ROBOTIZED COMPLEX FOR REPAIR OF DEFECTS OF PIPE WELDING SEAMS MANUFACTURED BY USING LASER WELDING TECHNOLOGY Russian patent published in 2019 - IPC B23P6/00 B23K26/262 B23K26/70 

FIELD: technological processes.

SUBSTANCE: invention relates to a robotic system for repairing defects in welds of pipes manufactured using laser welding technology. Driven transport trolley is mounted for movement along the guides and three robots with accessories are installed on it. Control unit of the trolley drive control, three control units, each of which performs the control function of the respective robot, and the main control unit are introduced into the robot control system. Each robot is designed to perform one of three consecutive operations on the section of a defect in the weld of the pipe in its longitudinal position relative to the rails. In accordance with the sequence of operations, robots are the first six-coordinate robot with an ultrasonic testing device, which is the working body for determining the coordinates of a defect and building a coordinate model of the defect. Second six-axis robot with a milling head, designed to sample the defect based on the coordinate model of the defect. Third six-axis robot with an optical head and equipment for surfacing and wire feeding, designed to melt the sample based on the coordinate model of the defect. In the control system, the first main control unit is connected with the rest of the units for transmitting control actions to the drive of the transport carriage and to the working bodies of the robots.

EFFECT: technical result consists in the maximum possible preservation of the geometry of the weld of pipes at the repair site with minimal metal sampling and minimization of heat input.

1 cl, 2 dwg