JP3816247B2 - Pipe circumference automatic welding equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a pipe circumference automatic welding apparatus for butt welding pipes in gas and oil pipeline construction work and the like. In particular, the present invention relates to a pipe circumference automatic welding apparatus capable of automatically butt-welding small diameter pipes.
[0002]
[Prior art]
Japanese Examined Patent Publication No. 7-12542 discloses a pipe circumference automatic welding apparatus called so-called spin arc welding.
FIG. 6 is a perspective view showing an outline of a pipe circumference automatic welding apparatus of Japanese Patent Publication No. 7-12542. In the figure, reference numeral 120 denotes a circumferential guide rail mounted on the pipe 110 that is abutted, and 121 is an automatic welding machine installed on the circumferential guide rail 120. In this embodiment, two automatic welding machines 121 are installed. Yes.
[0003]
The automatic welder 121 travels on the outer peripheral surface of the pipe 110 while being guided by the circumferential guide rail 120, a slide Y axis 123 provided on the traveling device 122 and slidable in the groove width direction, A slide Z-axis 124 connected to the slide Y-axis 123 and slidable in the torch height direction, a torch support 125 attached to the slide Z-axis 124 so as to be swingable in the pipe circumferential direction, and rotated to the torch support 125 The welding torch 126 that is freely supported and the wire feeding device 127 provided on the traveling device 122 are roughly divided.
[0004]
In the configuration of each part, the circumferential guide rail 120 is formed with a spacing member 201 on the inner surface and outer teeth 202 on the outer surface. The traveling device 122 of the automatic welder 121 is provided at the traveling carriage 221, the lower part of the traveling carriage 221, the traveling wheel 222 that meshes with the external teeth 202 of the circumferential guide rail 120, and the lower part of the traveling carriage 221. The gripping mechanism 223 grips both ends of the circumferential guide rail 120, and the traveling carriage 221 is provided on the traveling carriage 221 and the X-axis motor 224 with the X-axis encoder 225 is driven.
[0005]
Reference numeral 231 denotes a Y-direction drive mechanism that drives the slide Y-axis 123 in the groove width direction, reference numeral 241 denotes a Z-direction drive mechanism that drives the slide Z-axis 124 in the torch height direction, and reference numeral 251 denotes an angle of the welding torch 126 in the β direction. A β-direction drive mechanism to be adjusted, 261 is a rotary drive welding mechanism inside the welding torch, and has a rotary motor 262 with an R-axis encoder 263.
The wire feeding device 127 includes a wire feeding motor 272 that drives the wire feeding mechanism 271 and a wire reel 274. 130 is a conduit cable with a built-in welding wire 131, and 129 is a travel position detector provided on the travel carriage 122.
[0006]
[Problems to be solved by the invention]
The pipe circumference automatic welding apparatus of the above-mentioned Japanese Patent Publication No. 7-12542 is suitable as an apparatus for joining and welding large-diameter pipes having a pipe diameter of several tens to several thousand mm. However, since this pipe circumference automatic welding device is structurally large, it is unsuitable as a device for joining and welding small-diameter pipes having a pipe diameter of about several millimeters. Conventionally, there has been no pipe circumference automatic welding apparatus that can sufficiently satisfy such a demand.
[0007]
The present invention has been made to cope with such a problem, and an object of the present invention is to provide an automatic pipe circumference welding apparatus capable of automatically butt-welding a small-diameter pipe.
[0008]
[Means for Solving the Problems]
In order to solve the above problems, an automatic pipe circumference welding apparatus of the present invention is an automatic pipe circumference welding apparatus that includes a welding head equipped with a welding torch and automatically welds the circumference of the pipe; a moving mechanism for moving in a predetermined direction is mounted and a gripping mechanism for gripping a pipe equipped with a moving mechanism, that features. With such a structure, the gripping mechanism grips the pipe, and in this state, the moving mechanism moves the welding head in the circumferential direction of the pipe. Since the structure is simple as described above, the circumference of the pipe can be automatically welded even if the pipe diameter is small.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
In the pipe circumference automatic welding apparatus of the present invention, the moving mechanism intersects the welding line with a mechanism (X driving mechanism) for moving the welding head along a welding line extending in the circumferential direction (X direction) of the pipe. A mechanism (Z drive mechanism) that moves the X drive mechanism in the Z direction, and a mechanism (Y drive mechanism) that moves the Z drive mechanism in the Y direction, out of two directions (Y direction and Z direction) in the plane that features. Thus, by providing the Z drive mechanism and the Y drive mechanism, the position can be easily adjusted and positioned even if the welding position is slightly deviated.
[0010]
Moreover, in the pipe circumference automatic welding apparatus of the present invention, the X drive mechanism is formed in an arc shape, and a drive unit (X drive unit) that rotates in the X direction with the welding head fixed, and X drive A driving force transmission unit (X driving force transmission unit) that transmits the driving force to the unit;
It is preferable to include a motor (X motor) that generates the driving force. Thus, since the X drive part to which the welding head is fixed is formed in the circular arc shape, the pipe can be taken in and out from the notch, and the welding work efficiency can be improved.
[0011]
Moreover, in the pipe circumference automatic welding apparatus of the present invention, the Z drive mechanism transmits a drive force (Z drive force transmitter) that transmits a drive force for moving the plate on which the X drive mechanism is fixed in the Z direction. And a motor (Z motor) for generating the driving force. By separately providing such a Z driving force transmission unit and a Z motor, independent control becomes possible, so that the positioning accuracy in the Z direction can be improved.
[0012]
Moreover, in the pipe circumference automatic welding apparatus of the present invention, the Y drive mechanism transmits a drive force for moving the plate on which the Z drive mechanism is fixed in the Y direction (Y drive force transmission unit). ) And a motor (Y motor) for generating the driving force. By separately providing such a Y driving force transmission unit and a Y motor, it becomes possible to perform independent control, and thus positioning accuracy in the Y direction can be improved.
[0013]
Moreover, in the pipe circumference automatic welding apparatus of the present invention, the gripping mechanism transmits a driving force to the drive unit (K drive unit) that sandwiches and grips the outer periphery of the pipe from both sides (K direction) and the K drive unit. It is preferable to include a driving force transmission unit (K driving force transmission unit) that performs driving and a motor (K motor) that generates a driving force to the K driving unit. In this way, the K drive unit can support the entire pipe circumference automatic welding apparatus by sandwiching and grasping the outer periphery of the pipe from both sides. It can be done reliably.
[0014]
The pipe circumference automatic welding apparatus of the present invention includes a welding head equipped with a welding torch, a mechanism (X drive mechanism) for moving the welding head along a welding line extending in the circumferential direction (X direction) of the pipe, and welding. A mechanism (Z drive mechanism) that moves the X drive mechanism in the Z direction, and a mechanism (Y drive mechanism) that moves the Z drive mechanism in the Y direction, out of two directions (Y direction and Z direction) in the plane intersecting the line A pipe circumference automatic welding apparatus that automatically welds the circumference of the pipe; and a movement mechanism equipped with the movement mechanism, and a gripping mechanism that grips the pipe by mounting the movement mechanism; The mechanism is formed in an arc shape, and a driving unit (X driving unit) that rotates in the X direction with the welding head fixed,
A driving force transmission unit (X driving force transmission unit) that transmits a driving force to the X driving unit, and a motor (X motor) that generates the driving force, and the Z driving mechanism is fixed to the X driving mechanism. A driving force transmission unit (Z driving force transmission unit) for transmitting a driving force for moving the plate in the Z direction, and a motor (Z motor) for generating the driving force, wherein the Y driving mechanism is a Z driving mechanism. A driving force transmission unit (Y driving force transmission unit) that transmits a driving force that moves the plate to which the plate is fixed in the Y direction, and a motor (Y motor) that generates the driving force, A drive unit (K drive unit) that sandwiches and grips the outer periphery of the pipe from both sides (K direction), a drive force transmission unit (K drive force transmission unit) that transmits drive force to the K drive unit, It has a motor (K motor) that generates driving force And it features.
[0015]
Such a structure simplifies the structure, so that the circumference of the pipe can be automatically welded even if the pipe diameter is small. Moreover, since the X drive part to which the welding head is fixed is formed in the circular arc shape, the pipe can be taken in and out from the cutout part, and the welding work efficiency can be improved. In addition, since the Z driving force transmission unit and the Z motor and the Y driving force transmission unit and the Y motor are individually provided, each can be controlled independently, and even if the welding position is slightly deviated, the position can be easily adjusted to the Z direction. The positioning accuracy and the positioning accuracy in the Y direction can be improved. In addition, since the K drive unit can support the entire pipe circumference automatic welding device by pinching and gripping the outer periphery of the pipe from both sides, even if the pipe has a small diameter, it can cope with the welding reliably. It can be carried out.
[0016]
Hereinafter, a pipe circumference automatic welding apparatus according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a partial cross-sectional plan view showing the configuration of a pipe circumference automatic welding apparatus according to one embodiment of the present invention.
FIG. 2 is a partial cross-sectional side view showing the configuration of the pipe circumference automatic welding apparatus according to one embodiment of the present invention.
[0017]
This pipe circumference automatic welding apparatus 1A is an apparatus that welds two small-diameter pipes P1, P2 with which the welding head 1 is brought together at the welding groove W with circumference. The pipe P1 is an existing pipe that has already been laid at the end of the pipeline, and the pipe P2 is a joint pipe that is connected to the end of the pipe. In this pipe circumferential automatic welding apparatus 1A, the pipe gripping mechanism 2 pinches and grips the outer periphery of the existing pipe P1 from both sides (also referred to as K direction), and the welding head 1 travels in the pipe circumferential direction (also referred to as X direction). Meanwhile, the welding wire 13 is fed out from the welding torch 11 and the welding groove W is welded all around.
[0018]
The welding head 1 is attached to the pipe gripping mechanism 2 via the moving mechanism 3. The moving mechanism 3 includes an X driving mechanism 4 that is movable in the pipe circumferential direction (X direction), an x driving mechanism 5 that is movable in the pipe circumferential tangential direction (herein referred to as the x direction), and a pipe radial direction (Z The Z drive mechanism 6 is movable in the longitudinal direction (also referred to as the Y direction) and the Y drive mechanism 7 is movable in the longitudinal direction of the pipe (also referred to as the Y direction).
[0019]
First, the detailed structure of the X drive mechanism 4 will be described with reference to the side views of FIGS. 1 and 3 and the plan view of FIG. The X drive mechanism 4 is roughly composed of an X drive unit 41, an X drive force transmission unit 42, and an X gear motor 43.
The X drive unit 41 includes an X slider ring 41a, a guide ring 41b, and a support ring 41c that are missing about 1/3 in the circumferential direction. Teeth are formed on the outer peripheral surface of the X slider ring 41a. The head frame 12 that supports the welding head 1 is fixed to one end surface of the X slider ring 41a, and the convex portion of the guide ring 41b is fitted into the concave portion of the other end surface.
[0020]
A support ring 41c is fitted on the inner peripheral surfaces of the X slider ring 41a and the guide ring 41b. The guide ring 41b and the support ring 41c are fixed to the main body frame 44 with screws. Pipes P <b> 1 and P <b> 2 are arranged in the central axis direction of the X drive unit 41.
Accordingly, the X slider ring 41a can be rotated along the outer peripheral surface of the support ring 41c while being guided by the convex portion of the guide ring 41b.
[0021]
The X driving force transmission unit 42 includes one gear 42a, six rollers 42b to 42g, a timing belt 42h, and a helical gear 42i. The shaft 42aa of the gear 42a is parallel to the rotational axis of the X slider ring 41a, and is fixed to the main body frame 44 through a bearing 42ab at a predetermined distance. A flat gear 42ac is fixed to one side of the shaft 42aa, that is, the X slider ring 41a side, and a helical gear 42ad is fixed to the other side. The teeth of the flat gear 42ac and the teeth formed on the outer peripheral surface of the X slider ring 41a are formed so as to mesh with the timing belt 42h.
[0022]
The shafts 42ba to 42ga of the six rollers 42b to 42g are parallel to the shaft 42aa of the flat gear 42ac, and are line-symmetrical with a line connecting the rotation center of the X slider ring 41a and the rotation center of the flat gear 42ac. The main body frame 44 is fixed. That is, the two rollers 42b and 42c are arranged so as to contact both outer peripheral surfaces in the radial direction of the X slider ring 41a via the timing belt 42h. The two rollers 42d and 42e are arranged at a predetermined distance from the X slider ring 41a below the rollers 42b and 42c. The two rollers 42f and 42g are disposed below the rollers 42d and 42e at a predetermined distance from the flat gear 42ac.
[0023]
The timing belt 42h is formed in a loop shape, passes from the flat gear 42ac through the rollers 42d and 42e, between the rollers 42b and 42c and the X slider ring 41a, and hangs on the rollers 42f and 42g. Has been. The roller 42e is configured to be slightly movable so that the timing belt 42h can be prevented from loosening. The X gear motor 43 is fixed to the frame 46 with screws. The frame 46 is detachably fixed to the main body frame 44 with a screw 45 with an attaching knob so that a helical gear 42i fitted into the rotation shaft 43a of the X gear motor 43 meshes with the helical gear 42ad.
[0024]
As described above, when the X gear motor 43 is driven, the rotational force is transmitted from the helical gear 42i to the flat gear 42ac via the helical gear 42ad, and the timing belt 42h is extended. Since the X slider ring 41a rotates by the feeding of the timing belt 42h pressed against the rollers 42b and 42c, the welding head 1 is moved in the X direction via the head frame 12 fixed to the X slider ring 41a. It becomes possible.
[0025]
Next, the detailed structure of the x drive mechanism 5 will be described with reference to FIG. The x drive mechanism 5 is roughly composed of an x drive unit 51, an x drive force transmission unit 52, and an x gear motor 53.
The x drive unit 51 includes an x slider 51a and a guide 51b. The x slider 51a is a linear bearing, and is fixed to the frame 46 so that the longitudinal direction is the x direction. The guide 51b is formed in a rod shape and is fitted into a groove 51aa formed in the x slider 51a.
Thereby, the x slider 51a can be moved in the x direction along the guide 51b.
[0026]
The x driving force transmission unit 52 includes a rack 52a and a pinion gear 52b. The rack 52a is fixed to the frame 46 so that the longitudinal direction is the x direction. The x gear motor 53 is fixed to the frame 47 with screws. The frame 47 is screwed to the frame 48 so that a pinion gear 52b fitted to the rotation shaft 53a of the x gear motor 53 is engaged with the rack 52a. A guide 51 b is fixed to the frame 47.
As described above, when the x gear motor 53 is driven, the rotational force is transmitted to the rack 52a via the pinion gear 52b. Since the x slider 51a moves along the guide 51b, the welding head 1 can be moved in the x direction together with the X drive mechanism 4.
[0027]
Next, the detailed structure of the Z drive mechanism 6 will be described with reference to FIG. The Z drive mechanism 6 is mainly composed of a Z drive force transmission unit 61 and a Z gear motor 62.
The Z driving force transmission unit 61 includes a ball screw 61a and a ball screw 61b. The ball screw 61a is fixed to the frame 48 so that the axis is in the Z direction. The Z gear motor 62 is fixed to the frame 49 with screws. The frame 49 is screwed to the frame 50 so that a ball screw 61b fitted into the rotation shaft 62a of the Z gear motor 62 is engaged with the ball screw 61a.
As described above, when the Z gear motor 62 is driven, the rotational force is transmitted to the ball screw 61a via the ball screw 61b. Since the frame 48 moves, the welding head 1 can be moved in the Z direction.
[0028]
Next, the detailed structure of the Y drive mechanism 7 will be described with reference to the side views of FIGS. The Y drive mechanism 7 is roughly composed of a Y drive unit 71, a Y drive force transmission unit 72, and a Y gear motor 73.
The Y drive unit 71 includes a Y slider 71a and a guide 71b. The Y slider 71a is a linear bearing, and is fixed to the pipe gripping mechanism 2 so that the longitudinal direction is the Y direction. The guide 71b is formed in a rod shape and is fitted into a groove 71aa formed in the Y slider 71a. Thereby, the Y slider 71a can be moved in the Y direction along the guide 71b.
[0029]
The Y driving force transmission unit 72 includes a rack 72a and a pinion gear 72b. The rack 72a is fixed to the frame 20 so that the longitudinal direction is the Y direction. The Y gear motor 73 is fixed to the frame 50 with screws. The frame 50 is screwed to the frame 49 so that a pinion gear 72b fitted into the rotation shaft 73a of the Y gear motor 73 meshes with the rack 72a.
As described above, when the Y gear motor 73 is driven, the rotational force is transmitted to the rack 72a via the pinion gear 72b. And since the flame | frame 50 moves, it becomes possible to move the welding head 1 to a Y direction.
[0030]
Next, the detailed structure of the pipe gripping mechanism 2 will be described with reference to the side views of FIGS. The pipe gripping mechanism 2 is roughly composed of a K drive unit 21, a K drive force transmission unit 22, and a K gear motor 23.
The K drive unit 21 includes two guides 21a, two K sliders 21b, and two gripping portions 21c formed in a substantially L shape. Each guide 21a is formed in a rod shape, and is fixed to the frame 20 so that the longitudinal directions thereof are parallel to each other in the K direction. Each K slider 21b is a linear bearing, and each groove 21ba is fitted in each guide 21a.
[0031]
Each gripping part 21c is fixed with an elastic member 21cb such as rubber having a V-groove 21ca provided at one end inside. And the other end of each holding part 21c is being fixed to each K slider 21b so that each elastic member 21cb may oppose.
Accordingly, each K slider 21b can move in the K direction along each guide 21a, and thus each grip portion 21c can be moved in the Y direction.
[0032]
The K driving force transmission unit 22 includes two racks 22a and a pinion gear 22b, a flat gear 22c and a worm gear 22d, two flat gears 22e and 22f, and a timing belt 22g. Each rack 22a is fixed to each K slider 21b so that the longitudinal direction is the K direction. The pinion gear 22b is disposed at a substantially central portion of the K drive unit 21 so as to mesh with each rack 22a. The shaft 22ba of the pinion gear 22b is fixed to the frame 20 via a bearing 22bb. The flat gear 22c is fixed to one end of the shaft 22ba of the pinion gear 22b. The worm gear 22d is disposed so as to mesh with the flat gear 22c. The shaft 22da of the worm gear 22d is fixed to the frame 20 via a bearing (not shown).
[0033]
The flat gear 22e is fixed to one end of the shaft 22da of the worm gear 22d. The flat gear 22 f is fitted into the rotation shaft 23 a of the K gear motor 23. The timing belt 22g is hung between the flat gear 22e and the flat gear 22f. The K gear motor 23 is fixed to the frame 20 with screws.
As described above, when the K gear motor 23 is driven, the rotational force is transmitted from the flat gear 22f to the flat gear 22e via the timing belt 22g. Further, it is transmitted from the worm gear 22d to each rack 22a via the flat gear 22c and the pinion gear 22b. Since each K slider 21b moves, it is possible to reversely move the gripping portions 21c with each other, widen the interval between the elastic members 21ab and release the pipe P1, and narrow the interval between the elastic members 21ab to grip the pipe P1. It becomes possible.
[0034]
Finally, the detailed structure of the welding head 1 will be described with reference to FIGS. The welding torch 11 includes a wire bending portion 15 that bends the supplied welding wire 13 and bends it in a direction along the axis of the welding nozzle 14, and a straightener that straightens the welding wire 13 that has exited the wire bending portion 15. 16 and a pull roller 17 that pulls the welding wire 13 exiting from the straightener 16 and sends it to the welding nozzle 14. The welding wire 13 is supplied from a wire reel 19 attached to the rear part of the pipe gripping mechanism 2 by a wire feed motor 18.
[0035]
The wire bending portion 15 is composed of a large number of guide rollers. Although not shown, each guide roller is rotatably supported by a frame made of bakelite which is an insulating material.
The straightener 16 is provided immediately above the most-exiting guide roller and directly below the pull roller 17. The right outer peripheral surface of the straightener 16 protrudes slightly so as to push the welding wire 13 to the right side, and corrects the bending of the welding wire 13 attached by the wire bending portion 15 in the opposite direction. The protruding amount of the straightener 16 can be adjusted by an adjusting mechanism (not shown).
[0036]
The pull roller 17 is placed immediately above the straightener 16. A pressing roller (not shown) presses the welding wire 13 against the pulling roller 17, and the pulling roller 17 is driven to rotate to pull out the welding wire 13 from the wire bending portion 15 and to push it into the welding nozzle 14 described later. The material of the pull roller 17 is SK3 (surface hardening). The pressing pressure of the pressing roller can be adjusted by an adjusting mechanism (not shown).
The welding torch 11 has a wire bending portion 15 formed of a roller array, and the friction resistance is small even if the bending radius of the welding wire 13 is small. Further, since the welding wire 13 is pulled and driven by the pull roller 17 on the exit side of the wire bending portion 15, the wire feeding is smooth and the feeding of the welding wire 13 to the welding pool is stabilized.
[0037]
【The invention's effect】
As is clear from the above description, according to the present invention, since the structure is simplified, the circumference of the pipe can be automatically welded even if the pipe diameter is small. In addition, since the X driving portion to which the welding head is fixed is formed in an arc shape, the pipe can be taken in and out from the cutout portion, and the welding work efficiency can be improved. In addition, since the Z driving force transmission unit and the Z motor and the Y driving force transmission unit and the Y motor are individually provided, each can be controlled independently, and even if the welding position is slightly deviated, the position can be easily adjusted to the Z direction. The positioning accuracy and the positioning accuracy in the Y direction can be improved. In addition, since the K drive unit can support the whole pipe circumference automatic welding device by pinching the outer periphery of the pipe from both sides, the pipe can be supported even if the pipe has a small diameter, and welding is ensured. It can be carried out.
[Brief description of the drawings]
FIG. 1 is a partially sectional plan view showing a configuration of a pipe circumference automatic welding apparatus according to an embodiment of the present invention.
FIG. 2 is a partial cross-sectional side view showing a configuration of a pipe circumference automatic welding apparatus according to one embodiment of the present invention.
FIG. 3 is a partial cross-sectional side view showing a detailed configuration of an X drive mechanism of the pipe circumference automatic welding apparatus according to one embodiment of the present invention.
FIG. 4 is a partial cross-sectional top view showing a detailed configuration of an X drive mechanism of the pipe circumference automatic welding apparatus according to one embodiment of the present invention.
FIG. 5 is a partial cross-sectional side view showing a detailed configuration of a pipe gripping mechanism of a pipe circumference automatic welding apparatus according to one embodiment of the present invention.
FIG. 6 is a perspective view showing a configuration of a conventional pipe circumference automatic welding apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Welding head 2 Pipe gripping mechanism 3 Movement mechanism 4 X drive mechanism 5 x drive mechanism 6 Z drive mechanism 7 Y drive mechanism 11 Welding torch 12 Head frame 13 Welding wire 14 Welding nozzle 15 Wire bending part 16 Straightener 17 Pull roller 18 Wire feed Motor 19 Wire reel 20 Frame pinion 21 K driving part 21a Guide 21b K slider 21c Holding part 22 K Driving force transmitting part 22a Rack 22b Pinion gear 22c Flat gear 22d Worm gear 22e Flat gear 22f Flat gear 22g Timing belt 23 K gear motor 41 X Driving part 41a X slider ring 41b Guide ring 41c Support ring 42 X Driving force transmission part 42a Gear 42b to 42g Roller 42h Timing belt 42i Helical gear 43 X Amotor 44 Main body frame 45 Screws with attached knob 46-50 Frame 51 x Drive part 51a x Slider 51b Guide 52 x Driving force transmission part 52a Rack 52b Pinion gear 53 x Gear motor 61 Z Driving force transmission part 61a Ball screw 61b Ball screw 62 Z Gear motor 71 Y drive part 71a Y slider 71b Guide 72 Y drive force transmission part 72a Rack 72b Pinion gear 73 Y gear motor

Claims (6)

A pipe circumference automatic welding device having a welding head equipped with a welding torch and automatically welding the circumference of the pipe;
A moving mechanism that mounts the welding head and moves it in a predetermined direction;
A gripping mechanism mounted with a moving mechanism and gripping a pipe ,
The moving mechanism moves the welding head along a welding line extending in the circumferential direction (X direction) of the pipe (X driving mechanism), and two directions (Y direction, Z direction) in a plane intersecting the welding line ), A mechanism for moving the X drive mechanism in the Z direction (Z drive mechanism) and a mechanism for moving the Z drive mechanism in the Y direction (Y drive mechanism). Welding equipment. The X driving mechanism is formed in an arc shape, and a driving unit (X driving unit) that rotates in the X direction with the welding head fixed, and a driving force transmission unit (X driving) that transmits a driving force to the X driving unit. a force transfer portion), a motor (X motor for generating the driving force) and pipe circumferential automatic welding device according to claim 1, characterized in that it comprises. The Z drive mechanism transmits a drive force for moving the plate on which the X drive mechanism is fixed in the Z direction (Z drive force transmitter), and a motor (Z motor) for generating the drive force The pipe circumference automatic welding apparatus according to claim 1, wherein: The Y driving mechanism transmits a driving force (Y driving force transmitting portion) for transmitting a driving force for moving the plate on which the Z driving mechanism is fixed in the Y direction, and a motor (Y motor) for generating the driving force. The pipe circumference automatic welding apparatus according to claim 1, wherein:   A drive unit (K drive unit) that grips and grips the outer periphery of the pipe from both sides (K direction); a drive force transmission unit (K drive force transmission unit) that transmits drive force to the K drive unit; The pipe circumference automatic welding apparatus according to claim 1, further comprising a motor (K motor) that generates a driving force to the K drive unit. A welding head equipped with a welding torch;
Of the mechanism (X drive mechanism) for moving the welding head along the weld line extending in the circumferential direction (X direction) of the pipe and the two directions (Y direction, Z direction) in the plane intersecting the weld line, Z A movement mechanism comprising: a mechanism for moving the X drive mechanism in the direction (Z drive mechanism); and a mechanism for moving the Z drive mechanism in the Y direction (Y drive mechanism);
A gripping mechanism mounted with a moving mechanism and gripping a pipe,
A pipe circumference automatic welding device for automatically welding the circumference of a pipe;
The X driving mechanism is formed in an arc shape, and a driving unit (X driving unit) that rotates in the X direction with the welding head fixed, and a driving force transmission unit (X driving) that transmits a driving force to the X driving unit. Force transmission unit) and a motor (X motor) that generates the driving force,
The Z drive mechanism transmits a drive force for moving the plate on which the X drive mechanism is fixed in the Z direction (Z drive force transmitter), and a motor (Z motor) for generating the drive force And
The Y driving mechanism transmits a driving force (Y driving force transmitting portion) for transmitting a driving force for moving the plate on which the Z driving mechanism is fixed in the Y direction, and a motor (Y motor) for generating the driving force. And
A drive unit (K drive unit) that grips the pipe by sandwiching the outer periphery of the pipe from both sides (K direction); a drive force transmission unit (K drive force transmission unit) that transmits drive force to the K drive unit; A pipe circumferential automatic welding apparatus comprising a motor (K motor) that generates a driving force to a K driving unit.

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