西班牙专利ES2614746A1 Knot manufacturing system and procedure (Machine-translation by Google Translate, not legally bindin

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专利摘要:
Knot manufacturing system and procedure. The knot manufacturing system comprises first image acquisition means, a welding system, a seal follower, control means and a positioning system. The positioning system comprises a lifting trolley, a main beam supported on the tilting lifting trolley, two mobile arms arranged on the main beam and provided with fastening means to hold the knot and turning means for turning it. The welding system comprises a welding torch and a welding robot. The control means are configured to control in a coordinated manner the movement of the welding robot and the positioning of the knot established by the positioning system and to correct the welding path based on data of the joint between the at least one graft and the tube. Principal obtained by the board follower. (Machine-translation by Google Translate, not legally binding)
公开号:ES2614746A1
申请号:ES201531742
申请日:2015-12-01
公开日:2017-06-01
发明作者:José Antonio PATIÑO SAMPEDRO；José Carlos YAÑEZ PÉREZ；Manuel VILLADÓNIGA AMOR；José Ramón FRANCO CAAVEIRO；Daniel GESTO RODRIGUEZ
申请人:Artabro Samdeu Sl；Electrorayma SL；Artabro Samdeu S L；Electrorayma S L；Intaf Promecan Slu；Navantia S A；NAVANTIA SA；
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专利说明:

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DESCRIPTION
KNOT MANUFACTURING SYSTEM AND PROCEDURE
OBJECT OF THE INVENTION
The present invention is directed to a system and a manufacturing process for knots, in particular knots for "jacket" structures.
BACKGROUND OF THE INVENTION
The installation of offshore wind farms for the production of electric energy from the wind in marine areas with depths greater than 40 m is becoming more frequent, as sites with smaller depths are exhausted. At these depths, the submerged part of the wind generator's support structure is generally a reticular structure obtained by welding large-sized linear tubular elements. This type of structure is generally known as "jacket".
The nodes are the parts of the reticular structure where the meeting of the linear elements occurs, forming variable angles that greatly complicate the automated manufacture of this type of structures. In the context of the present invention, the tubular element to which at least one additional tubular element is welded, which will be called "graft," will be called "main tube."
In addition, for each wind farm a structure design adapted to the specific characteristics of the site, such as soil, winds, tides, etc., is necessary, which also varies the preparation of the variable angle of the grafts that, together with the tube Main, make up the knot. All this means that the current robotic welding systems are not valid for the automation of the welding of these structures, so the usual procedure used in these cases is manual welding.
US2015060436A1 describes a system for welding the ends of two metal pipes. This system does not allow welding in a circular joint with variable angle and width, as required in reticular structures of type "jacket".
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DESCRIPTION OF THE INVENTION
The present invention presents a node manufacturing system according to claim 1 and a node manufacturing process according to claim 15, the nodes of the type comprising a main tube and at least one graft connected to the main tube. The dependent claims define preferred embodiments of the invention.
In a first inventive aspect a node manufacturing system is proposed comprising a positioning system, first image captation means, a welding system, a joint follower and control means.
The positioning system comprises an elevation carriage, movable in an elevation direction and a main beam supported on the carriage. The main beam is connected to the lifting carriage with the ability to swing with respect to a tilt axis. The main beam comprises two mobile arms, movable in a direction of travel and provided with fastening means configured to hold the main tube of the weld node and rotating means configured to rotate the main tube with respect to a rotation axis. In one embodiment, the main beam is connected to the lifting carriage by means of a rotating crown.
Preferably, the direction of elevation coincides with the direction of gravity. Preferably, the axis of rotation is parallel to the direction of travel. Preferably, the axis of tilt is perpendicular to the direction of elevation.
In a preferred embodiment, the displacements in the direction of elevation and / or in the direction of displacement are limited with limit switches defined by structural means and / or software limitations established by the control means. The tilting movement of the main beam may also be limited, for example by means of the control means. Advantageously, the limitation of displacement and / or tilting movements prevents collisions of the mobile elements with other elements of the knot manufacturing system.
The first image collection means are provided for the image capture of the node arranged in the positioning system in a situation of use of the manufacturing system. By means of the first image collection means, the dimensional control of the node is carried out and the origin of the node is defined to establish the reference for its
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comparison with the reference node. The first image captation means may be arranged in the node manufacturing system in a fixed manner, provided that their field of vision contains the space provided for the location of the node or in a movable and / or orientable manner, to facilitate the capture of Node images arranged in the positioning system. In one embodiment, the first image acquisition means are arranged above the main beam.
The welding system comprises a welding robot provided with movement capacity in three directions of translation and three directions of rotation and a welding torch supported on the welding robot.
The joint follower is also mounted on the welding robot. The function of the joint follower is to recognize the joint between the main tube and the graft to be welded.
The control means are configured to:
establish a reference rotation position of the node to be welded with respect to the axis of rotation,
actuate the first image collection means to capture an image of the node to be welded in the reference rotation position,
determine in the captured image the position of the union of at least one graft and the main tube of the knot to be welded,
compare the position of the union of the at least one graft and the main tube of the node to be welded with the position of the union of the at least one graft and the main tube of a reference node, resulting in a deviation value,
control the movement of the welding robot and the positioning of the node established by the positioning system to follow a pre-established welding path of the welding torch with respect to the node, using the deviation value to establish the initial welding point,
coordinately control the movement of the welding robot, the swinging of the main beam and the means of rotation of the mobile arms to position the welding torch and the knot so that the area to be welded from the knot is always in a plane substantially perpendicular to the welding torch, and
correct the welding path based on joint data between the at least one graft and the main tube obtained by the joint follower.
In the context of the present invention, it will be understood that "substantially perpendicular"
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It includes deviations from the perpendicularity of up to 10 °.
The reference rotation position with respect to the axis of rotation is established as a reference for the image capture of the node before, during and / or after the welding procedure, and for comparison with the reference node, so that the images compared correspond to the same position of rotation of the node with respect to the axis of rotation. The reference rotation position of the node is set for a tilting position of the main beam relative to the tilting axis, preferably the position in which the main beam is arranged substantially horizontal, that is, substantially perpendicular to the direction of gravity.
The deviation value obtained by comparing the position of the graft joint and the main tube in the node to be welded with the position of the graft joint and the main tube in the reference node provides the graft displacement of the positioned node in the positioning system with respect to the position of the graft in the reference node, in the work plane in which the images are captured by the first image collection means. The deviation value is used to establish the starting point of the weld.
Preferably, the relative positioning of the welding torch and the node to meet the perpendicularity condition between welding torch and the area to be welded is performed as described below. The plane tangent to the main tube at a welding point and the plane tangent to the graft at the same welding point form a dihedral angle and are cut into a cutting line, which is tangent to the welding path. The positioning is carried out so that the welding torch is arranged in the bisector plane of said dihedral angle, perpendicular to the cutting line and pointing towards the welding point. It will be understood that the bisector plane of the dihedral angle is the plane that contains the straight line and divides said dihedral angle into two equal dihedral angles. In the case where the plane tangent to the main tube and the plane tangent to the graft at the welding point are coplanar, the torch is arranged perpendicular to said planes and pointing towards the welding point. The "substantially perpendicular" condition includes deviations of up to 10 ° from the perpendicularity in the relative positioning described between torch and area to be welded.
The control means may be implemented in a single device or device or in several interconnected devices or devices.
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The present invention allows the automatic welding of a circular joint with variable angle and width, by means of the coordinated control of the position of the welding torch established by the welding robot and of the position of the node established by the positioning system. The system compares the theoretical or pre-established welding path of the knot to be manufactured with the actual readings it receives from the joint follower, correcting the relative position between welding torch and knot so that the area to be welded defined by the welding path is always find in a plane substantially perpendicular to the welding torch. Preferably, the relative position between welding torch and knot is corrected by modifying the position of the knot by means of the positioning system, in particular by tilting the main beam and / or by rotating the knot with respect to the axis of rotation. However, the relative position between welding torch and knot can also be modified by modifying the position of the welding torch, especially at the points of the difficult to access joint, or even by modifying both the position of the knot and the position of the welding torch. welding.
Preferably, the control means are configured to control the positioning of the knot and the welding torch so that the plane in which the area to be welded is located during welding is substantially horizontal, in addition to substantially perpendicular to the torch of welding. In other words, the welding torch is arranged substantially vertically. In the context of the present invention the plane perpendicular to the direction of gravity will be interpreted as a horizontal plane and will be interpreted as "substantially horizontal" as including deviations from horizontality of up to 10 °.
The present invention allows the welding of the knot in plane, in position 1G (Flat position), with which it is possible to obtain the highest quality, the highest possible deposition rate and, therefore, the maximum efficiency in the process.
The present invention allows the manufacture of all types of knots in an automated way, which in turn allows mass production, without the need for skilled and qualified welder personnel. In addition, the time and effort required for the preparation of the grafts is reduced, by absorbing possible geometry deviations by the joint follower. All this results in a cost savings of close to 70% compared to the manual systems currently used.
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In one embodiment, the node manufacturing system comprises second image captation means, which in turn comprise a thermographic camera and / or an ultrasonic sensor, preferably arranged on an orientable support. Advantageously, the second image collection means allow checking the quality of the welding performed and detecting possible defects. In one embodiment the second image collection means are arranged in the welding robot.
In one embodiment, the first image acquisition means comprises a camera and lighting means. In a preferred embodiment the lighting means are substantially annular and the chamber and the lighting means are arranged concentrically.
In one embodiment, the positioning system comprises a hydraulic positioning system to support the movement of the two mobile arms on the main beam.
In one embodiment, the turning means included in the mobile arms comprise a rotating crown.
In one embodiment, the fastening means included in the mobile arms comprise friction clamping means for fastening the main tube of the knot.
In one embodiment, the turning means of one of the mobile arms are motorized and the turning means of the other mobile arm have free turning capacity, that is, they are configured to rotate freely.
In one embodiment, the control means are additionally configured to actuate the first image collection means to capture an image of the welded node in its reference rotation position, and to determine the position of the at least one graft in the welded node. In a preferred embodiment, the control means are further configured to determine if the position of the at least one graft in the welded node is within a pre-established tolerance range. During the welding process, deformations greater than the design tolerance may occur, which would invalidate the manufactured knot. Advantageously, this embodiment allows real-time dimensional control to be carried out to ensure that deformations greater than the permissible tolerances do not occur. This dimensional control can be performed by comparing the position of the
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grafts in the welded node with the positions of the grafts in a reference node and taking into account a tolerance margin that defines the permissible deviations.
Additionally or alternatively, in one embodiment the control means are configured to determine the position of the at least one graft in the knot to be welded from an image of the knot to be welded in its reference rotation position, and to determine the deviation of the position of the at least one graft in the welded knot with respect to the position of the at least one graft in the weld knot. Advantageously, deviations in the position of the grafts originated during the welding process can be detected in this embodiment.
In a second inventive aspect, a node manufacturing process is presented, which comprises the following steps:
provide a knot manufacturing system according to the first inventive aspect; arrange the knot to be welded in the positioning system, holding the two ends of the main tube by means of securing the movable arms and the at least one graft being mounted on the main tube of the knot;
establish a reference rotation position of the node to be welded with respect to the axis of rotation,
actuate the first image captation means to capture an image of the knot to be welded in its reference rotation position;
determine in the captured image the position of the union of at least one graft and the main tube of the knot to be welded;
compare the position of the union of the at least one graft and the main tube of the node to be welded with the position of the union of the at least one graft and the main tube of a reference node; Y
weld the node by controlling the movement of the welding robot and the positioning of the node established by the positioning system to follow a pre-established welding path of the welding torch with respect to the node, using the deviation value to establish the initial welding point ;
coordinately control the movement of the welding robot, the swinging of the main beam and the means of rotation of the mobile arms to position the welding torch and the knot so that the area to be welded from the knot is always in a plane substantially perpendicular to the welding torch;
inspect, during the development of the welding path, the joint between the at least one graft and the main tube by the joint follower and, in case of deviation
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Regarding the joint of the reference node, correct the welding path based on the data obtained by the joint tracker.
The theoretical or pre-established welding trajectory can be obtained from a three-dimensional model of the node to be manufactured, for example by applying CAD / CAM tools applied to the joint between the main tube and the grafts. The adjustment of the initial welding point associated with the node to be welded is obtained by capturing images by the first means of image capture in the reference rotation position and its comparison with the reference node, which allows determining if there is a deviation from that point with respect to its theoretical position. In the development of the welding path, the joint follower is responsible for identifying geometric parameters of the joint between the main tube and the graft (known as the theoretical geometry thereof), for example using 3D laser vision and / or electric followers. The data obtained by the joint follower are sent to the control means, which allows to determine if there is a deviation between the theoretical welding trajectory and its realization at each point. If there is a deviation, the control means adjust the welding path to correct the deviation at each point, correcting the pre-established trajectory based on the data obtained by the joint follower.
Preferably, the control of the positioning of the knot and the welding torch is carried out so that the plane in which the area to be welded is located during welding is substantially horizontal, in addition to perpendicular to the welding torch.
In one embodiment, the method further comprises operating the first image acquisition means to capture an image of the welded node in its reference rotation position and determine the position of the at least one graft in the welded node. In a preferred embodiment, the method further comprises determining whether the position of the at least one graft in the welded knot is within a pre-established tolerance range. Additionally or alternatively, in one embodiment the method comprises determining the position of the at least one graft in the knot to be welded from an image of the knot to be welded in its reference rotation position and determining the deviation of the position of the less a graft in the welded knot with respect to the position of the at least one graft in the weld knot.
Throughout the application, "knot to be welded" means the node in its initial state before the welding process, with at least one graft mounted on the main tube and fixed to the
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provisionally, for example by means of a weld root pass, and by "welded knot" the knot resulting from the manufacturing process, after the welding process.
In one embodiment, the reference rotation position of the node is established as that which provides a maximum visible area of the node in the image captured by the first image captation means. In another embodiment, the reference rotation position is established as the rotation position that provides a maximum visible area of one or more specific grafts in the image captured by the first image collection means. In another embodiment, the reference rotation position is established as the rotation position that provides a maximum visible angle between the main tube and a graft in the image captured by the first image collection means.
In one embodiment, the method further comprises checking the quality of the weld by means of a thermographic camera and / or an ultrasonic sensor.
All features and / or the procedural steps described herein (including the claims, description and drawings) may be combined in any combination, except for combinations of such mutually exclusive features.
DESCRIPTION OF THE DRAWINGS
These and other features and advantages of the invention will become more clearly apparent from the detailed description that follows in a preferred embodiment, given only by way of illustrative and non-limiting example, with reference to the accompanying figures. .
Figure 1 shows an example of a knot.
Figures 2 and 3 show a system of manufacturing knots according to an embodiment of the invention.
Figures 4 to 7 show four views of the node manufacturing system of Figures 2 and 3.
Figure 8 shows a detail of the node manufacturing system according to an embodiment of the invention.
Figures 9 and 10 show the arrangement of the first image acquisition means in an embodiment of the invention.
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Figure 11 shows a reference node in a maximum area view, with the grafts marked in a thick line.
Figure 12 shows the determination of the horizontal displacement of a node with respect to a reference node.
Figure 13 shows the allowable tolerance range for an example of a node. DETAILED EXHIBITION OF THE INVENTION
Figure 1 shows an example of a node (1), of the type comprising a portion of main tube (2) and at least one graft (3), also tubular, coupled to the main tube. In this specific example, the node (1) has four grafts (3).
In Figures 2 and 3, two perspective views of a node manufacturing system according to an embodiment of the invention are shown. These figures show a positioning system, a welding system, first image capture means (20), a joint follower (21) and second image capture means (22). The figures also show a knot (1) mounted on the positioning system. The node manufacturing system additionally includes control means, not shown in the figures.
In this embodiment, the positioning system comprises a main bed (17), on which the gtias of an elevation mechanism that allows the ascent and descent of a lifting carriage (5) according to a lifting direction (x1) are arranged. Mounted on said lifting carriage (5) is the main beam (6), which is supported on the carriage (5) with the ability to rotate on a rotating crown (11) arranged on the carriage (5) . Thus, the main beam (6) is movable in the direction of elevation (x1) defined by the guides of the elevation mechanism and has the ability to swing with respect to a tilt axis (x2) defined by the axis of rotation of the crown swivel (11). Preferably, the direction of elevation (x1) coincides with the direction of gravity and the guides of the elevation mechanism are vertical.
The main beam (6) comprises two mobile arms (7, 8), movable on the main beam in a direction of travel (x3), which coincides with the longitudinal direction of the main beam (6). Both arms (7, 8) include clamping means (15, 16), in particular a clamping system by friction by means of claws configured to hold the knot (1) inside the main tube (2) during the entire welding process .
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In this embodiment the turning means of one of the arms (8) are motorized and the turning means of the other arm (7) have free turning capacity. The figure shows the drive mechanism (13) of the motorized arm. In this embodiment each arm (7, 8) incorporates a rotating crown, which in the case of the motorized spleen (8) is operated by a servo motor reducer. The crown of the arm (7) with turning means configured for free rotation does not have drive means. In a situation of use of the manufacturing system, in which the main tube (2) of the node (1) is held between the mobile arms (7, 8), as shown in Figures 2 and 3, the means of Free rotation of one of the arms (7) allows the rotation of the sustained knot caused by the means of rotation of the other arm (8). In this embodiment, the main beam (6) additionally includes a hydraulic positioning system (12), which allows both movable arms (7, 8) to be integral with their displacement on the main beam (6).
Figures 4 to 7 show views of the positioning system and the welding system of the manufacturing system of knots of Figures 2 and 3. In these figures are also represented in dashed lines the movements made by the positioning system, specifically the movement in the direction of elevation (x1), movement in the direction of travel (x3), rotation of the knot with respect to the axis of rotation (x4), and rotation of the main beam with respect to the axis of tilt (x2). Preferably, the axis of rotation (x4) is parallel to the direction of travel (x3). Preferably, the tilt axis (x2) is perpendicular to the direction of elevation (x1). It will be understood that the axis of rotation and the axis of tilt are the straight lines with respect to which the respective rotation movement is performed and which do not necessarily correspond to material axes.
In one embodiment, the movements in the direction of elevation (x1) and in the direction of travel (x3), driven by motors, are controlled by a PLC (Programmable Logic Controller), since they do not require a movement coordinated with the welding robot (10), but used to position the knot (1) to be welded at the beginning of the process. A power module that reduces the harmonic interference produced by the motor frequency inverters in the rest of the system can be used to power the motor control equipment.
A detail of the upper part of the node manufacturing system according to an embodiment of the invention is shown in Figure 8. This figure shows the welding torch (9), the second image captation means (22) and the joint follower (21) mounted
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in the welding robot (10). The welding robot (10) is provided with movement capacity in three directions of translation and three directions of rotation. In a preferred embodiment, the welding robot has integrated control means, for example a DX100 controller equipped with an integrated PLC.
In a situation of use of the manufacturing system, the tilt movement with respect to the tilt axis (x2) and the rotation of the knot with respect to the axis of rotation (x4) are controlled during the welding operation in a coordinated manner with the execution of movements made by the welding robot (10) and so that the area to be welded from the knot (1) is always in a plane substantially perpendicular to the welding torch (9). Preferably, said movements of the knot and the welding robot are controlled by means of control integrated in the welding robot (10). Preferably, the rotation of the main beam (6) with respect to the axis of tilt (x2), the rotation of the node with respect to the axis of rotation (x4) and the movement of the welding robot (10) are controlled so that the The area to be welded from the node (1) is always in a substantially horizontal plane, with the welding torch arranged in a substantially vertical position and acting on the node (1) from above.
In figures 9 and 10 the arrangement of the first image captation means (20) in an embodiment of the invention is shown. The first image collection means (20) allow dimensional control of the main tube (2) and grafts (3) that make up the knot (1) in their positioning and adjustment prior to welding, as well as the dimensional control of the knot (1) during and after the welding process, in order to check the possible deviation of the welded knot beyond the allowable tolerances. In one embodiment, the first image collection means (20) comprises a camera and lighting means.
In one embodiment, the camera of the first image collection means is arranged in a support structure (14) 2.5 m high from the theoretical measurement plane (see figures 9 and 10), that is, the plane where dimensional control measurements of the node are carried out. Preferably, said measurement plane is parallel to the ground. In figures 9 and 10 the field of vision of the first image collection means (20) is represented as a scratched area, a field of vision that includes the area intended to place the knot to be welded in a situation of use of the manufacturing system . The support structure of the first image collection means (20) can be height-adjustable to facilitate its installation and initial adjustment. In the support structure can be
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arranged also means of illumination, which allows to obtain images of greater quality, thanks to the possibility of regulating the luminous intensity. In one embodiment the camera and the lighting means are arranged concentrically.
The initial adjustment process includes establishing for each node the reference rotation angle with respect to the axis of rotation (x4) corresponding to the position of the node in which the measurements for its dimensional control will be taken. In one embodiment, the reference rotation position is chosen as the knot rotation position that provides the maximum area of visible knot from the first image captation means (20). This criterion of selection of reference rotation position is especially advantageous in nodes with coplanar grafts, as in the case of Figures 11 and 12, but can also be applied to nodes with non-coplanar grafts, conditioned to the visualization of a defined set and Limited knot grafts. In the case of coplanar grafts, the maximum area position can be determined as the minimum visible area position from the first image capture means rotated by an additional 90 ° with respect to the axis of rotation (x4), which corresponds to the view shown in Figure 11
Another possible criterion for selecting the reference rotation position is the maximum visible angle between graft and main tube. The maximum angle between graft and main tube obtained in a plan perspective, marks the reference position in rotation in which said graft is placed in the horizontal position. According to this criterion, the rotation position of the node that provides the maximum angle between graft and main tube visible from the first image collection means (20) is chosen as the reference rotation position.
To establish the origin of the node, an image of the node to be welded in its reference rotation position is captured by the first image collection means, in this embodiment corresponding to the maximum area position, and reference points thereof are determined. , corresponding in this embodiment to the end points of the joint between at least one of the grafts (3) and the main tube (2) of the knot visible in the captured image. Figure 12 shows an image of a node in its maximum area position, together with the reference points of the reference node (X1 ’, X2’). It can be seen that the union between each graft and the main tube appears in the image captured as a curved line and the reference points (X1, X2) of the node correspond in this embodiment to the ends of said line. Said reference points (X1, X2) are compared with corresponding reference points (X1 ’, X2’) of the reference node, preferably stored in memory media accessible to the control means, and the
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Node displacement relative to the reference node in the horizontal direction, that is, in the measurement plane. In this way the deviation value (Ax) or horizontal displacement of the weld node is determined with respect to the welding coordinates of the reference node. The results obtained are stored for later use during the welding process.
In one embodiment, the system is further configured to measure angular distortions produced after finishing the welding of the knot. This allows a diagnosis of the dimensional quality of the knot to be issued based on pre-established tolerance criteria. For this, the node manufacturing system determines the position of the grafts in the welded node from an image of the welded node in its reference rotation position (corresponding in this embodiment to the maximum area position) captured by the first image captation means (20) and determines if the position of the grafts in the welded node is within a pre-established tolerance range. An example of a reference node and the area of tolerances acceptable for deviations from the reference geometry is shown in Figure 13. In this figure the tolerance zone has been represented as a scratched area.
The identification of a reference rotation position of the node makes it possible to correlate the measurements with a specific position of the node, so that there is consistency in the comparisons that can be made between the node to be welded, the welded node and the reference node. Similarly, the establishment of the reference rotation position and the dimensional control in the manufacturing process of a knot are carried out with the main beam arranged in the same position with respect to the direction of elevation and the same tilting position, to that there is coherence in the possible comparisons between the weld node, the welded node and the reference node.
The dimensional control of the node can be carried out after finishing the complete welding process. Additionally or alternatively, dimensional controls can be carried out on partially welded nodes, for example after finishing each pass of a multipass welding process.
The first image collection means (20) may include control means, preferably configured to perform the steps related to dimensional control, for example by means of a program installed in said control means and configured to perform said steps. Alternatively, said steps can be controlled from
external control means to the first image capture means.
According to an embodiment of the process of the invention, before placing the knot in the node manufacturing system, the main tube (2) and the grafts (3) are mounted and the root pass is made. Next, the node (1) is mounted in the positioning system and the information of the node to be welded is loaded, preferably a design of the CAD type reference node. At that time, the camera of the first image collection means (20) comes into operation to locate the origin of the node and thus establish the reference and detect possible deviations from the reference node. The welding robot (10) 10 then recognizes the joint between main tube (2) and graft (3) with the joint follower (21). Once the joint is recognized, the system starts multipass welding according to a pre-established welding sequence based on the reference node. Once all welding passes have been completed, a dimensional control of the node can be carried out based on an image of the welded node captured by the first 15 image collection means (20) and / or an analysis of the quality of the welding by means of the second means Image acquisition (22) to issue the diagnosis of valid or non-valid part.
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权利要求:
Claims (19)
[1]
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1.- System of manufacturing knots (1), being the nodes of the type comprising a main tube (2) and at least one graft (3) connected to the main tube (2), the manufacturing system being characterized by comprising :
a positioning system comprising an elevation carriage (5), movable in a direction of elevation (x1), and a main beam (6) supported on the carriage (5) with the ability to swing with respect to a tilt axis (x2), wherein the main beam (5) comprises two mobile arms (7, 8), movable in a direction of travel (x3), the mobile arms (7, 8) being provided with fastening means configured to hold the main tube (2) of a knot to be welded and of rotation means configured to rotate the main tube (2) with respect to a rotation axis (x4), first image captation means (20),
a welding system, comprising a welding torch (9) and a welding robot (10), wherein the welding robot (10) supports the welding torch (9) and is provided with movement capability in three directions of translation and three directions of rotation,
a seal follower (21), supported on the welding robot (10), and control means configured to:
establish a reference rotation position of the node to be welded with respect to the axis of rotation (x4),
actuate the first image collection means (20) to capture an image of the node to be welded in the reference rotation position,
determine in the captured image the position of the union of at least one graft and the main tube of the knot to be welded,
compare the position of the union of the at least one graft and the main tube of the node to be welded with the position of the union of the at least one graft and the main tube of a reference node, resulting in a deviation value,
control the movement of the welding robot (10) and the positioning of the node (1) established by the positioning system to follow a pre-established welding path of the welding torch (9) with respect to the node (1), using the value deviation to establish the initial welding point,
coordinately control the movement of the welding robot (10), the swinging of the main beam (6) and the means of rotation of the mobile arms to position the welding torch (9) and the knot (1) so that the area to be welded from the node (1) is always in a plane substantially perpendicular to the torch of
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welding (9), and
correct the welding path based on data from the joint between the at least one graft and the main tube obtained by the joint follower (21).
[2]
2. - System of manufacturing knots according to claim 1, characterized in that the control means are configured to control in a coordinated manner the movement of the welding robot (10), the tilting of the main beam (6) and the means of rotation of the mobile arms to position the welding torch (9) and the knot (1) so that the area to be welded from the knot (1) is always in a substantially horizontal plane.
[3]
3. - Node manufacturing system according to any of the preceding claims, characterized in that it comprises second image captation means (22), which in turn comprise a thermographic camera and / or an ultrasonic sensor arranged on an adjustable support.
[4]
4. - Node manufacturing system according to any of the preceding claims, characterized in that the first image collection means (20) comprise a camera and lighting means.
[5]
5. - Node manufacturing system according to the preceding claim, characterized in that the lighting means are substantially annular in shape and because the chamber and the lighting means are arranged concentrically.
[6]
6. - System for manufacturing knots according to any of the preceding claims, characterized in that the main beam (6) is connected to the lifting carriage (5) by means of a rotating crown (11).
[7]
7. - System of manufacturing knots according to any of the preceding claims, characterized in that the positioning system comprises a hydraulic positioning system (12) to make the movement of the two mobile arms (7, 8) on the main beam ( 6).
[8]
8. - System for manufacturing knots according to any of the preceding claims, characterized in that the turning means included in the mobile arms (7, 8) comprise a rotating crown.
5
10
fifteen
twenty
25
30
35
[9]
9. - System of manufacturing knots according to any of the preceding claims, characterized in that the fastening means included in the mobile arms (7, 8) comprise friction mooring means.
[10]
10. - System of manufacturing knots according to any of the preceding claims, characterized in that the means of rotation of one of the mobile arms (7) are motorized and the means of rotation of the other mobile arm (8) have free turning capacity .
[11]
11. - Node manufacturing system according to any of the preceding claims, characterized in that the control means are additionally configured to:
actuate the first image captation means (20) to capture an image of the welded knot in its reference rotation position, and to
determine the position of the at least one graft in the welded knot.
[12]
12. - Node manufacturing system according to claim 11, characterized in that the control means are additionally configured to:
determine the position of the at least one graft in the knot to be welded from an image of the knot to be welded in its reference rotation position, and to
determine the deviation of the position of the at least one graft in the welded knot with respect to the position of the at least one graft in the weld knot.
[13]
13. - Node manufacturing system according to claim 11 or 12, characterized in that the control means are additionally configured to determine if the position of the at least one graft in the welded node is within a pre-established tolerance range.
[14]
14. - Node manufacturing system according to any of the preceding claims, characterized in that the reference rotation position of the node is established as one selected from:
the rotation position that provides a maximum visible area of the node (1) in the image captured by the first image collection means (20),
the rotation position that provides a maximum visible area of at least one graft in the image captured by the first image collection means (20), and
the rotation position that provides a maximum visible angle between the main tube and a graft in the image captured by the first image collection means (20).
5
10
fifteen
twenty
25
30
35
[15]
15. - Procedure of manufacturing knots, characterized by comprising the following stages:
providing a node manufacturing system according to any of the preceding claims;
arrange the knot to be welded in the positioning system, holding the two ends of the main tube (2) by means of securing the movable arms (7, 8) and the at least one graft (3) being mounted on the main tube ( 2) of the knot (1);
establish a reference rotation position of the node to be welded with respect to the axis of rotation (x4),
actuate the first image captation means (20) to capture an image of the node to be welded in its reference rotation position;
determine in the captured image the position of the union of at least one graft and the main tube of the knot to be welded;
compare the position of the union of the at least one graft and the main tube of the node to be welded with the position of the union of the at least one graft and the main tube of a reference node, obtaining as a result a deviation value;
weld the knot by controlling the movement of the welding robot (10) and the positioning of the knot (1) established by the positioning system to follow a pre-established welding path of the welding torch (9) with respect to the knot (1), using the deviation value obtained to establish the initial welding point;
coordinately control the movement of the welding robot (10), the swinging of the main beam (6) and the means of rotation of the mobile arms to position the welding torch (9) and the knot (1) so that the area to be welded from the node (1) is always in a plane substantially perpendicular to the welding torch (9);
inspect, during the development of the welding path, the joint between the at least one graft and the main tube by the joint follower and, in case of deviation from the joint of the reference node, correct the welding path in based on data obtained by the board follower.
[16]
16. - Procedure of manufacturing knots according to revindication 15, characterized in that the coordinated control of the movement of the welding robot (10), the tilting of the main beam (6) and the means of rotation of the mobile arms is performed to position the node (1) so that the area to be welded from the node (1) is in a substantially horizontal plane.
[17]
17. - Method of manufacturing knots according to claim 15 or 16, characterized in that it further comprises the following steps:
actuate the first image captation means (20) to capture an image of the 5 welded knot in its reference rotation position, and
determine the position of the at least one graft in the welded knot.
[18]
18. - Method of manufacturing knots according to claim 17, characterized in that it further comprises the following steps:
10 determine the position of at least one graft in the knot to be welded from a
image of the knot to be welded in its reference rotation position; Y
determine the deviation of the position of the at least one graft in the welded knot with respect to the position of the at least one graft in the weld knot.
15. 19. Procedure for manufacturing knots according to claim 17 or 18, characterized
because it further comprises determining whether the position of the at least one graft in the welded knot is within a pre-established tolerance range.
[20]
20.- Method of manufacturing knots according to any of claims 15 to 19, characterized in that it further comprises checking the quality of the weld
by means of a thermographic camera and / or an ultrasonic sensor.
25

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