in the thickness portion of the measured image, and also the ratio of the thickness of the virtual image to the average thickness of the measured image satisfies a reference value, a function of determining the side end of the hollow member may not be processed into a form of a true circle when the thickness portion of
- automated beveling machine refers to a device forming a weld groove by beveling a portion including a side end of a hollow member in conjunction with a sensor robot.
- point of a pipe, a hollow connection member, or a hollow member refers to an arbitrary point present on an arbitrary vertical line perpendicular to the central axis of a pipe, a hollow connection member or a hollow member.
- central axis of a hollow member means a line extending in a direction parallel to the direction in which the penetration hole extends and passing through the center of the penetration hole.
- the term “distance between the any two points of a pipe, a hollow connection member, or a hollow member” refers to a distance between vertical lines orthogonal to the central axis of each member passing through each point.
- 2D spool (two dimensional spool) refers to a member manufactured by welding a non-welded hollow member to another non-welded hollow member.
- 2D spool it is not necessary to specify the coupling position on the circumference of each of the hollow members, which are the welding targets.
- 3D spool (three dimensional spool) means a member manufactured by welding a 2D spool with at least one or more welded hollow members (including a 2D spool) and/or at least one or more non-welded hollow members.
- each of the coupling positions on the circumference of the members to be welded may be specified, or may not be specified.
- twist angle between a 2D spool and a hollow member refers to a misaligned angle, when a coupling position on a circumference of a hollow member is not in line with a coupling position on a circumference of a 2D spool but is misaligned.
- a coupling position on a circumference of a 2D spool and a coupling position on a circumference of a hollow member welded thereto are predetermined according to the geometric structure of the 2D spool and the hollow member (that is, when the hollow member is a flange, the geometric structure of the hollow member is the position of a hole, or when the hollow member is an L-shaped member, the geometric structure of the hollow member is the direction of the bended portion, etc.), when a coupling position on a circumference of a hollow member is in line with respect to the coupling position on a circumference of a 2D spool, the torsion angle becomes “0”, when the two coupling positions are not in line with each other, the torsion angle is not “0”, and the larger the inconsistency the greater the torsion angle increases.
- material transport robot rotates a hollow member by a torsion angle
- a material transport robot rotates a hollow member until a torsion angle between a 2D spool and the hollow member becomes “0”.
- fit-up position means a position aligning weld grooves (specifically, root faces) of two members.
- root welding refers to a primary welding performed on a weld groove without a tack welding.
- filling and cap welding refers to a finishing welding performed on a weld groove after a root welding.
- FIG. 1 is a diagram schematically illustrating a weld groove (WG) formed at a side end of a pipe in a form of a true circle to which an automatic welding method according to embodiments of the present disclosure is applied.
- WG weld groove
- a weld groove (WG) for applying an automatic welding method may include a 1 - 1 curved surface (AOF), a 1 - 2 curved surface (WF 1 ), a 1 - 3 curved surface (WF 2 ), and a 1 - 4 curved surface (WF 3 ) formed on an outer wall of a pipe (PP) in this order.
- OAF 1 - 1 curved surface
- WF 1 1 - 2 curved surface
- WF 2 1 a 1 - 3 curved surface
- WF 3 1 - 4 curved surface
- the 1 - 1 curved surface (AOF) may be slantly formed so that a thickness at a first point (P 1 ) relatively far from a side end of the pipe (PP) is relatively thick, and a thickness at a second point (P 2 ) relatively close to the side end of the pipe (PP) is relatively thin.
- the 1 - 1 curved surface (AOF) may be formed so that a thickness decreases at a constant rate from the first point (P 1 ) to the second point (P 2 ).
- This 1-1 curved surface (AOF) minimizes the outer step difference of the pipe (PP) and a connection member (CM) welded thereto, so that welding beads formed between the two members may be homogeneously and smoothly connected.
- Thickness means a distance between an inner wall and an outer wall of the pipe (PP).
- the 1 - 2 curved surface (WF 1 ) may be slantly formed so that a thickness at a second point (P 2 ) relatively close to the side end of the pipe (PP) is relatively thick, and a thickness at a third point (P 3 ) relatively closer to the side end of the pipe (PP) is relatively thin.
- the 1 - 2 curved surface (WF 1 ) may be formed so that a thickness decreases at a constant rate from the second point (P 2 ) to the third point (P 3 ).
- a slope ( ⁇ ) of the 1 - 2 curved surface (WF 1 ) may be 20° based on the vertical line which is vertically extended from the vertical surface (RF), which will be described later, but the present disclosure is not limited thereto.
- the 1 - 3 curved surface (WF 2 ) may be slantly formed so that a thickness at a third point (P 3 ) relatively closer to the side end of the pipe (PP) is relatively thick, and a thickness at a fourth point (P 4 ) relatively even more closer to the side end of the pipe (PP) is relatively thin.
- the 1 - 3 curved surface (WF 2 ) may be formed so that a thickness decreases according to a predetermined radius of curvature (R) from the third point (P 3 ) to the fourth point (P 4 ).
- the radius of curvature (R) may be 5 mm, but the present disclosure is not limited thereto.
- the weld groove (WG) includes the 1 - 3 curved surface (WF 2 )
- not only the processing of the weld groove (WG) may become easier, but also quality of the welding may improve.
- the 1 - 4 curved surface (WF 3 ) may be formed so that a thickness is constant from the fourth point (P 4 ) even more closer to the side end of the pipe (PP) to the side end of the pipe (PP).
- a length (d) of the 1 - 4 curved surface (WF 3 ) may be 2 mm to 3 mm.
- a vertical surface (RF) which will be described later, is adequately melted, and thus a back bead may be well-formed.
- a length of the 1 - 4 curved surface (WF 3 ) exceeds 3 mm
- a portion of the 1 - 4 curved surface (WF 3 ) i.e., the portion not welded when an automatic root welding is performed
- a hole may form in the 1 - 4 curved surface (WF 3 ).
- a weld groove may include a vertical surface (RF).
- a vertical surface (RF) may be formed between an inner wall and an outer wall of the pipe (PP).
- a thickness (t 1 ) of a vertical surface (RF) formed on a side end of the pipe (PP) may be 1 mm to 2 mm.
- a thickness (t 1 ) of a vertical surface (RF) is 1 mm to 2 mm, when an automatic root welding is performed, the vertical surface (RF) is adequately melted, and thus a back bead may be well-formed.
- a thickness (t 1 ) of a vertical surface (RF) is less than 1 mm, when an automatic root welding is performed, the vertical surface (RF) may excessively melt so that a gap (burn through) may form between the vertical surface (RF) and a corresponding vertical surface of another member welded thereto.
- a thickness (t 1 ) of a vertical surface (RF) exceeds 2 mm, when an automatic root welding is performed, the vertical surface (RF) is not sufficiently melted, so that a back bead, which is formed only when melt of a welding material fully penetrates between the vertical surface (RF) and a corresponding vertical surface of another member welded thereto, may not be formed.
- a weld groove may further include a 2 - 1 curved surface (AIF 1 ) and a 2 - 2 curved surface (AIF 2 ) which are formed on an inner wall of the pipe (PP).
- the 2 - 1 curved surface (AIF 1 ) may be formed so that a thickness is constant from the side end of the pipe (PP) to a fifth point (P 5 ) separated from the side end of the pipe (PP).
- the 2 - 2 curved surface (AIF 2 ) may be slantly formed so that a thickness at the fifth point (P 5 ) relatively close to the side end of the pipe (PP) is relatively thin, and a thickness at a sixth point (P 6 ) relatively far from the side end of the pipe (PP) is relatively thick.
- the 2 - 2 curved surface (AIF 2 ) may be formed so that a thickness increases at a constant rate from the fifth point (P 5 ) to the sixth point (P 6 ).
- the first point (P 1 ) may be positioned relatively far from the side end of the pipe (PP) than the sixth point (P 6 ), and the second point (P 2 ) may be positioned relatively closer to the side end of the pipe (PP) than the fifth point (P 5 ).
- a thickness (t 2 ) between the inner wall and the outer wall of the pipe (PP) at the second point (P 2 ) may be 87.5% to 95% with respect to 100% of the thickness between the inner wall and the outer wall of the pipe (PP) at the first point (P 1 ).
- a thickness (t 2 ) is within the range, an excellent welding joint strength may be secured.
- a hollow connection member may include a fitting member such as an elbow, a reducer, or a tee, or a flange member.
- the weld groove (WG) described above has a special structure in a form of a true circle, on which an automatic welding may be performed, and thus is advantageous.
- the present inventors developed a weld groove forming method which allows an automatic welding of a hollow member, and a hollow member which is manufactured according to the method and has a true circular weld groove of a special structure after striving hard to reduce welding costs by shortening welding time and reducing manpower required for welding, and to improve welding quality
- the present inventors found that an automated welding is impossible for the existing weld grooves (including the weld joints disclosed at https://en.wikipedia.org/wiki/Welding_joint).
- FIG. 2 is a diagram schematically showing a portion of a pipe on which a weld groove is formed in a form of a true circle.
- This weld groove (WG) in a form of a true circle may be formed on only one end of a pipe (PP) or may be formed on one end and the other end of a pipe (PP), so that a total of 2 may be formed.
- the weld groove (WG) formed by cutting the inner wall, the side end, and the outer wall of the pipe (PP) at the side end of the pipe (PP) and the adjacent portion thereof is formed in a true circle shape along the circumference of the pipe (PP).
- the weld groove (WG) formed by cutting the inner wall, the side end, and the outer wall of the hollow connection member (CM) at the side end of the hollow connection member (CM) and the adjacent portion thereof is formed in a true circle shape along the circumference of the hollow connection member (CM).
- FIG. 4 is a diagram for explaining a method of welding to each other a weld groove (WG) formed on a pipe (PP) in a form of a true circle and a weld groove (WG) formed on a hollow connection member (CM) in a form of a true circle.
- WG weld groove
- PP pipe
- CM hollow connection member
- a root face (RF) of a weld groove (WG) of the pipe (PP) and a root face (RF) of a weld groove (WG) of the hollow connection member (CM) may be aligned with each other, and an automatic root welding (gas tungsten welding; GTW) and automatic filling and cap welding (gas metal welding; GMW) may be performed sequentially on the weld faces (WF 1 , WF 2 , and WF 3 ) of two members.
- GTW gas tungsten welding
- GMW gas metal welding
- the automatic root welding may be relatively small quantity welding, and the automatic filling and cap welding may be relatively large quantity welding.
- the automatic root welding (GTW) and the automatic filling and cap welding (GMW) may be automatically performed without an intervention of a manual operation by individual actions and interactions of a material transport robot, gap sensor robot, angle sensor robot, automatic root welding robot (GT welding robot) and/or automatic filling and cap welding robot (GM welding robot). This will be described later with reference to FIGS. 5 to 12 .
- FIG. 5 is a diagram for explaining an automatic welding method according to a first embodiment of the present disclosure
- FIGS. 6 to 10 are diagrams for explaining an automatic welding system for performing an automatic welding method according to the first embodiment of the present disclosure.
- FIG. 8 is an image measured by a gap sensor robot which shows an alignment state of a root face (RF) of a weld groove (WG) of a pipe (PP) and a root face (RF) of a weld groove (WG) of a hollow connection member (CM).
- RF root face
- WG weld groove
- PP pipe
- RF root face
- WG weld groove
- CM hollow connection member
- an automatic welding method according to the first embodiment of the present disclosure may be performed through the following processes.
- a material transport robot carries a pipe (PP) (i.e., piping material) on which a weld groove (WG) in a form of a true circle is formed and settles the pipe at a fit-up position in a welding station (i.e., 2D spool welding station) (step (S 110 )).
- PP pipe
- WG weld groove
- WG weld groove
- the pipe (PP) may be held and fixed by rollers (RL) installed in the welding station.
- control unit determines the material to be welded to determine the spool to be manufactured.
- the control unit may select a fitting material or a flange material as a material to be welded to the pipe (PP).
- a material transport robot carries a hollow connection member (CM) (i.e., a fitting material or flange material) on which a weld groove is formed in a form of a true circle to a position near the fit-up position in the welding station (step (S 120 )).
- CM hollow connection member
- a gap sensor robot measures the alignment state of the hollow connection member (CM) with respect to the pipe (PP) fixed at the fit-up position in the welding station, and according to the results of measurement, the material transport robot (MTRB) moves the position of the hollow connection member (CM) so that the weld groove (WG) of the pipe (PP) and the weld groove (WG) of the hollow connection member (CM) are aligned with each other (step (S 130 )).
- the step (S 130 ) may be performed repeatedly until an alignment state of the weld groove (WG) of the pipe (PP) and the weld groove (WG) of the hollow connection member (CM) reaches an admittable level.
- the weld groove (WG) of the pipe (PP) and the weld groove (WG) of the hollow connection member (CM) may be all automatically aligned with No-Gap.
- the material transport robot (MTRB) is fixed in a state gripping the hollow connection member (CM), and the gap sensor robot may be returned to a standby position.
- a GT welding robot performs a root welding on the aligned weld grooves (WG) (step (S 140 )). Accordingly, the weld groove (WG) of the pipe (PP) and the weld groove (WG) of the hollow connection member (CM) may be all automatically primarily welded with No-Tack.
- the GT welding robot may include a GT welding robot A and a GT welding robot B
- the step (S 140 ) may include (S 140 - 1 ) welding the left semi-circle area of the entire root welding area by using the GT welding robot A and (S 140 - 2 ) welding the right semi-circle area of the entire root welding area by using the GT welding robot B.
- the GT welding robot A and the GT welding robot B may return to a standby position after completing a root welding assigned to each GT welding robot.
- the GT welding robot A and the GT welding robot B may have the same configuration.
- a GT welding robot may include a first sensor (not shown) and a first welder (not shown).
- the first sensor may be configured to continuously measure a position of a root welding seam.
- the step (S 150 ) may be performed while the root welded pipe (PP) and the root welded hollow connection member (CM) are rotated simultaneously by a plurality of rollers (RL) installed in the welding station. Accordingly, the GM welding robot (GMWRB) may perform a filling and cap welding in a flat welding position.
- GMWRB GM welding robot
- the step (S 130 ) and the step (S 140 ) may be performed in a state in which the pipe (PP) is fixed at the fit-up position in the welding station, and the hollow connection member (CM) is gripped by the material transport robot (MTRB).
- FIGS. 11 and 12 are diagrams for explaining an automatic welding method according to a second embodiment of the present disclosure.
- an automatic welding method according to the second embodiment of the present disclosure may be performed through the following processes.
- a material transport robot carries a 2D spool manufactured according to an automatic welding method according to the first embodiment of the present disclosure in which a weld groove (WG) is formed in a form of a true circle and settles the 2D spool at a fit-up position in a welding station (i.e., 3D spool welding station) (step (S 210 )).
- WG weld groove
- the 2D spool may be held and fixed by rollers (not shown) installed in the welding station.
- control unit determines the material to be welded to determine the spool to be manufactured
- control unit may select a 2D spool, fitting material or a flange material as a material to weld to the 2D spool.
- a material transport robot carries the hollow member (a 2D spool, fitting material, or flange material) on which a weld groove is formed in a form of a true circle to a position near the fit-up position in the welding station (step (S 220 )).
- control unit determines whether an angle sensing test is needed between the 2D spool and the hollow member (step (S 230 )).
- the control unit determines that an angle sensing test is needed between the 2D spool and the hollow member
- an angle sensor robot measures the torsion angle between the 2D spool and the hollow member, and the material transport robot rotates the hollow member by the measured torsion angle (step (S 240 )).
- the torsion angle between the 2D spool and the hollow member may be determined by comparing the geometric structure of the pre-aligned two members with the geometric structure of the final 3D spool (this is an angle of a 2D spool, alignment of a flange hole, or the like and is predetermined), and measuring the difference therebetween.
- the material transport robot is fixed in a state gripping the hollow member, and the angle sensor robot may be returned to a standby position.
- the step (S 240 ) may be omitted. This corresponds to the case where the geometric structure of the final 3D spool is not critical.
- a gap sensor robot measures the alignment state of the hollow member with respect to the 2D spool fixed at the fit-up position in the welding station, and according to the results of measurement, the material transport robot moves the position of the hollow member to align the weld groove of the 2D spool with the weld groove of the hollow member (step (S 250 )).
- the step (S 250 ) may be performed repeatedly until an alignment state of the weld groove of the 2D spool and the weld groove of the hollow member reaches an admittable level.
- the weld groove (WG) of the 2D spool and the weld groove (WG) of the hollow member (CM) may be all automatically aligned with No-Gap.
- the material transport robot is fixed in a state gripping the hollow member, and the gap sensor robot may be returned to a standby position.
- a GT welding robot performs a root welding to the aligned welding grooves (step (S 260 )).
- the weld groove of the 2D spool and the weld groove of the hollow member may be all automatically primarily welded with No-Tack.
- the GT welding robot may include a GT welding robot A and a GT welding robot B
- the step (S 260 ) may include (S 260 - 1 ) welding the left semi-circle area of the entire root welding area by using the GT welding robot A and (S 260 - 2 ) welding the right semi-circle area of the entire root welding area by using the GT welding robot B.
- the GT welding robot A and the GT welding robot B may have the same configuration.
- the GT welding robot may include a first sensor (not shown) and a first welder (not shown).
- the first sensor may be configured to continuously measure a position of a root welding seam.
- the first welder may be configured to continuously perform a root welding according to a predetermined sequence based on the results of measurement of the first sensor.
- a GM welding robot performs a filling and cap welding on the aligned weld grooves to manufacture a 3D spool (step (S 270 )).
- the GM welding robot may perform the welding while moving up and down rather than performing a welding in a fixed, flat welding position in a fixed position, because when a GM welding robot performs a welding in a flat welding position, the 2D spool has to rotate, which is difficult to be realized due to constraints in space or in control.
- the GM welding robot may include a GM welding robot A and a GM welding robot B, and the step (S 270 ) may include: (S 270 - 1 ) welding the left semi-circle area of the entire filling and cap welding area from bottom to top by using the GM welding robot A; (S 270 - 2 ) grinding the weld starting part of the step (S 270 - 1 ) by using a grinding robot (not shown); and (S 270 - 3 ) welding the right semi-circle area of the entire filling and cap welding area by using the GM welding robot B.
- a protrusion is formed at the outer lower part of the weld grooves in close contact with each other, and the step (S 270 - 2 ) is for removing the protrusion.
- the GM welding robot may include a second sensor (not shown) and a second welder (not shown), and the second sensor may be configured to continuously measure the position of a filling and cap weld seam, and the second welder may be configured to continuously perform a filling and cap welding according to a predetermined sequence based on the results of measurement of the second sensor.
- the GM welding robot A and the GM welding robot B may have the same configuration.
- the steps (S 230 ) to (S 270 ) may be performed in a state in which the 2D spool is fixed at the fit-up position in the welding station, and the hollow member is gripped by the material transport robot.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Robotics (AREA)
Abstract
Description
- This application is based on and claims priority under 35 U.S.C. § 119 to Korean Patent Application No. 10-2022-0013613, filed on Jan. 28, 2022, in the Korean Intellectual Property Office, the disclosure of which is incorporated by reference herein in its entirety.
- The present disclosure relates to an automatic welding method. More specifically, the present disclosure relates to an automatic welding method capable of automatically welding a pipe and a connection member.
- Oil & gas plants, industrial plants, buildings, etc., include complex pipe facilities.
- In order to install a pipe facility in an oil & gas plant, an industrial plant, a building, etc., first, a plurality of pipe spools which will constitute a pipe facility are prefabricated in a pipe spool fabrication shop. Then, a plurality of prefabricated pipe spools are moved to a site such as an oil & gas plant, an industrial plant, a building, etc., and the plurality of pipe spools are connected to each other in the site.
- In this manner, a plurality of pipe spools connected to each other are installed in a steel frame or civil structure that constitute an oil & gas plant, an industrial plant, a building, etc., by using a support and the like, and the plurality of pipe spools connected to each other are finally connected to a stationary equipment such as a column, vessel, tank, or a heat exchanger, or to a rotating machinery such as a compressor, or a pump, and the entire pipe facility is constructed in an oil & gas plant, industrial plant, building, etc.
- On the other hand, each of the pipe spools that constitute an oil & gas plant, industrial plant, building, etc., has a different form and size. For this reason, pipe spools are a typical small quantity batch product, and automation of manufacture has been difficult. Accordingly, in the past, it was only possible to apply an automated device in some manufacturing processes that produce pipe spools of a simple shape, and pipe spools of a complicated shape were manufactured by manually cutting, processing, and moving members such as pipes, and by manually welding pipes and fitting members in each workshop.
- In addition, in the past, multiple tasks such as drawing management, member management, and inspection task essential for fabricating pipe spools have still been processed based on paper works, and each manufacturing process required a responsible personnel.
- In addition, welding is needed in order to connect a pipe to another pipe or a pipe to a hollow connection member such as a fitting member, and because welding operation has been done manually or semi-automatically, not only a lot of time and manpower have been required in a welding operation, but also there have been issues of welding defects.
- An embodiment of the present disclosure provides an automatic welding method capable of automatically welding pipes and connection members.
- Additional aspects will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the presented embodiments of the disclosure.
- According to an aspect, an automatic welding method is provided, the method including:
- (S110) carrying a pipe on which a weld groove is formed in a form of a true circle and settling the pipe at a fit-up position in the welding station by using a material transport robot;
- (S120) carrying a hollow connection member on which a weld groove is formed in a form of a true circle to a position near the fit-up position in the welding station by using the material transport robot;
- (S130) measuring the alignment state of the hollow connection member with respect to the fit-up position in the welding station by using a gap sensor robot, and according to the results, moving the position of the hollow connection member by using the material transport robot to align the weld groove of the pipe with the weld groove of the hollow connection member;
- (S140) performing a root welding on the aligned weld grooves by using a GT welding robot; and
- (S150) performing a filling and cap welding on the aligned weld grooves by using a GM welding robot to manufacture a 2D spool.
- The steps (S130) to (S150) may be performed in a state in which the pipe is fixed at the fit-up position in the welding station, and the hollow connection member is gripped by the material transport robot.
- The GT welding robot may include a GT welding robot A and a GT welding robot B, and the step (S140) may include (S140-1) welding the left semi-circle area of the entire root welding area by using the GT welding robot A and (S140-2) welding the right semi-circle area of the entire root welding area by using the GT welding robot B.
- The GT welding robot may include a first sensor and a first welder, the first sensor being configured to continuously measure a position of a root weld seam, and the first welder being configured to continuously perform a root welding according to a predetermined sequence based on the results of measurement of the first sensor.
- The step (S150) is performed in a state in which the root-welded pipe and the root-welded hollow connection member are simultaneously rotated by a plurality of rollers installed in the welding station, and the GM welding robot may perform a filling and cap welding in a flat welding position.
- The weld groove includes: a 1-1 curved surface, a 1-2 curved surface, a 1-3 curved surface and a 1-4 curved surface formed each on the outer wall of the pipe and on the outer wall of the hollow connection member, the 1-1 curved surface being slantly formed so that a thickness at a first point relatively far from a side end of the hollow connection member is relatively thick, and a thickness at a second point relatively close to the side end of the hollow connection member is relatively thin, the 1-2 curved surface being slantly formed so that a thickness at the second point relatively close to the side end of the hollow connection member is relatively thick, and a thickness at a third point relatively closer to the side end of the hollow connection member is relatively thin, the 1-3 curved surface being slantly formed so that a thickness at the third point relatively closer to the side end of the hollow connection member is relatively thick, and a thickness at a fourth point relatively even more closer to the side end of the hollow connection member is relatively thin, and the 1-4 curved surface being formed so that a thickness is constant from the fourth point relatively even more closer to the side end of the hollow connection member to the side end of the hollow connection member;
- a vertical surface formed each between the inner wall and the outer wall of the pipe and between the inner wall and the outer wall of the hollow connection member;
and a 2-1 curved surface and a 2-2 curved surface formed each on the inner wall of the pipe and on the inner wall of the hollow connection member, the 2-1 curved surface being formed so that a thickness is constant from the side end of the pipe or the hollow connection member to a fifth point separated from the side end of the pipe or the hollow connection member, and the 2-2 curved surface being slantly formed so that a fifth point separated from the side end of the pipe or the hollow connection member is relatively thin, and a thickness at a sixth point relatively far from the side end of the pipe or the hollow connection member is relatively thick. - The 1-1 curved surface may be formed so that a thickness decreases at a constant rate from the first point to the second point.
- The 1-2 curved surface may be formed so that a thickness decreases at a constant rate from the second point to the third point.
- The 1-3 curved surface may be formed so that a thickness decreases according to a predetermined radius of curvature from the third point to the fourth point.
- A length of the 1-4 curved surface may be 2 mm to 3 mm.
- A thickness of the vertical surface formed each on the side end of the pipe and the side end of the hollow connection member may be 1 mm to 2 mm.
- The 2-2 curved surface may be formed so that a thickness increases at a constant rate from the fifth point to the sixth point.
- The first point may be positioned relatively far from the side end of the pipe or the hollow connection member than the sixth point, and the second point may be relatively closer to the side end of the pipe or the hollow connection member than the fifth point.
- A thickness between the inner wall and the outer wall of the pipe at the second point may be 87.5% to 95% with respect to 100% of the thickness between the inner wall and the outer wall of the pipe at the first point, and a thickness between the inner wall and the outer wall of the hollow connection member at the second point may be 87.5% to 95% with respect to 100% of the thickness between the inner wall and the outer wall of the hollow connection member at the first point.
- According to another aspect, an automatic welding method is provided, the method including:
- (S210) carrying a 2D spool manufactured according to the automatic welding method and on which a weld groove is formed in a form of a true circle and settling the 2D spool at a fit-up position in a welding station by using a material transport robot;
- (S220) carrying a hollow member on which a weld groove is formed in a form of a true circle to a position near a fit-up position in the welding station by using the material transport robot;
- (S230) determining whether an angle sensing test is needed between the 2D spool and the hollow member by using a control unit;
- (S240) measuring a torsion angle between the 2D spool and the hollow member by using an angle sensor robot and rotating the hollow member by the measured torsion angle by using the material transport robot, when the control unit determines that an angle sensing test is needed between the 2D spool and the hollow member;
- (S250) measuring the alignment state of the hollow member with respect to the fit-up position in the welding station by using a gap sensor robot, and according to the results of measurement, moving the position of the hollow member to align the weld groove of the 2D spool with the weld groove of the hollow member by using the material transport robot;
- (S260) performing a root welding on the aligned weld grooves by using a GT welding robot; and
- (S270) performing a filling and cap welding on the aligned weld grooves to manufacture a 3D spool by using a GM welding robot.
- The GT welding robot may include a GT welding robot A and a GT welding robot B, and the step (S260) may include (S260-1) welding the left semi-circle area of the entire root welding area by using the GT welding robot A and (S260-2) welding the right semi-circle area of the entire root welding area by using the GT welding robot B.
- The GM welding robot may include a GM welding robot A and a GM welding robot B, and the step (S270) may include: (S270-1) welding the left semi-circle area of the entire filling and cap welding area from bottom to top by using the GM welding robot A; (S270-2) grinding the weld starting part of the step (S270-1) by using a grinding robot; and (S270-3) welding the right semi-circle area of the entire filling and cap welding area by using the GM welding robot B.
- The GM welding robot may include a second sensor and a second welder, the second sensor being configured to continuously measure the position of a filling and cap weld seam, and the second welder being configured to continuously perform a filling and cap welding according to a predetermined sequence based on the results of measurement of the second sensor.
- An automatic welding method according to an embodiment of the present disclosure may reduce welding time and manpower requirements, and may prevent welding defects.
- The above and other aspects, features, and advantages of certain embodiments of the disclosure will be more apparent from the following description taken in conjunction with the accompanying drawings, in which:
-
FIG. 1 is a diagram schematically illustrating a weld groove to which an automatic welding method according to embodiments of the present disclosure is applied, and the weld groove is formed at a side end of a pipe in a form of a true circle. -
FIG. 2 is a diagram schematically showing a portion of a pipe on which a weld groove is formed in a form of a true circle. -
FIG. 3 is a diagram schematically showing a portion of a hollow connection member on which a weld groove is formed in a form of a true circle. -
FIG. 4 is a diagram for explaining a method of welding to each other a weld groove formed in a pipe in a form of a true circle and a weld groove formed in a hollow connection member in a form of a true circle. -
FIG. 5 is a diagram for explaining an automatic welding method according to a first embodiment of the present disclosure. -
FIGS. 6 to 10 are diagrams for explaining an automatic welding system for performing the automatic welding method according to the first embodiment of the present disclosure. -
FIGS. 11 and 12 are diagrams for explaining an automatic welding method according to a second embodiment of the present disclosure. - Reference will now be made in detail to embodiments, embodiments of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout. In this regard, the present embodiments may have different forms and should not be construed as being limited to the descriptions set forth herein. Accordingly, the embodiments are merely described below, by referring to the figures, to explain aspects of the present description. As used herein, the term “and/or” includes any and all combinations of at least one of the associated listed items. Expressions such as “at least one of,” when preceding a list of elements, modify the entire list of elements and do not modify the individual elements of the list.
- Hereinafter, a weld groove forming method and a hollow member according to an embodiment of the present disclosure will be described in detail with reference to the drawings.
- As used herein, the term “weld groove” refers to a processed portion formed between to-be-weld base materials (i.e., pipes, hollow connection members and hollow members) for an efficient welding. Specifically, the term “weld groove” is a concept collectively referring to all cut surfaces formed at an inner wall, side end, and outer wall of one end or both ends of each base material.
- In addition, as used herein, the term “welding station” refers to a place where a welding facility is installed.
- As used herein, the term “hollow member” refers to a member having a penetration hole extending from one end to the other end. Specifically, the “hollow member” is a term collectively referring to pipes, 2D spools, and hollow connection members.
- As used herein, the term “side end of a hollow member” refers to an end portion on an entrance side or an exit side of a penetration hole among end portions of the hollow member.
- As used herein, the term “sensor robot (vision sensor)” refers to a device having a function of scanning a side end of the hollow member in 2D or 3D, a function of storing the scanned image of the hollow member as a measured image, a function of forming a virtual image in a form of an annular ring, a function of overlapping the virtual image with the measured image and figuring out whether the thickness portion of the virtual image is completely included in the thickness portion of the measured image, and also the ratio of the thickness of the virtual image to the average thickness of the measured image satisfies a reference value, a function of determining that the side end of the hollow member may be processed into a form of a true circle when the thickness portion of the virtual image is completely included in the thickness portion of the measured image, and also the ratio of the thickness of the virtual image to the average thickness of the measured image satisfies a reference value, a function of determining the side end of the hollow member may not be processed into a form of a true circle when the thickness portion of the virtual image is not completely included in the thickness portion of the measured image, or the ratio of the thickness of the virtual image to the average thickness of the measured image does not satisfy a reference value, a function of transmitting a beveling initiation signal to an automatic beveling machine, and a function of continuously measuring the distance between the beveling blade of the automatic beveling machine and a to-be-beveled part of the hollow member and continuously transmitting the measured value to the automatic beveling machine. Furthermore, the virtual image has a feature of having a predetermined annular ring size (i.e., a distance between the inner wall and the outer wall).
- As used herein, the term “automatic beveling machine” refers to a device forming a weld groove by beveling a portion including a side end of a hollow member in conjunction with a sensor robot.
- As used herein, the term “point of a pipe, a hollow connection member, or a hollow member” refers to an arbitrary point present on an arbitrary vertical line perpendicular to the central axis of a pipe, a hollow connection member or a hollow member.
- In addition, as used herein, the term “central axis of a hollow member” means a line extending in a direction parallel to the direction in which the penetration hole extends and passing through the center of the penetration hole.
- As used herein, the term “distance between the any two points of a pipe, a hollow connection member, or a hollow member” refers to a distance between vertical lines orthogonal to the central axis of each member passing through each point.
- In addition, as used herein, the term “2D spool (two dimensional spool)” refers to a member manufactured by welding a non-welded hollow member to another non-welded hollow member. When manufacturing 2D spools, it is not necessary to specify the coupling position on the circumference of each of the hollow members, which are the welding targets.
- As used herein, the term “3D spool (three dimensional spool)” means a member manufactured by welding a 2D spool with at least one or more welded hollow members (including a 2D spool) and/or at least one or more non-welded hollow members. When manufacturing 3D spools, each of the coupling positions on the circumference of the members to be welded may be specified, or may not be specified.
- In addition, as used herein, the term “torsion angle between a 2D spool and a hollow member” refers to a misaligned angle, when a coupling position on a circumference of a hollow member is not in line with a coupling position on a circumference of a 2D spool but is misaligned. That is, a coupling position on a circumference of a 2D spool and a coupling position on a circumference of a hollow member welded thereto are predetermined according to the geometric structure of the 2D spool and the hollow member (that is, when the hollow member is a flange, the geometric structure of the hollow member is the position of a hole, or when the hollow member is an L-shaped member, the geometric structure of the hollow member is the direction of the bended portion, etc.), when a coupling position on a circumference of a hollow member is in line with respect to the coupling position on a circumference of a 2D spool, the torsion angle becomes “0”, when the two coupling positions are not in line with each other, the torsion angle is not “0”, and the larger the inconsistency the greater the torsion angle increases.
- In addition, as used herein, “material transport robot rotates a hollow member by a torsion angle” means that a material transport robot rotates a hollow member until a torsion angle between a 2D spool and the hollow member becomes “0”.
- As used herein, the term “fit-up position” means a position aligning weld grooves (specifically, root faces) of two members.
- As used herein, the term “fit-up” or “alignment” means bringing two members close to each other so that the central axes of two members are in line with each other.
- As used herein, the term “root welding” refers to a primary welding performed on a weld groove without a tack welding.
- As used herein, the term “filling and cap welding” refers to a finishing welding performed on a weld groove after a root welding.
-
FIG. 1 is a diagram schematically illustrating a weld groove (WG) formed at a side end of a pipe in a form of a true circle to which an automatic welding method according to embodiments of the present disclosure is applied. - Referring to
FIG. 1 , a weld groove (WG) for applying an automatic welding method according to embodiments of the present disclosure may include a 1-1 curved surface (AOF), a 1-2 curved surface (WF1), a 1-3 curved surface (WF2), and a 1-4 curved surface (WF3) formed on an outer wall of a pipe (PP) in this order. - The 1-1 curved surface (AOF) may be slantly formed so that a thickness at a first point (P1) relatively far from a side end of the pipe (PP) is relatively thick, and a thickness at a second point (P2) relatively close to the side end of the pipe (PP) is relatively thin. For example, the 1-1 curved surface (AOF) may be formed so that a thickness decreases at a constant rate from the first point (P1) to the second point (P2). This 1-1 curved surface (AOF) minimizes the outer step difference of the pipe (PP) and a connection member (CM) welded thereto, so that welding beads formed between the two members may be homogeneously and smoothly connected. Here, “thickness” means a distance between an inner wall and an outer wall of the pipe (PP).
- The 1-2 curved surface (WF1) may be slantly formed so that a thickness at a second point (P2) relatively close to the side end of the pipe (PP) is relatively thick, and a thickness at a third point (P3) relatively closer to the side end of the pipe (PP) is relatively thin. For example, the 1-2 curved surface (WF1) may be formed so that a thickness decreases at a constant rate from the second point (P2) to the third point (P3). In addition, a slope (θ) of the 1-2 curved surface (WF1) may be 20° based on the vertical line which is vertically extended from the vertical surface (RF), which will be described later, but the present disclosure is not limited thereto.
- The 1-3 curved surface (WF2) may be slantly formed so that a thickness at a third point (P3) relatively closer to the side end of the pipe (PP) is relatively thick, and a thickness at a fourth point (P4) relatively even more closer to the side end of the pipe (PP) is relatively thin. For example, the 1-3 curved surface (WF2) may be formed so that a thickness decreases according to a predetermined radius of curvature (R) from the third point (P3) to the fourth point (P4). For example, the radius of curvature (R) may be 5 mm, but the present disclosure is not limited thereto. As the weld groove (WG) includes the 1-3 curved surface (WF2), not only the processing of the weld groove (WG) may become easier, but also quality of the welding may improve.
- The 1-4 curved surface (WF3) may be formed so that a thickness is constant from the fourth point (P4) even more closer to the side end of the pipe (PP) to the side end of the pipe (PP). For example, a length (d) of the 1-4 curved surface (WF3) may be 2 mm to 3 mm. When a length (d) of the 1-4 curved surface (WF3) is 2 mm to 3 mm, when an automatic root welding is performed, a vertical surface (RF), which will be described later, is adequately melted, and thus a back bead may be well-formed. On the other hand, when a length of the 1-4 curved surface (WF3) is less than 2 mm, when an automatic root welding is performed, the vertical surface (RF) is not sufficiently melted, so that a back bead, which is formed only when melt of a welding material fully penetrates between the vertical surface (RF) and a corresponding vertical surface of another member welded thereto, may not be formed. In addition, when a length of the 1-4 curved surface (WF3) exceeds 3 mm, when an automatic filling and cap welding is performed, a portion of the 1-4 curved surface (WF3) (i.e., the portion not welded when an automatic root welding is performed) may be excessively melted, and a hole may form in the 1-4 curved surface (WF3).
- In addition, a weld groove (WG) may include a vertical surface (RF).
- A vertical surface (RF) may be formed between an inner wall and an outer wall of the pipe (PP). For example, a thickness (t1) of a vertical surface (RF) formed on a side end of the pipe (PP) may be 1 mm to 2 mm. When a thickness (t1) of a vertical surface (RF) is 1 mm to 2 mm, when an automatic root welding is performed, the vertical surface (RF) is adequately melted, and thus a back bead may be well-formed. On the other hand, when a thickness (t1) of a vertical surface (RF) is less than 1 mm, when an automatic root welding is performed, the vertical surface (RF) may excessively melt so that a gap (burn through) may form between the vertical surface (RF) and a corresponding vertical surface of another member welded thereto. In addition, when a thickness (t1) of a vertical surface (RF) exceeds 2 mm, when an automatic root welding is performed, the vertical surface (RF) is not sufficiently melted, so that a back bead, which is formed only when melt of a welding material fully penetrates between the vertical surface (RF) and a corresponding vertical surface of another member welded thereto, may not be formed.
- In addition, a weld groove (WG) may further include a 2-1 curved surface (AIF1) and a 2-2 curved surface (AIF2) which are formed on an inner wall of the pipe (PP).
- The 2-1 curved surface (AIF1) may be formed so that a thickness is constant from the side end of the pipe (PP) to a fifth point (P5) separated from the side end of the pipe (PP).
- The 2-2 curved surface (AIF2) may be slantly formed so that a thickness at the fifth point (P5) relatively close to the side end of the pipe (PP) is relatively thin, and a thickness at a sixth point (P6) relatively far from the side end of the pipe (PP) is relatively thick. For example, the 2-2 curved surface (AIF2) may be formed so that a thickness increases at a constant rate from the fifth point (P5) to the sixth point (P6).
- The first point (P1) may be positioned relatively far from the side end of the pipe (PP) than the sixth point (P6), and the second point (P2) may be positioned relatively closer to the side end of the pipe (PP) than the fifth point (P5). In this case, a thickness (t2) between the inner wall and the outer wall of the pipe (PP) at the second point (P2) may be 87.5% to 95% with respect to 100% of the thickness between the inner wall and the outer wall of the pipe (PP) at the first point (P1). When a thickness (t2) is within the range, an excellent welding joint strength may be secured.
- A weld groove identical to the above-described weld groove (WG) may be formed in a hollow connection member (CM in
FIG. 4 ) in the same manner as described above. - A hollow connection member (CM) may include a fitting member such as an elbow, a reducer, or a tee, or a flange member.
- The weld groove (WG) described above has a special structure in a form of a true circle, on which an automatic welding may be performed, and thus is advantageous. The present inventors developed a weld groove forming method which allows an automatic welding of a hollow member, and a hollow member which is manufactured according to the method and has a true circular weld groove of a special structure after striving hard to reduce welding costs by shortening welding time and reducing manpower required for welding, and to improve welding quality In addition, the present inventors found that an automated welding is impossible for the existing weld grooves (including the weld joints disclosed at https://en.wikipedia.org/wiki/Welding_joint).
-
FIG. 2 is a diagram schematically showing a portion of a pipe on which a weld groove is formed in a form of a true circle. This weld groove (WG) in a form of a true circle may be formed on only one end of a pipe (PP) or may be formed on one end and the other end of a pipe (PP), so that a total of 2 may be formed. - Referring to
FIG. 2 , it can be seen that the weld groove (WG) formed by cutting the inner wall, the side end, and the outer wall of the pipe (PP) at the side end of the pipe (PP) and the adjacent portion thereof is formed in a true circle shape along the circumference of the pipe (PP). -
FIG. 3 is a diagram schematically showing a portion of a hollow connection member (CM) on which a weld groove (WG) is formed in a form of a true circle. This weld groove (WG) in a form of a true circle may be formed on only one end of a hollow connection member (CM) or may be formed one end and the other end of a hollow connection member (CM), so that a total of 2 may be formed. - Referring to
FIG. 3 , it can be seen that the weld groove (WG) formed by cutting the inner wall, the side end, and the outer wall of the hollow connection member (CM) at the side end of the hollow connection member (CM) and the adjacent portion thereof is formed in a true circle shape along the circumference of the hollow connection member (CM). -
FIG. 4 is a diagram for explaining a method of welding to each other a weld groove (WG) formed on a pipe (PP) in a form of a true circle and a weld groove (WG) formed on a hollow connection member (CM) in a form of a true circle. - Referring to
FIG. 4 , a root face (RF) of a weld groove (WG) of the pipe (PP) and a root face (RF) of a weld groove (WG) of the hollow connection member (CM) may be aligned with each other, and an automatic root welding (gas tungsten welding; GTW) and automatic filling and cap welding (gas metal welding; GMW) may be performed sequentially on the weld faces (WF1, WF2, and WF3) of two members. - The automatic root welding may be relatively small quantity welding, and the automatic filling and cap welding may be relatively large quantity welding.
- The automatic root welding (GTW) and the automatic filling and cap welding (GMW) may be automatically performed without an intervention of a manual operation by individual actions and interactions of a material transport robot, gap sensor robot, angle sensor robot, automatic root welding robot (GT welding robot) and/or automatic filling and cap welding robot (GM welding robot). This will be described later with reference to
FIGS. 5 to 12 . -
FIG. 5 is a diagram for explaining an automatic welding method according to a first embodiment of the present disclosure, andFIGS. 6 to 10 are diagrams for explaining an automatic welding system for performing an automatic welding method according to the first embodiment of the present disclosure.FIG. 8 is an image measured by a gap sensor robot which shows an alignment state of a root face (RF) of a weld groove (WG) of a pipe (PP) and a root face (RF) of a weld groove (WG) of a hollow connection member (CM). - Referring to
FIGS. 5 to 10 , an automatic welding method according to the first embodiment of the present disclosure may be performed through the following processes. - First, referring to
FIGS. 5 to 8 , a material transport robot (MTRB) carries a pipe (PP) (i.e., piping material) on which a weld groove (WG) in a form of a true circle is formed and settles the pipe at a fit-up position in a welding station (i.e., 2D spool welding station) (step (S110)). Specifically, the pipe (PP) may be held and fixed by rollers (RL) installed in the welding station. - Thereafter, the control unit (not shown) determines the material to be welded to determine the spool to be manufactured. For example, the control unit may select a fitting material or a flange material as a material to be welded to the pipe (PP).
- Thereafter, according to instructions of the control unit, a material transport robot (MTRB) carries a hollow connection member (CM) (i.e., a fitting material or flange material) on which a weld groove is formed in a form of a true circle to a position near the fit-up position in the welding station (step (S120)).
- Thereafter, a gap sensor robot (not shown) measures the alignment state of the hollow connection member (CM) with respect to the pipe (PP) fixed at the fit-up position in the welding station, and according to the results of measurement, the material transport robot (MTRB) moves the position of the hollow connection member (CM) so that the weld groove (WG) of the pipe (PP) and the weld groove (WG) of the hollow connection member (CM) are aligned with each other (step (S130)). The step (S130) may be performed repeatedly until an alignment state of the weld groove (WG) of the pipe (PP) and the weld groove (WG) of the hollow connection member (CM) reaches an admittable level. As a result, the weld groove (WG) of the pipe (PP) and the weld groove (WG) of the hollow connection member (CM) may be all automatically aligned with No-Gap.
- After the step (S130), the material transport robot (MTRB) is fixed in a state gripping the hollow connection member (CM), and the gap sensor robot may be returned to a standby position.
- Next, referring to
FIGS. 5 and 9 , a GT welding robot (GTWRB) performs a root welding on the aligned weld grooves (WG) (step (S140)). Accordingly, the weld groove (WG) of the pipe (PP) and the weld groove (WG) of the hollow connection member (CM) may be all automatically primarily welded with No-Tack. - Specifically, the GT welding robot (GTWRB) may include a GT welding robot A and a GT welding robot B, and the step (S140) may include (S140-1) welding the left semi-circle area of the entire root welding area by using the GT welding robot A and (S140-2) welding the right semi-circle area of the entire root welding area by using the GT welding robot B. The GT welding robot A and the GT welding robot B may return to a standby position after completing a root welding assigned to each GT welding robot. In addition, the GT welding robot A and the GT welding robot B may have the same configuration.
- More specifically, a GT welding robot (GTWRB) may include a first sensor (not shown) and a first welder (not shown).
- The first sensor may be configured to continuously measure a position of a root welding seam.
- The first welder may be configured to continuously perform a root welding according to a predetermined sequence based on the results of measurement of the first sensor.
- Next, referring to
FIGS. 5 and 10 , a GM welding robot (GMWRB) performs a filling and cap welding on the aligned weld grooves (WG) to manufacture a 2D spool (step (S150)). - The step (S150) may be performed while the root welded pipe (PP) and the root welded hollow connection member (CM) are rotated simultaneously by a plurality of rollers (RL) installed in the welding station. Accordingly, the GM welding robot (GMWRB) may perform a filling and cap welding in a flat welding position.
- The step (S130) and the step (S140) may be performed in a state in which the pipe (PP) is fixed at the fit-up position in the welding station, and the hollow connection member (CM) is gripped by the material transport robot (MTRB).
-
FIGS. 11 and 12 are diagrams for explaining an automatic welding method according to a second embodiment of the present disclosure. - Referring to
FIGS. 11 and 12 , an automatic welding method according to the second embodiment of the present disclosure may be performed through the following processes. - First, referring to
FIG. 11 , a material transport robot carries a 2D spool manufactured according to an automatic welding method according to the first embodiment of the present disclosure in which a weld groove (WG) is formed in a form of a true circle and settles the 2D spool at a fit-up position in a welding station (i.e., 3D spool welding station) (step (S210)). Specifically, the 2D spool may be held and fixed by rollers (not shown) installed in the welding station. - Thereafter, the control unit (not shown) determines the material to be welded to determine the spool to be manufactured For example, the control unit may select a 2D spool, fitting material or a flange material as a material to weld to the 2D spool.
- Thereafter, according to instructions of the control unit, a material transport robot carries the hollow member (a 2D spool, fitting material, or flange material) on which a weld groove is formed in a form of a true circle to a position near the fit-up position in the welding station (step (S220)).
- Then, the control unit determines whether an angle sensing test is needed between the 2D spool and the hollow member (step (S230)).
- Then, when the control unit determines that an angle sensing test is needed between the 2D spool and the hollow member, an angle sensor robot measures the torsion angle between the 2D spool and the hollow member, and the material transport robot rotates the hollow member by the measured torsion angle (step (S240)). Here, the torsion angle between the 2D spool and the hollow member may be determined by comparing the geometric structure of the pre-aligned two members with the geometric structure of the final 3D spool (this is an angle of a 2D spool, alignment of a flange hole, or the like and is predetermined), and measuring the difference therebetween.
- After the step (S240), the material transport robot is fixed in a state gripping the hollow member, and the angle sensor robot may be returned to a standby position.
- On the other hand, when the control unit determines that an angle sensing test is not needed between the 2D spool and the hollow member, the step (S240) may be omitted. This corresponds to the case where the geometric structure of the final 3D spool is not critical.
- Afterwards, a gap sensor robot measures the alignment state of the hollow member with respect to the 2D spool fixed at the fit-up position in the welding station, and according to the results of measurement, the material transport robot moves the position of the hollow member to align the weld groove of the 2D spool with the weld groove of the hollow member (step (S250)). The step (S250) may be performed repeatedly until an alignment state of the weld groove of the 2D spool and the weld groove of the hollow member reaches an admittable level. As a result, the weld groove (WG) of the 2D spool and the weld groove (WG) of the hollow member (CM) may be all automatically aligned with No-Gap.
- After the step (S250), the material transport robot is fixed in a state gripping the hollow member, and the gap sensor robot may be returned to a standby position.
- Next, referring to
FIG. 12 , a GT welding robot performs a root welding to the aligned welding grooves (step (S260)). As a result, the weld groove of the 2D spool and the weld groove of the hollow member may be all automatically primarily welded with No-Tack. - Specifically, the GT welding robot may include a GT welding robot A and a GT welding robot B, and the step (S260) may include (S260-1) welding the left semi-circle area of the entire root welding area by using the GT welding robot A and (S260-2) welding the right semi-circle area of the entire root welding area by using the GT welding robot B. The GT welding robot A and the GT welding robot B may have the same configuration.
- More specifically, the GT welding robot may include a first sensor (not shown) and a first welder (not shown).
- The first sensor may be configured to continuously measure a position of a root welding seam.
- The first welder may be configured to continuously perform a root welding according to a predetermined sequence based on the results of measurement of the first sensor.
- Thereafter, the control unit checks a 3D spool welding condition and a welding path.
- Then, a GM welding robot performs a filling and cap welding on the aligned weld grooves to manufacture a 3D spool (step (S270)). In this case, the GM welding robot may perform the welding while moving up and down rather than performing a welding in a fixed, flat welding position in a fixed position, because when a GM welding robot performs a welding in a flat welding position, the 2D spool has to rotate, which is difficult to be realized due to constraints in space or in control.
- The GM welding robot may include a GM welding robot A and a GM welding robot B, and the step (S270) may include: (S270-1) welding the left semi-circle area of the entire filling and cap welding area from bottom to top by using the GM welding robot A; (S270-2) grinding the weld starting part of the step (S270-1) by using a grinding robot (not shown); and (S270-3) welding the right semi-circle area of the entire filling and cap welding area by using the GM welding robot B. After going through the step (S270-1), a protrusion is formed at the outer lower part of the weld grooves in close contact with each other, and the step (S270-2) is for removing the protrusion.
- The GM welding robot may include a second sensor (not shown) and a second welder (not shown), and the second sensor may be configured to continuously measure the position of a filling and cap weld seam, and the second welder may be configured to continuously perform a filling and cap welding according to a predetermined sequence based on the results of measurement of the second sensor.
- The GM welding robot A and the GM welding robot B may have the same configuration.
- The steps (S230) to (S270) may be performed in a state in which the 2D spool is fixed at the fit-up position in the welding station, and the hollow member is gripped by the material transport robot.
- The present disclosure has been described with reference to the drawings, but the drawings are only given as examples, and it will be appreciated by those of ordinary skill in the art that a variety of modifications and equivalent other embodiments are possible. Accordingly, the true scope of the present disclosure should be determined by the technical idea of the appended claims.
- It should be understood that embodiments described herein should be considered in a descriptive sense only and not for purposes of limitation. Descriptions of features or aspects within each embodiment should typically be considered as available for other similar features or aspects in other embodiments. While one or more embodiments have been described with reference to the figures, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the following claims.
Claims (17)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2022-0013613 | 2022-01-28 | ||
KR1020220013613A KR102403993B1 (en) | 2022-01-28 | 2022-01-28 | Automatic welding method |
Publications (2)
Publication Number | Publication Date |
---|---|
US11701729B1 US11701729B1 (en) | 2023-07-18 |
US20230241701A1 true US20230241701A1 (en) | 2023-08-03 |
Family
ID=81787042
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US17/874,821 Active US11701729B1 (en) | 2022-01-28 | 2022-07-27 | Automatic welding method |
Country Status (3)
Country | Link |
---|---|
US (1) | US11701729B1 (en) |
KR (1) | KR102403993B1 (en) |
SA (1) | SA122431416B1 (en) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20200033063A1 (en) * | 2013-05-23 | 2020-01-30 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
US10556290B2 (en) * | 2015-11-20 | 2020-02-11 | Fanuc Robotics America Corporation | System for coordinated stationary tracking with root path memory clocking for cylindrical welding |
US11448342B2 (en) * | 2017-11-24 | 2022-09-20 | Saipem S.P.A. | Methods and apparatus relating to pipe welding |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH063966A (en) | 1992-06-24 | 1994-01-14 | Fuji Xerox Co Ltd | One-component developing device |
JP2001340966A (en) * | 2000-05-30 | 2001-12-11 | Mitsubishi Heavy Ind Ltd | Automatic welding method and it's apparatus |
KR101051071B1 (en) | 2008-10-27 | 2011-07-21 | 이남재 | Field assembled steel pipe manufacturing device |
WO2009075525A2 (en) | 2007-12-11 | 2009-06-18 | Nam-Jae Lee | Field-assemblable apparatus for manufacturing steel pipes |
KR20120014624A (en) * | 2010-08-10 | 2012-02-20 | 김효관 | Welding apparatus for a scaffolding pipe |
KR101990580B1 (en) | 2018-07-06 | 2019-06-19 | 클래드코리아포항 주식회사 | Dispenser based stationary spool manufacturing system |
-
2022
- 2022-01-28 KR KR1020220013613A patent/KR102403993B1/en active IP Right Grant
- 2022-07-27 US US17/874,821 patent/US11701729B1/en active Active
- 2022-07-27 SA SA122431416A patent/SA122431416B1/en unknown
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20200033063A1 (en) * | 2013-05-23 | 2020-01-30 | Crc-Evans Pipeline International, Inc. | Systems and methods for use in welding pipe segments of a pipeline |
US10556290B2 (en) * | 2015-11-20 | 2020-02-11 | Fanuc Robotics America Corporation | System for coordinated stationary tracking with root path memory clocking for cylindrical welding |
US11448342B2 (en) * | 2017-11-24 | 2022-09-20 | Saipem S.P.A. | Methods and apparatus relating to pipe welding |
Also Published As
Publication number | Publication date |
---|---|
US11701729B1 (en) | 2023-07-18 |
SA122431416B1 (en) | 2023-10-22 |
KR102403993B1 (en) | 2022-05-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9074881B2 (en) | Measurement system, pipe handling system and method of joining pipe sections | |
CN113084459B (en) | Continuous intelligent forming process for stainless steel straight welded pipe | |
AU2016209938A1 (en) | Scanning bevels in preparation for welding | |
CN109505266B (en) | On-site horizontal splicing method for steel pipe arch | |
CN112570998A (en) | Manufacturing process method of air cooling pipeline of thermal generator set | |
US11701729B1 (en) | Automatic welding method | |
Sousa et al. | Enhancing the steel tube manufacturing process with a zero defects approach | |
CN114211089A (en) | Pipeline flexible assembly and automatic welding composite working method | |
US11897058B2 (en) | Weld groove forming method and hollow article | |
CN116810299A (en) | Manufacturing method of pressure steel pipe | |
CN115319415B (en) | BIM-based large-diameter three-way pipeline manufacturing process | |
CN113814676B (en) | Manufacturing method of large-diameter tower equipment | |
RU2667194C1 (en) | Method of manufacturing double-seam pipes of large diameter | |
CN1063360C (en) | Integrative rolling technology for large pressure steel pipe | |
KR100826589B1 (en) | Welding deformation control method of tokamak vacuum vessel | |
CN110640399A (en) | Production process for preparing cold-rolled thin-wall sleeve | |
CN115095731A (en) | High-speed aerodyne expansion joint and manufacturing and assembling method thereof | |
WO2018002964A1 (en) | Pipeline welding system, pipe managing device, and pipe-shape measuring device | |
CN113021005A (en) | Continuous intelligent forming device for large-caliber stainless steel straight welded pipe | |
JP3234708B2 (en) | Measuring method of offset amount of butt of welded pipe | |
KR102594493B1 (en) | Piping spool auto manufacturing system | |
CN215393707U (en) | Continuous intelligent forming device for large-caliber stainless steel straight welded pipe | |
CN114131226B (en) | Manufacturing method of tee joint | |
CN115488551A (en) | Automatic assembly production line for large-diameter steel pipes and use method of automatic assembly production line | |
CN116441350A (en) | Elbow manufacturing method |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: HYUNDAI ROBOTICS CO., LTD., KOREA, REPUBLIC OF Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KANG, SUNG GI;BAEK, CHAN HYUN;SIGNING DATES FROM 20220719 TO 20220720;REEL/FRAME:060644/0343 Owner name: SAMSUNG ENGINEERING CO., LTD., KOREA, REPUBLIC OF Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:KANG, SUNG GI;BAEK, CHAN HYUN;SIGNING DATES FROM 20220719 TO 20220720;REEL/FRAME:060644/0343 |
|
FEPP | Fee payment procedure |
Free format text: ENTITY STATUS SET TO UNDISCOUNTED (ORIGINAL EVENT CODE: BIG.); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY |
|
STCF | Information on status: patent grant |
Free format text: PATENTED CASE |
|
AS | Assignment |
Owner name: SAMSUNG E&A CO., LTD., KOREA, REPUBLIC OF Free format text: CHANGE OF NAME;ASSIGNOR:SAMSUNG ENGINEERING CO., LTD;REEL/FRAME:066930/0722 Effective date: 20240326 |