Automatic Welding Machine for WAAM(Wire Arc Additive Manufacturing) Method in Nuclear Reactor Piping Replacement

Abstract

The present invention relates to an automatic welding machine using the WAAM (Wire Arc Additive Manufacturing) method for replacing nuclear reactor pipes, and more specifically, to an automatic welding machine using the WAAM method for replacing nuclear reactor pipes that can reduce welding time and cost by applying the WAAM (Wire Arc Additive Manufacturing) method, enables precision welding by allowing welding to be performed in a single step without segmented welding, and minimizes material deformation by controlling thermal stress. The present invention for achieving the above-mentioned purpose is characterized by comprising a fixed plate supported on a welding target, a support frame connected to one side of the fixed plate, a torch installed at the end of the support frame, and a position adjustment unit provided between the support frame and the torch to adjust the position of the torch.

Description

Technology Field

[0001] The present invention relates to an automatic welding machine using the WAAM (Wire Arc Additive Manufacturing) method for replacing nuclear reactor pipes, and more specifically, to an automatic welding machine using the WAAM method for replacing nuclear reactor pipes that can reduce welding time and cost by applying the WAAM (Wire Arc Additive Manufacturing) method, enables precision welding by allowing welding to be performed in a single step without segmented welding, and minimizes material deformation by controlling thermal stress. Background Technology

[0002] Recently, the development of Small Modular Reactors (SMRs), which are integrated with a core, pressurizer, steam generator, and coolant pump within the same pressure vessel, has been attracting attention. Since the heat of radioactive decay, a major cause of nuclear power plant accidents, decreases in scale as the reactor becomes smaller, the aforementioned Small Modular Reactor can drastically reduce the size of the reactor compared to conventional nuclear power plants, making it possible to control the temperature relatively easily even in the event of an unexpected accident.

[0003] Therefore, small modular reactors can be constructed inland rather than on the coast, ensuring stability, expanding installation areas, and securing economic feasibility.

[0004] In addition, by moving the steam generator into the reactor pressure vessel, the entire reactor cooling system, which is very complex and occupies a large volume in large nuclear power plants, can be compressed into a small cylindrical module.

[0005] While the design, configuration, and construction methods of conventional large-scale nuclear power plants vary depending on the installation site and surrounding environment, even for reactors of the same type, Small Modular Reactors are identical modules; therefore, once a license is obtained, the required power generation capacity can be met by connecting as many units as necessary to meet the output energy demands.

[0006] Moreover, interest in the aforementioned Small Modular Reactors is rapidly emerging, driven by the transition to carbon-neutral energy policies and coupled with the significant contraction of the nuclear industry due to safety concerns following major nuclear accidents and radioactive waste issues.

[0007] Meanwhile, the aforementioned small reactor is equipped with a cover and numerous small and medium-sized pipes or nozzles. In particular, many small pipes or nozzles exist in the reactor, steam generator, pressurizer, and the main piping between them, and maintenance work to replace these pipes or nozzles is required when they become old.

[0008] As such, replacing defective pipes or nozzles necessarily involves a welding process; however, welding these small reactors is considerably difficult, and poor welding can lead to very dangerous situations, such as damage to the reactor.

[0009] Therefore, conventionally, welding processes are typically carried out manually by highly skilled welders. However, in environments or spaces where welding equipment is difficult to access, or where welders must assume difficult positions, up to 16% of defects occur, resulting in losses. Furthermore, there are problems in that welding time and costs are significantly incurred due to such manual work.

[0010] In addition, conventionally, when welding J-Groove or pad areas inside a reactor, welding was performed by dividing the weld into 1 / 2 or 1 / 4 using a general welding machine. However, this type of divided welding has problems such as failure of origin realignment and deformation due to thermal stress, as well as reduced precision and difficulty in achieving uniform circular welding. Prior art literature

[0011] Korean Patent Publication No. 10-2024-0170162 (Published Dec. 03, 2024) The problem to be solved

[0012] The present invention was devised to solve the above-mentioned problems, and the objective of the present invention is to provide a WAAM (Wire Arc Additive Manufacturing) automatic welding machine for reactor piping replacement that can reduce time and costs and ensure stable welding quality even in high-temperature environments by applying the WAAM method to automatically weld the welding area.

[0013] In addition, another objective of the present invention is to provide a WAAM type automatic welding machine for reactor piping replacement that enables precision welding by not only continuously rotating the welding torch but also adjusting the rotation radius of the torch in real time, thereby allowing welding to be performed in one go without dividing it into 1 / 2 or 1 / 4 as in conventional methods.

[0014] In addition, another objective of the present invention is to provide a WAAM type automatic welding machine for reactor piping replacement that can suppress electrical noise generated during arc starting by equipping a high-voltage noise removal circuit, and can control thermal stress and minimize material deformation by adding a pulse arc control function to the torch. means of solving the problem

[0015] The present invention for solving these problems is as follows:

[0016] It is characterized by comprising a fixed plate, a support frame connected to one side of the fixed plate, a torch installed at the end of the support frame, and a position adjustment part provided between the support frame and the torch to adjust the position of the torch.

[0017] Herein, a home point adjustment unit is further provided between the fixed plate and the support frame, wherein the home point adjustment unit is characterized by being composed of an X-axis home point adjustment unit that adjusts the position in the X-axis direction and a Y-axis home point adjustment unit that adjusts the position in the Y-axis direction.

[0018] At this time, a rotary assembly for rotating the position adjustment unit is further provided at the end of the support frame, and a rotary bracket to which the position adjustment unit is coupled is installed on the rotary assembly.

[0019] In addition, the position adjustment unit is characterized by comprising a radius adjustment unit installed at the end of the rotary bracket to adjust the distance between the torch and the rotation center of the rotary assembly, and a vertical adjustment unit connected to the radius adjustment unit to adjust the distance between the torch and the welding target.

[0020] Here, the radius adjustment unit comprises a radius guide installed perpendicular to the rotation axis direction of the rotary assembly at the end of the rotary bracket, a radius block that moves along the radius guide, a radius moving bracket installed on the radius block, and a radius cylinder installed on one side of the radius guide to move the radius moving bracket, and the vertical adjustment unit comprises a vertical guide installed in an up-and-down direction at the end of the radius moving bracket, a vertical moving block that moves along the vertical guide, a vertical moving bracket installed on the vertical moving block, and a vertical cylinder installed on one side of the vertical guide to move the vertical moving bracket.

[0021] Meanwhile, a filler material supply unit is installed on one side of the vertical moving bracket to supply a wire-shaped filler material to the end of the torch, and a filler material input control device is installed on one side of a torch bracket installed at the end of the vertical moving bracket to connect the torch to the filler material supply unit to control the supply position of the filler material supplied from the filler material supply unit.

[0022] At this time, the filler material supply unit is characterized by comprising a supply body installed on one side of the vertical moving bracket, a winding spool installed on one side of the supply body for winding the wire-shaped filler material, a supply roller installed on one side of the supply body to support one side of the filler material and move the filler material, and a plurality of auxiliary rollers installed around the supply roller so as to be rotatable and supported from different directions to spread the wire-shaped filler material.

[0023] In addition, the above-described filler material feeding control device comprises a hollow filler material supply head into which the end of the filler material is inserted and supplied to the end of the torch, a rotary motor installed on the torch bracket, a horizontal adjustment unit installed to rotate by the rotary motor to adjust the horizontal position of the filler material supply head, and an up-down adjustment unit installed on the horizontal adjustment unit to adjust the vertical position of the filler material supply head, wherein the filler material supply head is connected to the end of the up-down adjustment unit.

[0024] Here, the horizontal adjustment unit comprises a horizontal adjustment body that rotates at a predetermined angle by the rotary motor, a screw-shaped horizontal adjustment bar installed horizontally on one side of the horizontal adjustment body, a horizontal movement member installed movably on the outer side of the horizontal adjustment bar, and a horizontal adjustment motor installed on one side of the horizontal adjustment body to rotate the horizontal adjustment bar; the vertical adjustment unit comprises an vertical adjustment body installed on one side of the horizontal movement member, a screw-shaped vertical adjustment bar installed vertically on one side of the vertical adjustment body, a vertical movement member installed movably on the outer side of the vertical adjustment bar, and a vertical adjustment motor installed on one side of the vertical adjustment body to rotate the vertical adjustment bar; and the vertical movement member is characterized by having a head bracket installed on which the filler material supply head is installed.

[0025] Additionally, a control device is further provided, wherein the control device controls the position of the torch according to information on the welding area stored internally.

[0026] Here, the control device is characterized by repeatedly using a high current (pulse peak) and a low current (base) for the welding arc current.

[0027] At this time, the control device is characterized by being equipped with a noise filter circuit to suppress electrical noise generated during high-voltage arc starting. Effects of the invention

[0028] According to the present invention with the above-described configuration, by applying the WAAM (Wire Arc Additive Manufacturing) method to automatically weld the welded area, it is possible to reduce time and costs, as well as ensure stable welding quality even in high-temperature environments.

[0029] In addition, the present invention not only allows the welding torch to be continuously rotated but also allows the rotation radius of the torch to be adjusted in real time, so that welding can be done in one go without dividing it into 1 / 2 or 1 / 4 as in conventional methods, thus enabling precision welding.

[0030] In addition, the present invention is equipped with a high-voltage noise removal circuit to suppress electrical noise generated during arc starting, and by adding a pulse arc control function to the torch, it has the effect of controlling thermal stress and minimizing deformation of the material. Brief explanation of the drawing

[0031] FIG. 1 is a perspective view of a WAAM type automatic welding machine for replacing reactor piping according to the present invention. FIG. 2 is an exploded perspective view of a WAAM type automatic welding machine for replacing reactor piping according to the present invention. FIG. 3 is an exploded perspective view of the origin adjustment unit of a WAAM type automatic welding machine for replacing reactor piping according to the present invention. FIG. 4 is a perspective view of the position adjustment unit of a WAAM type automatic welding machine for replacing reactor piping according to the present invention. FIG. 5 is an exploded perspective view of the position adjustment unit of a WAAM type automatic welding machine for replacing reactor piping according to the present invention. FIG. 6 is a perspective view of the filler material supply section of a WAAM type automatic welding machine for reactor piping replacement according to the present invention. FIG. 7 is a perspective view of a filler material feeding control device for a WAAM type automatic welding machine for reactor piping replacement according to the present invention. FIG. 8 is an exploded perspective view of a filler material feeding control device for a WAAM type automatic welding machine for reactor piping replacement according to the present invention. Figure 9 is an example diagram showing the welded parts of a nuclear reactor. Specific details for implementing the invention

[0032] Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings. Identical components in the drawings are denoted by the same reference numerals, and redundant descriptions of identical components are omitted. Furthermore, it should be understood that the present invention can be implemented in a number of different forms and is not limited to the described embodiments.

[0033] The present invention relates to a WAAM (Wire Arc Additive Manufacturing) automatic welding machine for replacing nuclear reactor piping, and as shown in FIGS. 1 to 9, the configuration comprises a fixed plate (100), a support frame (300) connected to one side of the fixed plate (100), and a torch (500) installed at the end of the support frame (300).

[0034] Here, a position adjustment unit (400) is further provided between the support frame (300) and the torch (500), and the position adjustment unit (400) adjusts the position of the torch (500) to perform welding along the welding area located on the welding target.

[0035] At this time, although not shown in the drawing, a control device (not shown) is further provided on one side or outside of the support frame (300), and the control device controls the position adjustment unit (400) according to information on the welding area stored in a memory provided inside, thereby moving the torch (500) to automatically perform welding.

[0036] In other words, in the present invention, the WAAM (Wire Arc Additive Manufacturing) method is applied so that the torch (500) can be moved through the control device, and by controlling the position of the torch (500) through welding area information stored in memory, welding is performed automatically. Accordingly, not only can the time and cost required for welding be reduced, but the worker's exposure to radiation can also be minimized because the worker does not perform the welding directly, and stable welding quality can be secured even in high-temperature environments.

[0037] Additionally, the above-mentioned fixed plate (100) is fixedly installed on a jig device (not shown) that is separately installed on the object to be welded, and since this is not part of the content of the present invention, a separate description is omitted.

[0038] Additionally, a home position adjustment unit (200) is further provided between the fixed plate (100) and the support frame (300). The home position adjustment unit (200) sets the initial position of the torch (500) where welding is performed, thereby enabling stable welding when automatically welding the welding area.

[0039] Here, the origin adjustment unit (200) is composed of an X-axis origin adjustment unit (210) that adjusts the position in the X-axis direction and a Y-axis origin adjustment unit (220) that adjusts the position in the Y-axis direction, thereby setting the initial position of the torch (500).

[0040] Meanwhile, the X-axis origin adjustment unit (210) is composed of an X-axis guide (211) installed in the X-axis direction on the lower surface of the fixed plate (100), an X-axis block (212) that moves along the X-axis guide (211), an X-axis adjustment bracket (215) installed to protrude downward on one side of the lower surface of the fixed plate (100), a screw-shaped X-axis adjustment rod (213) installed to penetrate the X-axis adjustment bracket (215), an adjustment handle (214) installed at the end of the X-axis adjustment rod (213) and rotated by an operator, and an X-axis moving member (216) that moves as the X-axis adjustment rod (213) rotates.

[0041] At this time, a moving body (230) is installed on the X-axis block (212) and the X-axis moving member (216) to move along the X-axis, and the Y-axis origin adjustment unit (220) is composed of a Y-axis guide (221) installed along the Y-axis direction on one side of the moving body (230), a Y-axis block (222) that moves along the Y-axis guide (221), a Y-axis adjustment bracket (225) installed on one side of the moving body (230), a screw-shaped Y-axis adjustment rod (223) installed to pass through the Y-axis adjustment bracket (225), an adjustment handle (224) installed at the end of the Y-axis adjustment rod (223) and rotated by an operator, and a Y-axis moving member (226) that moves as the Y-axis adjustment rod (223) rotates.

[0042] Therefore, the operator controls the control knobs (214, 224) of the X-axis origin adjustment unit (210) and the Y-axis origin adjustment unit (220) of the origin adjustment unit (200) to accurately set the initial position of the torch (500).

[0043] And, the support frame (300) is formed to be easily assembled in a modular manner, with a movable frame (302) located at the part connected to the origin adjustment part (200), and a fixed frame (304) located at the part where the torch (500) is installed.

[0044] Here, the moving frame (302) and the fixed frame (304) are connected by a connecting bracket (306), and a plate-shaped moving plate (308) is installed at the end of the moving frame (302), and the moving plate (308) is connected to the Y-axis block (222) and moved by the origin adjustment unit (200).

[0045] At this time, a rotary assembly (310) is further provided at the end of the support frame (300), and a rotary motor (not shown) is provided inside the rotary assembly (310), and a rotary bracket (314) to which the position adjustment part (400) is coupled is installed on the rotation axis (not shown) of the rotary motor.

[0046] Therefore, the rotary assembly (310) can rotate the position adjustment unit (400) that adjusts the position of the torch (500), and accordingly, can perform circular welding on the object as shown in FIG. 9.

[0047] Meanwhile, the position adjustment unit (400) is formed by including a radius adjustment unit (410) installed at the end of the rotating bracket (314) to adjust the distance between the torch (500) and the rotation center of the rotary assembly (310), and a vertical adjustment unit (420) connected to the radius adjustment unit (410) to adjust the distance between the torch (500) and the welding target.

[0048] Here, the radius adjustment unit (410) comprises a radius guide (412) installed at the end of the rotary bracket (314) so ​​as to be perpendicular to the rotation axis direction of the rotary assembly (310), a radius block (414) that moves along the radius guide (412), a radius moving bracket (416) installed on the radius block (414), and a radius cylinder (not shown) installed on one side of the radius guide (412) to move the radius moving bracket (416).

[0049] Additionally, the vertical adjustment unit (420) comprises a vertical guide (422) installed in an up-and-down direction at the end of the radius moving bracket (416), a vertical moving block (424) that moves along the vertical guide (422), a vertical moving bracket (426) installed on the vertical moving block (424), and a vertical cylinder (not shown) installed on one side of the vertical guide (422) to move the vertical moving bracket (426).

[0050] At this time, although not shown in the drawing, the radius cylinder and vertical cylinder are automatically adjusted by the control of the aforementioned control device to control the rotation radius of the torch (500) and the distance from the welding target, thereby enabling stable welding.

[0051] And, the torch (500) is connected to the upper part of the position adjustment unit (400), and the torch (500) comprises a torch bracket (520) installed at the end of the vertical moving bracket (426), a torch body (510) installed at the top of the torch bracket (520), and an electrode (512) formed to protrude from the top of the torch body (510).

[0052] Here, the torch body (510) is formed in a hollow shape, and the electrode (512) installed inside protrudes from the end of the torch body (510), and shielding gas moves through the space formed on the outside of the electrode (512) and is sprayed to the outside of the electrode (512).

[0053] At this time, a gas connector (522) is formed on one side of the torch bracket (520) to which a gas supply pipe (not shown) for receiving shielding gas from the outside is connected, and although not shown in the drawing, a passage (not shown) through which the shielding gas supplied through the gas connector (522) moves is formed on the inner side of the torch bracket (520) to supply shielding gas to the space formed on the inner side of the torch body (510).

[0054] Therefore, when welding is performed by an arc generated between the electrode (512) and the welding area (base material), the shielding gas is sprayed to reliably prevent the welding area from being oxidized by oxygen.

[0055] Additionally, although not shown in the drawing, a separate space may be formed inside the torch body (510) to be isolated from the space where the shielding gas moves, and cooling water supplied through a cooling water connection port (not shown) formed on the side of the gas connection port (522) may be circulated, thereby cooling the heat generated in the torch (500) in a water-cooled manner.

[0056] Meanwhile, on one side of the position adjustment unit (400), a filler material supply unit (600) that supplies a wire-shaped filler material to the end of the torch (500) and a filler material input adjustment device (700) that adjusts the supply position of the filler material supplied from the filler material supply unit (600) are installed.

[0057] Here, the filler material supply unit (600) comprises a supply body (610) installed on one side of the vertical moving bracket (426), a winding spool (616) installed on one side of the supply body (610) for winding the wire-shaped filler material, and a supply roller (612) installed on one side of the supply body (610) to support one side of the filler material and move the filler material.

[0058] At this time, a plurality of auxiliary rollers (614) are rotatably installed around the supply roller (612), and the auxiliary rollers (614) allow the filler material to be supported from different directions, thereby allowing the filler material wound on the winding spool (616) to be flattened.

[0059] Therefore, when supplying wire-shaped filler material to the filler material input control device (700) described later, it is supplied stably.

[0060] Of course, although not shown in the drawing, the supply body (610) is further equipped with a drive motor (613) for rotating the supply roller (612).

[0061] And, the above-mentioned filler material feeding control device (700) comprises a hollow filler material supply head (740) into which the end of the filler material is inserted and supplied to the end of the torch, a rotary motor (710) installed on the torch bracket (520), a horizontal adjustment part (720) installed to rotate by the rotary motor (710) and to adjust the horizontal position of the filler material supply head, and an up-down adjustment part (730) installed on the horizontal adjustment part (720) and to adjust the vertical position of the filler material supply head (740).

[0062] Here, the torch bracket (520) is formed in a 'U' shape, and the rotary motor (710) is positioned in the space formed on the inside. The rotary motor (710) controls the filler material supply head (740) to rotate relative to the torch body (510) so that it is positioned at an appropriate location during welding.

[0063] Meanwhile, the horizontal adjustment unit (720) comprises a horizontal adjustment body (721) that rotates at a predetermined angle by the rotary motor (710), a screw-shaped horizontal adjustment bar (722) installed horizontally on one side of the horizontal adjustment body (721), a horizontal movement member (724) installed to be movable on the outer side of the horizontal adjustment bar (722), and a horizontal adjustment motor (723) installed on one side of the horizontal adjustment body (721) to rotate the horizontal adjustment bar (722).

[0064] At this time, the upper and lower adjustment unit (730) is composed of an upper and lower adjustment body (731) installed on one side of the horizontal moving member (724), a screw-shaped upper and lower adjustment bar (732) installed in the upper and lower direction on one side of the upper and lower adjustment body (731), an upper and lower moving member (734) installed to be movable on the outer side of the upper and lower adjustment bar (732), and an upper and lower adjustment motor (733) installed on one side of the upper and lower adjustment body (731) to rotate the upper and lower adjustment bar (732), and a head bracket (742) on which the filler material supply head (740) is installed is installed on the upper and lower moving member (734).

[0065] Therefore, the above-mentioned filler material feeding control device (700) automatically adjusts the position of the filler material supplied to the end of the torch (500) according to the situation by controlling the control device, thereby enabling more stable welding.

[0066] Additionally, the horizontal adjustment part (720) and the vertical adjustment part (730) may be further equipped with an LM guide and an LM block to guide the movement of the horizontal movement member (724) and the vertical movement member (734), and the head bracket (742) may be composed of multiple parts, and a slot (744) may be formed in one part to adjust the position.

[0067] Additionally, although not shown in the drawing, a sensor member (not shown) may be provided on one side of the support frame (300) or on one side of the torch bracket (520). The sensor member may be made of an image camera or an ultrasonic sensor, and the position of the part where welding is taking place can be detected. This information can be checked in real time through a display monitor located externally via a communication module (not shown) that is additionally provided.

[0068] Accordingly, the operator may directly control the WAAM type automatic welding machine for reactor piping replacement according to the present invention through an auxiliary control device (not shown) provided on one side of the display monitor, so that the work can be performed automatically or remotely manually depending on the situation.

[0069] In addition, the control device is equipped with a noise filter circuit, and the arc current supplied to the torch (500) can be filtered by the noise filter circuit, thereby suppressing electrical noise generated during high-voltage arc starting, and accordingly, the WAAM type automatic welding machine for reactor pipe replacement of the present invention can be prevented from being mechanically damaged.

[0070] Here, the noise filter circuit may use a noise removal circuit or a filtering module.

[0071] At this time, the control device uses a pulse arc control function that repeatedly uses a high current (pulse peak) and a low current (base) for the arc current supplied to the torch (500).

[0072] That is, the pulse current controlled by the above-mentioned control device is configured by adding a short, strong current pulse on top of the base current, thereby enabling more accurate control of the welding process.

[0073] Therefore, by reducing the amount of heat applied to the base material to be welded, not only can thermal stress and deformation of the base material be minimized, but the occurrence of porosity can also be reduced, thereby improving the quality of the weldment.

[0074] Although preferred embodiments of the present invention have been described above, the scope of the present invention is not limited thereto, and the scope of the present invention extends to those within a substantially equivalent range to the embodiments of the present invention. Various modifications can be made by those skilled in the art to which the present invention belongs, without departing from the spirit of the present invention. Industrial applicability

[0075] The present invention relates to an automatic welding machine using the WAAM (Wire Arc Additive Manufacturing) method for replacing nuclear reactor pipes, and more specifically, to an automatic welding machine using the WAAM method for replacing nuclear reactor pipes that can reduce welding time and cost by applying the WAAM (Wire Arc Additive Manufacturing) method, enables precision welding by allowing welding to be performed in a single step without segmented welding, and minimizes material deformation by controlling thermal stress. Explanation of the symbols

[0076] 100 : Fixed plate 200 : Origin adjustment unit 210 : X-axis origin adjustment unit 220 : Y-axis origin adjustment unit 230 : Moving body 300 : Support frame 310 : Otter bundle 400 : Position adjustment unit 410: Radius adjustment unit 420 : Vertical adjustment section 500 : Torch 510 : Torch body 520 : Torch bracket 600 : Filler material supply unit 610 : Supply body 700: Filler material input control device 710 : Rotary motor 720 : Leveling section 730 : Up / down adjustment unit 740: Pump supply head

Claims

Claim 1 A WAAM type automatic welding machine for replacing reactor piping, characterized by comprising a fixed plate, a support frame connected to one side of the fixed plate, a torch installed at the end of the support frame, and a position adjustment unit provided between the support frame and the torch to adjust the position of the torch. Claim 2 A WAAM type automatic welding machine for reactor piping replacement according to claim 1, wherein a home point adjustment unit is further provided between the fixed plate and the support frame, and the home point adjustment unit is composed of an X-axis home point adjustment unit for adjusting the position in the X-axis direction and a Y-axis home point adjustment unit for adjusting the position in the Y-axis direction. Claim 3 A WAAM type automatic welding machine for reactor piping replacement according to claim 2, characterized in that a rotary assembly for rotating the position adjustment unit is further provided at the end of the support frame, and a rotary bracket to which the position adjustment unit is coupled is installed on the rotary assembly. Claim 4 A WAAM type automatic welding machine for reactor piping replacement according to claim 3, characterized in that the position adjustment unit comprises a radius adjustment unit installed at the end of the rotary bracket to adjust the distance between the torch and the rotation center of the rotary assembly, and a vertical adjustment unit connected to the radius adjustment unit to adjust the distance between the torch and the welding target. Claim 5 In claim 4, the radius adjustment unit comprises a radius guide installed perpendicular to the rotation axis direction of the rotary assembly at the end of the rotary bracket, a radius block that moves along the radius guide, a radius moving bracket installed on the radius block, and a radius cylinder installed on one side of the radius guide to move the radius moving bracket, and the vertical adjustment unit comprises a vertical guide installed in an up-and-down direction at the end of the radius moving bracket, a vertical moving block that moves along the vertical guide, a vertical moving bracket installed on the vertical moving block, and a vertical cylinder installed on one side of the vertical guide to move the vertical moving bracket, characterized in that it is a WAAM type automatic welding machine for reactor piping replacement. Claim 6 A WAAM type automatic welding machine for reactor piping replacement according to claim 5, characterized in that a filler material supply unit for supplying a wire-shaped filler material to the end of the torch is installed on one side of the vertical moving bracket, and a filler material feeding control device for controlling the supply position of the filler material supplied from the filler material supply unit is installed on one side of the torch bracket installed at the end of the vertical moving bracket to connect the torch. Claim 7 In claim 6, the above-mentioned filler material supply unit comprises a supply body installed on one side of the vertical moving bracket, a winding spool installed on one side of the supply body for winding the wire-shaped filler material, a supply roller installed on one side of the supply body to support one side of the filler material and to move the filler material, and a plurality of auxiliary rollers installed around the supply roller so as to be rotatable and supported from different directions to spread the wire-shaped filler material, thereby forming a WAAM type automatic welding machine for reactor piping replacement. Claim 8 In claim 7, the above-described filler material feeding control device comprises a hollow filler material supply head into which the end of the filler material is inserted and supplied to the end of the torch, a rotary motor installed on the torch bracket, a horizontal adjustment unit installed to rotate by the rotary motor and adjusting the horizontal position of the filler material supply head, and an upper / lower adjustment unit installed on the horizontal adjustment unit and adjusting the vertical position of the filler material supply head, wherein the filler material supply head is connected to the end of the upper / lower adjustment unit, characterized in that the WAAM type automatic welding machine for reactor piping replacement. Claim 9 In claim 8, the horizontal adjustment unit comprises a horizontal adjustment body that rotates at a predetermined angle by the rotary motor, a screw-shaped horizontal adjustment bar installed horizontally on one side of the horizontal adjustment body, a horizontal movement member installed movably on the outside of the horizontal adjustment bar, and a horizontal adjustment motor installed on one side of the horizontal adjustment body to rotate the horizontal adjustment bar; the vertical adjustment unit comprises an vertical adjustment body installed on one side of the horizontal movement member, a screw-shaped vertical adjustment bar installed vertically on one side of the vertical adjustment body, a vertical movement member installed movably on the outside of the vertical adjustment bar, and a vertical adjustment motor installed on one side of the vertical adjustment body to rotate the vertical adjustment bar; and the vertical movement member is characterized by having a head bracket installed on which the filler material supply head is installed. Claim 10 A WAAM type automatic welding machine for reactor piping replacement according to claim 9, wherein a control device is further provided, and said control device controls the position of said torch according to information of a welding area stored internally. Claim 11 In claim 10, the above-mentioned control device is characterized by repeatedly using a high current (pulse peak) and a low current (base) for the welding arc current, in a WAAM type automatic welding machine for reactor piping replacement. Claim 12 A WAAM type automatic welding machine for reactor piping replacement according to claim 10, characterized in that the control device is equipped with a noise filter circuit to suppress electrical noise generated during high-voltage arc starting.

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