US 11,701,729 B1
Automatic welding method
Sung Gi Kang, Yongin-si (KR); and Chan Hyun Baek, Hwaseong-si (KR)
Assigned to SAMSUNG ENGINEERING CO., LTD., Seoul (KR); and HYUNDAI ROBOTICS CO., LTD., Daegu (KR)
Filed by Samsung Engineering Co., Ltd., Seoul (KR); and Hyundai Robotics Co., Ltd., Daegu (KR)
Filed on Jul. 27, 2022, as Appl. No. 17/874,821.
Claims priority of application No. 10-2022-0013613 (KR), filed on Jan. 28, 2022.
Int. Cl. B23K 9/028 (2006.01); B23K 37/053 (2006.01); B23K 9/095 (2006.01); B23K 37/02 (2006.01); B23K 101/06 (2006.01)
CPC B23K 9/0282 (2013.01) [B23K 9/0956 (2013.01); B23K 37/0229 (2013.01); B23K 37/0538 (2013.01); B23K 2101/06 (2018.08)] 17 Claims
OG exemplary drawing
 
1. An automatic welding method comprising:
(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 a 2D spool welding station by using a first 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 2D spool welding station by using the first material transport robot;
(S130) measuring an alignment state of the hollow connection member with respect to the fit-up position in the 2D spool welding station by using a first gap sensor robot, and according to a measurement result, moving a position of the hollow connection member by using the first 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 first GT welding robot;
(S150) performing a filling and cap welding on the aligned weld grooves by using a first GM welding robot to manufacture a 2D spool;
(S210) carrying a 2D spool manufactured in the step (S150) 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 3D spool welding station by using a second 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 3D spool welding station by using the second 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 second 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 an alignment state of the hollow member with respect to the fit-up position in the 3D spool welding station by using a second gap sensor robot, and according to a measurement result, 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 second material transport robot;
(S260) performing a root welding on the aligned weld grooves by using a second GT welding robot; and
(S270) performing a filling and cap welding on the aligned weld grooves to manufacture a 3D spool by using a second GM welding robot,
wherein the second GM welding robot includes a second GM welding robot A and a second GM welding robot B, and the step (S270) includes:
(S270-1) welding a left semi-circle area of an entire filling and cap welding area from bottom to top by using the second GM welding robot A;
(S270-2) grinding a weld starting part of the step (S270-1) by using a grinding robot; and
(S270-3) welding a right semi-circle area of the entire filling and cap welding area by using the second GM welding robot B.