Adjustment pipe auto reproduction apparatus

Abstract

The present invention relates to an automatic adjustment pipe reproduction device, and is an automatic adjustment pipe reproduction device for reproducing an adjustment pipe for connecting two disconnected pipes. The automatic adjustment pipe reproduction device comprises a base frame provided to intersect in a planar manner, and first and second adjustment units each provided on the intersecting base frames to reproduce the adjustment pipe. The first adjustment unit comprises a first column that moves linearly from one side base frame, a first mounting block that moves up and down from the first column, a first mounting bracket that rolls and rotates on the front of the first mounting block, and a plurality of first jaws that adjust the spacing according to the diameter of a flange to be installed on the adjustment pipe from the first mounting bracket. The second adjustment unit comprises a second moving plate that moves linearly from the other side base frame, a second column that yawing and rotating on the second moving plate, a second mounting block that tilts and rotates in the up and down direction from the second column, a second mounting bracket that rolls and rotates on the front of the second mounting block, and a spacing according to the diameter of a flange to be installed on the adjustment pipe from the second mounting bracket. The present invention provides an automatic adjustment tube reproduction device configured to reproduce an adjustment tube by including a plurality of adjustable second jaws, wherein the first jaw and the second jaw are adjusted in the 9-axis direction.

Description

Technology Field

[0001] The present invention relates to an automatic adjustment pipe reproduction device, and more specifically, to an automatic adjustment pipe reproduction device capable of precisely reproducing an adjustment pipe in a shape corresponding to the pipe by configuring the reproduction device for reproducing an adjustment pipe connecting two fixed pipes during the forming of a pipe line into a multi-directional 9-axis system capable of adjusting the angles of rolling, pitch, and yawing, as well as moving in a straight line and up and down. Background Technology

[0002] Generally, ships are manufactured and installed in block units, and the internal piping is also manufactured and installed in block units to form piping lines that ensure all engines operate normally upon final construction.

[0003] However, when various engines are manufactured in block units, as is the case with large vessels, installation errors resulting from production based on the initial design are inevitable, and consequently, errors in the piping lines are also bound to occur.

[0004] However, when forming piping lines, long fixed pipes connecting various components are manufactured and installed according to the initial design drawings, and by disconnecting the fixed pipes to create a margin, installation errors of the various components can be overcome. At this time, relatively short adjustment pipes connecting the fixed pipes are manufactured and installed through subsequent work.

[0005] The methods for manufacturing such adjustment tubes are broadly classified into three types: the physical method, the jig method, and the measurement reproduction method. Among these methods for manufacturing adjustment tubes, the measurement reproduction method has recently gained popularity as it allows for easy and simple production of adjustment tubes and reduces production costs by minimizing logistics movement.

[0006] The measurement reproduction method involves using a measuring device to measure the forming elements of the adjustment tube to be formed between a pair of fixed tubes, inputting the measured values ​​into an adjustment tube reproduction device to reproduce the structure, and then transporting the produced adjustment tube to the site for installation.

[0007] In the measurement reproduction method, the forming elements of the adjusting pipe connecting a pair of fixed pipes can be classified into four types: pipe length, flange face angle, flange bolt hole position, and piping line step.

[0008] Therefore, the measurement method of the adjustment tube must include all four of the above elements, and the methods of expression include expressing it in relative three-dimensional coordinates, expressing it in angles and lengths, expressing it in lengths, and expressing it in angles.

[0009] Meanwhile, as explained above, the shipbuilding process is carried out by manufacturing and installing components in block units; individual components are assembled to form small blocks, which are then assembled into medium and large blocks, transported to a dock, and then loaded for assembly.

[0010] Ships undergoing this construction process are equipped with numerous piping lines. While these lines are manufactured and installed in block units, the adjustment pipes, which serve as connecting pipes between the lines mounted on each block, are fabricated and installed through subsequent work.

[0011] That is, a connecting pipe is a pipe for connecting two pipes that are positioned at different distances or angles between the two pipes to be connected, and such connecting pipes are classified into straight pipes, curved pipes (or elbow pipes), tee pipes, etc. depending on their shape, and the bending angle of the curved pipe can have various forms such as 90 degrees to 135 degrees.

[0012] However, when the piping lines installed in each block are assembled, discrepancies frequently occur in the height difference between the two pipes, or in the distance or angle between the two pipes.

[0013] Therefore, to connect the two pipes with a adjusting pipe, the adjusting pipe was formed with a margin along the longitudinal direction of the pipes where it meets both ends, and then both ends were cut. Finally, the installation of the adjusting pipe was completed by butt welding the ends to both pipes.

[0014] In this case, when the two pipes are misaligned in three dimensions, it is very difficult to cut the pipe to fit the three-dimensional shape of the adjusting pipe to be installed. Furthermore, since the installation process is delayed due to exceeding the cutting time, it is necessary to perform repetitive measurement and cutting operations on-site to verify whether the adjusting pipe is installed correctly.

[0015] Accordingly, the applicant proposed a general-purpose adjusting tube reproduction device in Korean Registered Patent No. 10-1977555 that can accurately and quickly reproduce the shape of an adjusting tube by measuring the shape of a fixed tube to be installed using rotation angle and distance data, and taking into account the angle of deviation and length using the measured results.

[0016] However, in Korean Registered Patent No. 10-1977555 registered by the present applicant, the flange plate of each adjustment part is supported by screws provided on the upper, lower, left, and right sides of each column and adjusted to a tilted state. Since the tilt adjustment of the flange plate is performed by manually rotating the four screws on the upper, lower, left, and right sides to adjust the amount of protrusion of each screw to match the tilt of the flange plate, there are many difficulties in the adjustment process. In particular, for precise adjustment, fine adjustment work must be repeated, which consumes a large amount of time and is therefore inefficient.

[0017] In addition, Korean registered patent No. 10-1977555 operates by having three flange plates each provided on a "T"-shaped base, which has the disadvantage of being very complex in structure and having a large volume. Furthermore, since the three flange plates are formed as discs, interference occurs where adjacent parts of neighboring flange plates come into contact with each other when the three flange plates are close together, which limits the ability to reproduce short curved pipes among adjustment pipes. Prior art literature

[0018] Republic of Korea Registered Patent No. 10-1977555 The problem to be solved

[0019] Accordingly, the present invention was devised to solve the problems of the prior art as described above, and aims to provide an automatic adjustment pipe reproduction device capable of precisely reproducing an adjustment pipe in a shape corresponding to the pipe by configuring the reproduction device for reproducing an adjustment pipe connecting two fixed pipes during the forming of a pipe line in an L-type form, wherein each column provided in the L-type moves in a straight line and up and down, and the jaws provided in each column to reproduce the flange of the adjustment pipe are configured in a simplified 9-axis system in which angles are adjusted in the rolling, pitch, and yawing axial directions. means of solving the problem

[0020] An automatic adjustment pipe reproduction device according to the present invention for achieving the above-described purpose is an automatic adjustment pipe reproduction device for reproducing an adjustment pipe for connecting two disconnected pipes, wherein the automatic adjustment pipe reproduction device comprises a base frame provided to intersect in a planar manner, and first and second adjustment units each provided on the intersecting base frames to reproduce the adjustment pipe, wherein the first adjustment unit comprises a first column that moves linearly from one side base frame, a first mounting block that moves up and down from the first column, a first mounting bracket that rolls and rotates on the front of the first mounting block, and a plurality of first jaws that are spaced according to the diameter of a flange to be installed on the adjustment pipe from the first mounting bracket, and the second adjustment unit comprises a second moving plate that moves linearly from the other side base frame, a second column that yawing and rotating on the second moving plate, a second mounting block that tilts and rotates in the up and down direction from the second column, a second mounting bracket that rolls and rotates on the front of the second mounting block, and a flange to be installed on the adjustment pipe from the second mounting bracket It is characterized by including a plurality of second jaws that are spaced apart according to diameter, and being configured to reproduce an adjustment tube while the first jaw and the second jaw are adjusted in the nine-axis direction.

[0021] In addition, the first mounting bracket is provided to be rolled by a first ring gear rotatably installed on the first mounting block, and the second mounting bracket is provided to be yawing rotated by a second ring gear rotatably installed on the second movable plate, tilted rotated by a third ring gear rotatably installed on the second mounting block, and rolled rotated by a fourth ring gear rotatably installed on the second mounting block, and wires may be provided to be wired by penetrating through the inner side of each ring gear.

[0022] In addition, each ring gear of the first and second adjustment sections may be equipped with an encoder that controls the backlash of the corresponding ring gear to improve precision.

[0023] In addition, the first jaw and the second jaw may be provided with first and second extension jaws protruding outwardly, so as to be configured to reproduce the installation of a flange of an adjustment tube having a diameter that exceeds the maximum gap of the first and second jaws. Effects of the invention

[0024] According to the automatic adjustment pipe reproduction device of the present invention, the first adjustment section and the second adjustment section of the reproduction device for reproducing an adjustment pipe connecting two fixed pipes during the forming of a piping line are provided in an L-shape, and each column of the first and second adjustment sections moves in a straight line and up and down, and the jaws provided on each column to reproduce the flange of the adjustment pipe are configured as a 9-axis system in which angles are adjusted in the rolling, pitch, and yawing axial directions, thereby allowing the reproduction device to be configured with a simplified structure and having the effect of precisely reproducing an adjustment pipe of a straight pipe or a curved pipe. Brief explanation of the drawing

[0025] FIG. 1 is an overall configuration diagram of an automatic adjustment tube reproduction device according to the present invention. FIG. 2 is a configuration diagram of a first adjustment unit configured in an automatic reproduction device according to the present invention. FIG. 3 is a configuration diagram of a second adjustment unit configured in an automatic reproduction device according to the present invention. FIG. 4 is a configuration diagram of a limit switch configured in a base frame according to the present invention. FIG. 5 is a configuration diagram showing the rolling and lifting means of the first adjustment unit according to the present invention from the rear of the first column. FIG. 6 is a configuration diagram illustrating the rolling and tilting (pitch) means of the second adjustment unit according to the present invention. FIG. 7 is a configuration diagram illustrating the yawing means of the second adjustment unit according to the present invention. FIG. 8 is a configuration diagram illustrating the first and second mounting brackets configured in the first and second adjustment parts according to the present invention. FIG. 9 is a drawing of a state in which a straight pipe adjustment tube is reproduced by the first and second adjustment parts of an automatic reproduction device according to the present invention. FIG. 10 is a drawing of the state in which the adjustment pipe of a curved pipe is reproduced by the first and second adjustment parts of the automatic reproduction device according to the present invention. Specific details for implementing the invention

[0026] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

[0027] The terms used in this invention are defined in consideration of their functions within the invention; however, since these may vary depending on the intentions or practices of the user or operator, the definitions of these terms should be interpreted in a sense and concept consistent with the technical details of this invention.

[0028] In addition, the embodiments of the present invention are not intended to limit the scope of the rights of the present invention, but are merely exemplary matters of the components presented in the claims of the present invention, and are embodiments that include components that are included in the technical concept throughout the specification of the present invention and can be substituted as equivalents for the components of the claims.

[0029] Additionally, optional terms in the following examples are used to distinguish one component from another, and the components are not limited by said terms.

[0030] Accordingly, in describing the present invention, detailed descriptions of related prior art that may unnecessarily obscure the essence of the invention are omitted.

[0031] The attached drawings, FIGS. 1 to 10, are drawings illustrating an automatic adjustment tube reproduction device according to the present invention, each component configured therein, and an operating state.

[0032] The automatic adjustment pipe reproduction device (100) according to the present invention is a device for reproducing an adjustment pipe to connect two disconnected pipes during ship construction.

[0033] As shown in FIG. 1, the automatic adjustment tube reproduction device (100) includes a plurality of base frames (110) (110a) in which a plurality of unit frames are provided to intersect in a plane, and first and second adjustment parts (200) (300) provided in each base frame (110) (110a) to reproduce the adjustment tube.

[0034] First, as shown in FIG. 1, a plurality of base frames (110) (110a) are provided intersectingly in a plane, but the movement paths between the two base frames (110) (110a) are not connected to each other and are provided as independent structures.

[0035] Also, each base frame (110) (110a) has a moving means for moving the first and second adjustment parts (200) (300) configured as an independent structure, but since the moving means of both base frames (110) (110a) are made of the same structure, they will be explained together at once.

[0036] That is, the moving means for moving the first and second adjustment units (200) (300) in a straight line on the corresponding base frame (110) (110a), as shown in FIGS. 2 and 3, includes a horizontal ball screw (120) (120a) that is provided to rotate in place along the longitudinal direction of the corresponding base frame (110) (110a), and a servo motor (121) (121a) provided at one end of the horizontal ball screw (120) (120a) to rotate the horizontal ball screw (120) (120a) in forward and reverse directions.

[0037] In addition, the horizontal ball screw (120) (120a) is screw-coupled through the lower end of the first and second moving plates (210) (310) to be described later, and both ends of the first and second moving plates (210) (310) are coupled to and guided by LM guides (130) (130a) installed on both sides of the base frame (110) (110a).

[0038] Accordingly, when the horizontal ball screw (120)(120a) is rotated by the servo motor (121)(121a), the first and second moving plates (210)(310) coupled to the horizontal ball screw (120)(120a) are guided by the LM guide (130)(130a) and move forward or backward along the length direction of the corresponding base frame (110)(110a).

[0039] And, on the upper surface of the base frame (110)(110a), a cover plate (140)(140a) is provided to cover the base frame (110)(110a). This cover plate (140)(140a) is provided in a state that penetrates the first and second moving plates (210)(310), respectively, on the upper surface of the base frame (110)(110a), so as not to interfere with the first and second moving plates (210)(310) that move linearly on the base frame (110)(110a).

[0040] Additionally, between the base frame (110)(110a) and the first and second adjustment units (200)(300) to be described later, a control means is provided to prevent the first and second adjustment units (200)(300) from moving away from the base frame (110)(110a) by limiting and stopping the movement distance of the first and second adjustment units (200)(300) as they move linearly from the base frame (110)(110a).

[0041] As illustrated in FIG. 4, such control means is exemplified by being composed of switch plates (150) (150a) installed on each side of the outer surface of the base frame (110) (110a) and limit switches (250) (360) provided in the corresponding first and second adjustment parts (200) (300), but the switch plates (150) (150a) and limit switches (250) (360) may be provided in reverse, unlike the above-described embodiment.

[0042] In particular, the switch plate (150)(150a) is provided with a flat plate portion (151)(151a) protruding parallel to the base frame (110)(110a), and the end portion (one end or both ends) of the flat plate portion (151)(151a) that contacts the limit switch (250)(360) is provided with an inclined portion (152)(152a) that slopes downward from the flat plate portion (151)(151a).

[0043] Thus, when the limit switch (250)(360), which moves linearly like the first and second adjustment parts (200)(300), comes into contact with the switch plate (150)(150a) and the movement of the first and second adjustment parts (200)(300) is stopped, the inclined part (152)(152a) of the switch plate (150)(150a) acts as a preliminary section, i.e., a deceleration section, for stopping the first and second adjustment parts (200)(300) during the section until the limit switch (250)(360) comes into contact with the apex of the inclined part (152)(152a), and the flat part (151)(151a) of the switch plate (150)(150a) is turned on when the limit switch (250)(360) passes the apex of the inclined part (152)(152a), and this state Since the movement of the first and second adjustment units (200) (300) is stopped in the maintained section, the first and second adjustment units (200) (300) can be stopped quickly.

[0044] In addition, the first and second adjustment units (200) (300) may be equipped with an encoder (not shown) that measures the distance traveled in a straight line from the corresponding base frame (110) (110a), and the first and second adjustment units (200) (300) may be controlled more precisely by the encoder.

[0045] When the first and second adjustment parts (200) (300), which will be described later, are positioned in a straight line by such a cross-shaped base frame (110) (110a), the adjustment tube of a straight pipe (1) can be reproduced, and when the first and second adjustment parts (200) (300) are positioned offset while maintaining a certain angle, the adjustment tube of a curved pipe (2) can be reproduced.

[0046] Meanwhile, the intersecting base frames (110) (110a) are each provided with first and second adjustment parts (200) (300), and the first and second adjustment parts (200) (300) are each provided to be moved linearly from the respective base frames (110) (110a) by first and second moving plates (210) (310) which are moved linearly from the base frames (110) (110a).

[0047] As shown in FIG. 2, the first adjustment unit (200) includes a first movable plate (210) that is provided to move linearly on one side base frame (110), a first column (220) that is provided to be erected vertically on the first movable plate (210), a first mounting block (230) that moves up and down on the first column (220), a first mounting bracket (240) that is provided to protrude toward the front of the first mounting block (230), that is, toward the second adjustment unit (300) to be described later, and a plurality of first jaws (243) that are spaced apart according to the diameter of the flange (10) to be installed on the adjustment tube in front of the first mounting bracket (240).

[0048] The first movable plate (210) is installed while maintaining a gap (211) spaced upward from the cover plate (140) so that it can slide on the cover plate (140) of the one-sided base frame (110), and both sides of the first movable plate (210) are connected to the LM guide (130) of the one-sided base frame (110), so that when the first movable plate (210) moves linearly on the one-sided base frame (110), it is guided to move with minimal shaking due to the gap (211) with the cover plate (140) and the LM guide (130).

[0049] The first column (220) is a hollow cuboid column installed vertically on the first movable plate (210), and a first mounting block (230) is provided inside the first column (220) so as to be movable up and down.

[0050] Inside the first column (220), a vertical ball screw (221) is provided to rotate in place while standing vertically up and down to raise and lower the first mounting block (230), and at one end, i.e., the lower end, of the vertical ball screw (221), a lifting servo motor (222) is provided to rotate the vertical ball screw (221) in forward and reverse directions.

[0051] And, on both front ends of the first column (220), a first guide rail (223) is provided to guide a first mounting block (230) that moves up and down, and the first guide rail (223) can be provided with a structure such as an LM guide.

[0052] Thus, when the vertical ball screw (221) is rotated forward or backward by the lifting servo motor (222), the first mounting block (230) moves up or down within the first column (220).

[0053] Additionally, the first mounting block (230) is formed in a square shape corresponding to the first column (220) and is a block with a through-hole on its front surface. A vertical ball screw (221) is screw-coupled through the rear portion of the first mounting block (230) and moves up or down by the forward and reverse rotation of the vertical ball screw (221). Both sides of the first mounting block (230) are coupled to the first guide rail (223) to guide the first mounting block (230) as it moves up and down.

[0054] Although the lifting means by this vertical ball screw (221) may also be configured in the second adjustment unit (300) to be described later, since the second adjustment unit (300) is configured with means for rolling rotation, tilting (pitching) rotation, and yawing rotation of the second mounting bracket (340) from the second column (320), the lifting means by the vertical ball screw (221) is configured only in the first adjustment unit (200), which has the advantage of simplifying and streamlining the overall structure of the reproduction device (100).

[0055] Meanwhile, on the front surface of the first mounting block (230) as described above, that is, the surface facing the second adjustment part (300), a first mounting bracket (240) formed as a vertically elongated rectangular prism as shown in FIG. 1 is provided, and between the first mounting block (230) and the first mounting bracket (240), a first rolling means is configured to rotate the first mounting bracket (240) in place, that is, to roll, from the front surface of the first mounting block (230), as shown in FIG. 5.

[0056] As shown in FIGS. 1 and 5, the first rolling means is provided with a first roll shaft (241) that is fixed to the rear of the first mounting bracket (240) and protrudes backward, and a first ring gear (242) that is fixed to the rear end of the first roll shaft (241) so as to rotate in place on the front of the first mounting block (230) is provided.

[0057] A first rolling servo motor (232) is fixedly provided in the corresponding first mounting block (230), and a first rolling gear (231) that rotates in forward and reverse directions by the first rolling servo motor (232) is provided in the first rolling servo motor (232), and the first rolling gear (231) is provided in contact with the first ring gear (242).

[0058] At this time, the first ring gear (242) is provided as an internal ring gear with gear teeth machined on its inner surface, and the first rolling gear (231) is provided as a spur gear in contact with the first ring gear (242), so that the first rolling means can be configured simply with a simple structure and its volume can be minimized.

[0059] In particular, since the first ring gear (242) is applied to the gear structure constituting the first rolling means, wires or cables can be routed through the inside of the first ring gear (242), allowing the wires or cables to be routed neatly and also preventing the wires or cables from twisting during the rotation of the first ring gear (242).

[0060] Thus, the first rolling gear (231) is driven to rotate by the first rolling servo motor (232), and as the first ring gear (242) is rotated by the first rolling gear (231), the first mounting bracket (240) is rotated to roll along the first roll axis (241).

[0061] In addition, as described above, between the first mounting block (230) and the first mounting bracket (240), a first rolling control means is provided to control the rotation of the first mounting bracket (240) which is rolled and rotated as shown in FIG. 2.

[0062] The first rolling control means includes a first sensing body (242a) provided on the first ring gear (242) and rotating together with the first ring gear (242), and a first rolling sensor (233) provided on the first mounting block (230) that senses the first sensing body (242a) rotating and controls and stops the rolling rotation of the first mounting bracket (240).

[0063] The first sensing element (242a) is formed by bending into an L-shape and is provided in multiple units installed at regular intervals on the front of the first ring gear (242), and the first rolling sensor (233) is also provided in multiple units and is equipped as a non-contact sensor that detects each of the rotating first sensing elements (242a), thereby controlling the rolling rotation angle of the first mounting bracket (240) to within a maximum of 260 degrees.

[0064] As a result, the first mounting bracket (240), which rolls and rotates on the front of the first mounting block (230), does not rotate a full turn, thereby preventing the twisting of the wire or cable wired through the first ring gear (242) from the source.

[0065] And, the first mounting bracket (240) that is rolled rotates in place, that is, rolls, with the y-axis (roll axis) direction as an axis, as shown in FIGS. 2 and FIGS. 5.

[0066] Thus, the first mounting bracket (240) of the first adjustment unit (200) is moved linearly from the base frame (110) by the first column (220), moves linearly up and down from the first column (220) by the first mounting block (230), and operates in three axes, rotating in place, i.e., rolling rotation, with respect to the y-axis direction on the front of the first mounting block (230); additionally, as a plurality of first jaws (245) to be described later, which are provided on the front of the first mounting bracket (240), move along the length direction of the first mounting bracket (240), operation is performed in a total of four axes.

[0067] Additionally, a plurality of first jaws (245) are provided on the front of the first mounting bracket (240), and the two first jaws (245) are moved to be close to or far apart from each other on the first mounting bracket (240) to adjust the distance between the two first jaws (245) according to the diameter of the flange (10) provided in the adjustment tube. Since these first jaws (245) are configured identically to the second jaws (345) configured in the second adjustment unit (300) to be described later, they will be described together with the second jaws (345) later.

[0068] And, on the side of the first moving plate (210), a first limit switch (250) is provided to form a control means for accurately controlling the linear movement of the first adjustment unit (200) to quickly stop the first adjustment unit (200). Since the first limit switch (250) is also configured in the same way as the second limit switch (360) of the second adjustment unit (300) to be described later as in FIG. 4, it will be described later together with the second limit switch (360).

[0069] Meanwhile, as shown in FIG. 3, the second adjustment unit (300) includes a second moving plate (310) configured to move linearly from the other side base frame (110a), a second column (320) configured to be vertically erected on the second moving plate (310) and rotated in a yawing motion, a second mounting block (330) configured to tilt and rotate in the up and down direction from the second column (320), a second mounting bracket (340) configured to protrude toward the front of the second mounting block (330), i.e., toward the first adjustment unit (200), and a plurality of second jaws (345) configured to be spaced according to the diameter of the flange (10) to be installed in the adjustment tube in front of the second mounting bracket (340).

[0070] The second movable plate (310) has a through hole (312) formed in its center, and a ring-shaped yawing shaft (313) is formed protruding upward on the upper surface of the second movable plate (310).

[0071] This second moving plate (310) is installed with a gap (311) spaced upward from the cover plate (140a) so that it can slide on the cover plate (140a) of the other side base frame (110a), just like the first moving plate (210) of the first adjustment unit (200), and both sides of the second moving plate (310) are connected to the LM guide (130a) of the other side base frame (110a) so that when the second moving plate (310) moves linearly on the other side base frame (110a), it is guided to move with minimal shaking due to the gap (311) with the cover plate (140a) and the LM guide (130a).

[0072] The second column (320) is provided as a hollow cuboid column fixedly installed in a vertically erected state on the second movable plate (310), and a yawing means is configured between the second column (320) and the second movable plate (310) to yawing the second column (320) on the second movable plate (310).

[0073] As shown in FIGS. 3 and 7, the yawing means includes a second ring gear (323) that is coupled and fixed to the lower surface of the second column (320), and the second ring gear (323) is fitted to the outside of the yawing shaft (313) of the second moving plate (310) so as to be rotatable.

[0074] A yawing servo motor (316) is fixedly provided on the corresponding second moving plate (310), and a yawing gear (315) that rotates forward and reverse by the yawing servo motor (316) is provided on the yawing servo motor (316).

[0075] At this time, the second ring gear (323) is provided as an external ring gear with gear teeth machined on its outer surface, and the yawing gear (315) is provided as a spur gear in external contact with the second ring gear (323).

[0076] In addition, the second ring gear (323) is provided such that its center coincides with the center of the through hole (312) of the second movable plate (310), and accordingly, wires or cables can be passed through the second ring gear (323) and the through hole (312) of the second movable plate (310) to the base frame (110a) or the second column (320) side to be neatly organized and wired.

[0077] Additionally, between the second column (320) and the second movable plate (310) provided as described above, a yawing control means for controlling the yawing rotation of the second column (320) is provided as shown in FIG. 7, and the yawing control means includes a yawing sensor (324) provided on the lower surface of the second column (320) and rotated together with the second column (320), and a second detection body (314) that is sensed by the yawing sensor (324) provided on the second movable plate (310) and stops the yawing rotation of the second column (320).

[0078] At this time, the second sensor (314) is provided in the form of a vertical bar that is installed at regular intervals and is positioned vertically on the second movable plate (310), penetrates the inner side of the second ring gear (323), and protrudes into the inner side of the second column (320). The corresponding yawing sensor (324) is also provided in the form of a non-contact sensor that is installed at regular intervals and is positioned inside the second ring gear (323), and detects each of the second sensor (314) while rotating yawing together with the second column (320), thereby controlling the yawing rotation angle of the second column (320) to within a maximum of 270 degrees.

[0079] Thus, the second column (320) rotates in place, i.e., yawing, on the second moving plate (310) with the z-axis (yawing axis) direction as the axis, but since the yawing-rotating second column (320) does not complete a full rotation, it is possible to prevent the twisting of wires or cables wired through the second ring gear (323).

[0080] In addition, along with the yawing control means as described above, an encoder (350) is provided in the through hole (312) of the second moving plate (310) to detect the rotation of the second ring gear (323) that is yawing rotated on the second moving plate (310). The encoder (350) can improve precision by detecting and preventing backlash of the second ring gear (323) that may occur during the rotational operation of the second ring gear (323), which is a relatively large gear among the various gears configured in the reproduction device (100).

[0081] Such encoders (350) are provided in all places where relatively large gears are applied, such as the second ring gear (323) of the yawing means, as well as the first ring gear (242) and the fourth ring gear (342) of the first and second rolling means, to prevent gear backlash and improve precision.

[0082] In addition, the encoder (350) described above can more precisely control the yawing rotation of the second column (320) through mutual complementary action with the yawing control means, thereby enabling the second column (320) to be stopped at an accurate position.

[0083] And, as shown in FIG. 3, a second mounting block (330) is provided inside the second column (320) and tilts and rotates in the up and down direction with the x-axis (tilting axis) direction as an axis within the second column (320). To this end, as shown in FIG. 6, a tilting shaft (331) is provided on both sides of the second mounting block (330) and hinge-connected through the second column (320), and the front surface of the second mounting block (330) is formed through.

[0084] A third ring gear (332) is fitted onto one of the two tilting shafts (331) that are coupled through the second column (320). The third ring gear (332) is rotatably provided on the outer surface of the second column (320) and is fixedly coupled to the tilting shaft (331) so as to rotate as a single unit.

[0085] This third ring gear (332) is provided as an external ring gear with gear teeth machined on its outer surface, and a tilting gear (333) that externally contacts the third ring gear (332) is provided on the outer surface of the second column (320) adjacent to the third ring gear (332), and a tilting servo motor (334) that rotates the tilting gear (333) in forward and reverse directions is connected to the tilting gear (333).

[0086] Thus, when the tilting gear (333) is repeatedly rotated in the forward and reverse directions by the tilting servo motor (334), the third ring gear (332) that is in contact with the tilting gear (333) is repeatedly rotated in the forward and reverse directions, and as a result, the second mounting block (330) tilts and rotates in the up and down direction with respect to the tilting axis (331).

[0087] In addition, the second mounting block (330), which is tilted and rotated as described above, has its tilting rotation angle physically controlled. To this end, a tilting bracket (321) is installed on the second column (320), and a tilting hole (322) is formed in the tilting bracket (321) in a circumferential shape according to the tilting rotation of the second mounting block (330).

[0088] A second mounting block (330) corresponding to such a tilting bracket (321) is provided with a rotating pin (330a) that is coupled through the tilting hole (322) of the tilting bracket (321) and rotates along the tilting hole (322).

[0089] Thus, the second mounting block (330), which is tilted and rotated in the up and down direction by the tilting gear (333) and the third ring gear (332), can physically force and limit the angle of rotation by the rotating pin (330a) and the tilting hole (322) of the tilting bracket (321).

[0090] And, on the front side of the second mounting block (330), that is, the side facing the first adjustment part (200), a second mounting bracket (340) formed as a vertically elongated rectangular prism as in FIG. 1 is provided, and between the second mounting block (330) and the second mounting bracket (340), a second rolling means is configured to roll and rotate the second mounting bracket (340) on the front side of the second mounting block (330) as in FIG. 6.

[0091] As shown in FIGS. 1 and 6, the second rolling means is provided with a second roll shaft (341) that is fixed to the rear of the second mounting bracket (340) and protrudes backward, and a fourth ring gear (342) that is fixed to the rear end of the second roll shaft (341) so as to rotate in place on the front of the second mounting block (330) is provided.

[0092] And, a second rolling servo motor (337) is fixedly provided in the corresponding second mounting block (330), and a second rolling gear (336) that rotates forward and reverse by the second rolling servo motor (337) is provided in the second rolling servo motor (337), and the second rolling gear (336) is provided in external contact with the fourth ring gear (342).

[0093] This fourth ring gear (342) is provided as an external ring gear with gear teeth machined on its outer surface, and the second rolling gear (336) is provided as a spur gear in external contact with the fourth ring gear (342).

[0094] By applying and providing a fourth ring gear (342) to the gear structure of the second rolling means, wires or cables can be routed through the inside of the fourth ring gear (342), just like the first ring gear (242) of the first rolling means.

[0095] Thus, the second rolling gear (336) is driven to rotate by the second rolling servo motor (337), and as the fourth ring gear (342) is rotated by the second rolling gear (336), the second mounting bracket (340) is rotated to roll along with the second roll axis (341).

[0096] In addition, between the second mounting block (330) and the second mounting bracket (340), a second rolling control means is provided to control the rotation of the second mounting bracket (340) which is rolled and rotated as in FIG. 6.

[0097] The second rolling control means includes a third sensing body (342a) provided on the fourth ring gear (342) and rotating together with the fourth ring gear (342), and a second rolling sensor (335) provided on the second column (320) and sensing the third sensing body (342a) rotating to control and stop the rolling rotation of the second mounting bracket (340).

[0098] At this time, the third sensor (342a) is formed by bending it into an "L" shape, just like the first sensor (242a) of the first adjustment unit (200), and is provided in multiple numbers installed at regular intervals on the front of the fourth ring gear (342), and the second rolling sensor (335) is also provided in multiple numbers and is provided as a non-contact sensor that detects each of the rotating third sensor (342a), thereby controlling the rolling rotation angle of the second mounting bracket (340) to within a maximum of 260 degrees, which is the same as the rolling rotation angle of the first mounting bracket (240).

[0099] The second mounting bracket (340) is rotated in place, that is, rolled, with the y-axis (roll axis) direction as an axis, as shown in FIGS. 3 and 6.

[0100] Accordingly, the second mounting bracket (340) of the second adjustment unit (300) is moved linearly from the base frame (110a) by the second column (320), yawing rotated on the second moving plate (310) with respect to the z-axis direction by the second column (320), tilted up and down in the direction of the x-axis direction by the second column (320) by the second mounting block (330), and rotated in place, i.e., rolling rotated, with respect to the y-axis direction on the front of the second mounting block (330), and in addition, as a plurality of second jaws (345) to be described later, which are provided on the front of the second mounting bracket (340), move along the length direction of the second mounting bracket (340), operation is performed in a total of 5 axes.

[0101] Meanwhile, a first mounting bracket (240) and a second mounting bracket (340) are respectively provided on the mutually facing front surfaces of the first mounting block (230) and the second mounting block (330).

[0102] As shown in FIGS. 2 and 3, the first and second mounting brackets (240) (340) are formed as vertically elongated rectangular prisms, so that their size and volume are reduced compared to conventional circular flange plates, thereby minimizing interference with the first and second columns (220) (320).

[0103] That is, when the first and second mounting brackets (240) (340) are made of discs, the adjacent parts of the two discs interfere with each other during the process of approaching the orthogonal base frame (110) (110a) to reproduce a short length curved pipe (2), so the short length curved pipe (2) cannot be reproduced. Therefore, they are provided in the shape of a rectangular prism so that the adjustment pipe of the straight pipe (1) or curved pipe (2) can be simply reproduced regardless of length while avoiding such unnecessary interference.

[0104] In this way, the first and second mounting brackets (240) (340), which are provided in the form of a rectangular prism, are positioned vertically and closely in the first and second mounting blocks (230) (330), thereby providing space in the adjacent area between the first and second mounting brackets (240) (340), so that flanges (10) can be smoothly mounted and reproduced on both sides of an adjustment tube made of a straight tube (1) or a curved tube (2) while avoiding unnecessary interference.

[0105] In particular, the first mounting bracket (240) as described above is raised and lowered by the lifting means of the first adjustment unit (200) and rolled and rotated on the front of the first mounting block (230) by the first rolling means.

[0106] In addition, the second mounting bracket (340) can be rolled and rotated by the second rolling means on the front of the second mounting block (330) to reproduce the rolling angle, tilted and rotated in the up and down direction by the tilting means to reproduce the face angle, and yawing rotation is performed by rotating in place on the second moving plate (310) by the yawing means to reproduce the yawing angle.

[0107] Meanwhile, on the front surface of the first and second mounting brackets (240) (340) as described above, a plurality of first and second jaws (245) (345) are respectively provided to position the center of the flange (10) so as to coincide with the center (or 'origin') of the first and second mounting brackets (240) (340), and the first and second jaws (245) (345) are provided to be movable in the longitudinal direction on the corresponding mounting brackets (240) (340).

[0108] Specifically, the first and second mounting brackets (240) (340) are each provided with first and second ball screws (243) (343) that are respectively connected through the longitudinal direction of the mounting brackets (240) (340) and rotate in place, and the first and second ball screws (243) (343) are each provided with a plurality of first and second jaws (245) (345) that are respectively movably connected, and the first and second jaw servo motors (246) (346) that rotate the first and second ball screws (243) (343) in forward and reverse directions are provided at one end of the first and second mounting brackets (240) (340).

[0109] At this time, the first and second ball screws (243) (343) each have left-hand and right-hand screws formed on both sides based on the center, so that when the ball screw (243) (343) rotates in the forward direction, both jaws (245) (345) move linearly toward the center of the ball screw (243) (343) and come close to it, and when the ball screw (243) (343) rotates in the reverse direction, both jaws (245) (345) move linearly toward the outer end of the ball screw (243) (343) and operate to be separated, so that both jaws (245) (345) can be moved simultaneously to an accurate distance and the position can be precisely controlled.

[0110] These first and second jaws (245) (345) are provided in a straight line along the length direction of the first and second mounting brackets (240) (340) by the first and second ball screws (243) (343) as shown in FIG. 8.

[0111] And, on the front of the first and second jaws (245) (345), a coupling hole (245a) (345a) corresponding to the fastening hole (11) of the flange (10) is formed, and a coupling pin (400) is fastened to the coupling hole (245a) (345a) to fix the flange (10) to the first and second mounting brackets (240) (340) by passing through the fastening hole (11) of the flange (10) to be installed in the adjustment tube to be reproduced.

[0112] As shown in FIG. 8, such a coupling pin (400) includes a shaft portion (400a) that passes through the fastening hole (11) of the flange (10) and is coupled and fixed to the coupling hole (245a) (345a) of the jaw (245) (345), a head portion (400c) that extends from the shaft portion (400a) and has a larger diameter than the shaft portion (400a), and an inclined portion (400b) that is provided between the head portion (400c) and the shaft portion (400a) and has an outer diameter that gradually narrows from the head portion (400c) to the shaft portion (400a), while its outer surface contacts and is coupled to the fastening hole (11) of the flange (10).

[0113] In particular, the shaft portion (400a) of the coupling pin (400) as described above is fixed in a fixed position by being fastened to the coupling hole (245a) (345a) of the jaw (245) (345) provided on the front of the first and second mounting brackets (240) (340). In this process, the center of the fastening hole (11) of the flange (10), through which the shaft portion (400a) of the coupling pin (400) passes, may be positioned in an eccentric state, deviating from the center of the coupling hole (245a) (345a) of the jaw (245) (345). At this time, as the inclined portion (400b) of the coupling pin (400) is inserted into the fastening hole (11) and one side of the inclined portion (400b) preferentially contacts the inner circumference of the fastening hole (11) as the insertion continues, the flange (10) moves slightly in the opposite direction of the eccentricity, and eventually the inclined portion (400b) of the inserted coupling pin (400) comes into even contact with the inner circumference of the fastening hole (11), and the center of the fastening hole (11) of the flange (10) coincides with the center of the coupling hole (245a) (345a) of the jaw (245) (345) and is provided in the correct position.

[0114] Accordingly, the center of the flange (10) is automatically aligned with the center of the first and second mounting brackets (240) (340) by means of the jaws (245) (345) operating as described above.

[0115] And, the first and second jaws (245) (345) as described above are each equipped with first and second extension jaws (247) (347) connected thereto so as to reproduce a flange (10) having a large diameter that exceeds the maximum spacing of the first and second jaws (245) (345).

[0116] These first and second extension jaws (247) (347) are provided to extend outwardly from the first and second jaws (245) (345). The first and second extension jaws (247) (347) include a fixing part (247a) (347a) that is coupled and fixed to the first and second jaws (245) (345), and a mounting part (247b) (347b) that is formed extending outwardly from the fixing part (247a) (347a) and is fitted with a large diameter flange (10).

[0117] The fixed portion (247a) (347a) and the mounting portion (247b) (347b) of the extension jaw (247) (347) are both formed as flat plates, and the fixed portion (247a) (347a) has a plurality of fasteners formed to be coupled and fixed to the coupling holes (245a) (345a) of the corresponding jaw (245) (345), and the mounting portion (247b) (347b) has a coupling hole (247c) (347c) corresponding to the fastening hole (11) of the flange (10).

[0118] In addition, the mounting portion (247b) (347b) is formed with a step from the fixed portion (247a) (347a), and the stepped mounting portion (247b) (347b) forms a flat plane with the front surface of the jaw (245) (345) when the extension jaw (247) (347) is coupled to the jaw (245) (345).

[0119] And, at the step portion between the mounting portion (247b)(347b) and the fixing portion (247a)(347a), when mounting the flange (10) to the extension jaw (247)(347), the flange (10) can be hooked onto the step portion to make mounting the flange (10) easier.

[0120] With such first and second extension jaws (247) (347), a flange (10) having a diameter that exceeds the maximum gap of the first and second jaws (245) (345) can also be easily reproduced.

[0121] Meanwhile, the first and second adjustment units (200) (300) as described above are provided with a control means for rapidly controlling the first and second moving plates (210) (310) that move linearly from the corresponding base frame (110) (110a) to stop the first and second adjustment units (200) (300). This control means includes a switch plate (150) (150a) of the base frame (110) (110a) and a first and second limit switch (250) (360) that operates in conjunction with the switch plate (150) (150a).

[0122] Among these control means, the switch plate (150) (150a) has already been described in the description of the base frame (110) (110a), and here we will only describe the first and second limit switches (250) (360) that operate in conjunction with the switch plate (150) (150a).

[0123] The first and second limit switches (250) (360) are provided on the side of the first and second moving plates (210) (310), and as they move together with the first and second moving plates (210) (310) on the base frame (110) (110a) and come into contact with the switch plate (150) (150a), they stop the first and second columns (220) (320), which are moving linearly on the base frame (110) (110a), so that they do not go beyond the reproduction range of the adjustment tube.

[0124] These first and second limit switches (250) (360) are provided by being positioned between the two switch plates (150) (150a) of the base frame (110) (110a) as shown in FIG. 4.

[0125] These first and second limit switches (250) (360) are provided with first and second switching bars (251) (361) protruding downward, the upper portions of the first and second switching bars (251) (361) are hinge-coupled to the first and second limit switches (250) (360), and the lower portions of the first and second switching bars (251) (361) are each rotatably coupled to the switching rolls (252) (362).

[0126] Accordingly, the first and second limit switches (250) (360) are moved linearly on the base frame (110) (110a) together with the first and second moving plates (210) (310), and the first and second switching bars (251) (361) of the first and second limit switches (250) (360) come into contact with the switch plate (150) (150a). In this state, as the first and second limit switches (250) (360) continue to move linearly, the first and second switching bars (251) (361) are rotated by the switch plate (150) (150a) and move in a tilted state, and the switching rolls (252) (362) of the first and second switching bars (251) (361) move upward along the inclined portion (152) (152a) of the switch plate (150) (150a). It moves as it becomes a cloud.

[0127] At this time, as the switching roll (252)(362) reaches the apex of the inclined portion (152)(152a), the first and second switching bars (251)(361) gradually tilt closer to horizontal, and from the moment the switching roll (252)(362) contacts the flat portion (151)(151a) of the first and second switch plates (150)(150a), a constant tilt is maintained, thereby allowing the first and second limit switches (250)(360) to output a stop signal from the point where the tilt of the first and second switching bars (251)(361) is maintained at a constant, thereby enabling the linear movement of the first and second moving plates (210)(310) to be stopped quickly.

[0128] The operational relationship of the automatic reproduction device for the adjustment tube according to the present invention as described above is explained.

[0129] When the adjustment pipe to be reproduced is a straight pipe (1), the second adjustment part (300) is moved to a straight line facing the second adjustment part (200) as shown in FIG. 9, and when the adjustment pipe to be reproduced is a curved pipe (2), the second adjustment part (300) is moved to a position close to the first adjustment part (200) as shown in FIG. 10.

[0130] Then, an adjustment tube is positioned between the first and second adjustment sections (200) (300). Below, an example is given where the adjustment tube is a curved tube (2).

[0131] First, a flange (10) to be mounted on the adjustment tube of the curved tube (2) is mounted on the front of the first mounting bracket (240) through both first jaws (245) of the first mounting bracket (240), and the mounted flange (10) is positioned so that its center coincides with the center of the first mounting bracket (240).

[0132] In this state, the center of the first mounting bracket (240), that is, the center of the flange (10), is adjusted to a height that aligns with the center of the adjustment tube. This is achieved by operating the lifting servo motor (222) provided in the first column (220), which causes the vertical ball screw (221) to rotate, and as the first mounting block (230) coupled to the vertical ball screw (221) rotates according to the direction of rotation of the vertical ball screw (221), the center of the first mounting bracket (240) is positioned to align with the center of the adjustment tube of the curved tube (2).

[0133] Afterwards, when the first column (220) is moved further forward from the base frame (100) toward the second adjustment part (300), the flange (10) provided on the first mounting bracket (240) is fitted onto the outer surface of one end of the curved pipe (2), and in this state, the inner surface of the flange (10) is welded to the outer surface of the curved pipe (2) to fix it.

[0134] Then, in the same way as the first mounting bracket (240), the flange (10) is mounted on the front of the second mounting bracket (340) through both second jaws (345), and the rolling angle, face angle, and yawing angle of the second mounting bracket (340) are adjusted according to the specifications of the other end of the curved pipe (2).

[0135] At this time, since one end of the adjustment tube of the curved tube (2) is fixed by the first mounting bracket (240), the second mounting bracket (340) is adjusted according to the specifications of the other end of the adjustment tube located toward the second mounting bracket (340), such as the inclination or the angle of curvature.

[0136] That is, the rolling angle of the second mounting bracket (340) is adjusted by rotating in place around the second rolling axis (341) (y-axis) by the operation of the second rolling gear (336) and the fourth ring gear (342), the face angle of the second mounting bracket (340) is adjusted by rotating up and down around the tilting axis (331) (x-axis) by the operation of the tilting gear (333) and the third ring gear (332), and the yawing angle of the second mounting bracket (340) is adjusted by rotating in place around the yawing axis (313) (z-axis) by the operation of the yawing gear (315) and the second ring gear (323).

[0137] In particular, in the second mounting bracket (340), the flange (10) is tilted in the up and down direction by the tilting rotation of the second mounting block (330) to adjust the face angle. Through this adjustment of the face angle, the height of the flange (10) can be adjusted to match the height of the other end of the curved pipe (2), i.e., the adjustment pipe, so height adjustment by a lifting means as in the first mounting bracket (240) becomes unnecessary.

[0138] Afterwards, as the second adjustment part (300) moves linearly from the corresponding base frame (110a) according to the length of the curved pipe (2), the flange (10) provided on the second mounting bracket (340) is fitted onto the outer surface of the other end of the curved pipe (2), and the inner surface of the flange (10) fitted onto the curved pipe (2) is welded to the outer surface of the curved pipe (2) to fix it, thereby making it possible to accurately reproduce the adjustment pipe of the curved pipe (2).

[0139] Accordingly, in the present invention, the shape, inclination, and curved angle of the adjustment tube can be accurately and precisely reproduced while simplifying the adjustment tube reproduction device (100).

[0140] Although the present invention has been described in detail through specific embodiments, this is for the purpose of specifically explaining the invention, and the invention is not limited thereto. It is evident that modifications or improvements can be made by those skilled in the art within the technical scope of the invention.

[0141] All simple variations or modifications of the present invention fall within the scope of the present invention, and the specific scope of protection of the present invention will be clarified by the appended claims. Explanation of the symbols

[0142] 1 : Intuition 2 : Curved 10 : Flange 11 : Fastening hole 100 : Reproduction device 110, 110a : Base frame 120, 120a: Horizontal ball screw 121, 121a: Servo motor 130, 130a: LM Guide 140, 140a: Cover Plate 150, 150a: Switch plate 151, 151a: Flat section 152, 152a: Inclined section 200, 300: 1st, 2nd adjustment section 210: 1st moving plate 211: Gap 220: 1st column 221: Vertical ball screw 222 : Lifting servo motor 223 : 1st guide rail 230: 1st mounting block 231: 1st rolling gear 232: 1st rolling servo motor 233: 1st rolling sensor 240: 1st mounting bracket 241: 1st roll axis 242: First ring gear 242a: First sensing element 243 : 1st ball screw 244 : 2nd guide rail 245 : 1st group 245a : connecting hole 246 : 1st jaw servo motor 247 : 1st extension jaw 247a: Fixed part 247b: Mounting part 247c : Connecting hole 250 : First limit switch 251: 1st switching bar 252: Switching roll 310 : Second moving plate 311 : Gap 312 : Penetrating hole 313 : Yaw axis 314: Second sensor 315: Yawing gear 316 : Yawing servo motor 320 : Second column 321 : Tilting bracket 322 : Tilting hole 323: Second ring gear 324: Yawing sensor 330: 2nd mounting block 330a: Rotating pin 331: Tilting shaft 332: Third ring gear 333 : Tilting gear 334 : Tilting servo motor 335: Second rolling sensor 336: Second rolling gear 337 : 2nd rolling servo motor 340 : 2nd mounting bracket 341: 2nd roll axis 342: 4th ring gear 342a : Third sensor 343 : Second ball screw 344 : 3rd guide rail 345 : 2nd jaw 345a : Coupling hole 346 : Second jaw servo motor 347 : 2nd extension jaw 347a : Fixed part 347b : Mounting part 347c : Connection hole 350: Encoder 360: Second limit switch 361: Second switching bar 362: Switching roll 400 : Connecting pin 400a : Shaft part 400b: Inclined section 400c: Head section

Claims

Claim 1 An automatic adjustment pipe reproduction device for reproducing an adjustment pipe for connecting two disconnected pipes, wherein the automatic adjustment pipe reproduction device comprises a base frame provided to intersect in a planar manner, and first and second adjustment units each provided on the intersecting base frames to reproduce an adjustment pipe, wherein the first adjustment unit comprises a first column that moves linearly from one side base frame, a first mounting block that moves up and down from the first column, a first mounting bracket that rolls and rotates on the front of the first mounting block, and a plurality of first jaws that are spaced according to the diameter of a flange to be installed on the adjustment pipe from the first mounting bracket, and the second adjustment unit comprises a second movable plate that moves linearly from the other side base frame, a second column that yaws and rotates on the second movable plate, a second mounting block that tilts and rotates in the up and down direction from the second column, a second mounting bracket that rolls and rotates on the front of the second mounting block, and a plurality of second jaws that are spaced according to the diameter of a flange to be installed on the adjustment pipe from the second mounting bracket, and the first The jaw and the second jaw are configured to reproduce the adjustment tube while being adjusted in nine axes, and the second column is provided with a tilting bracket having a tilting hole perforated in an arc shape, and the second mounting block is provided with a rotating pin that is coupled through the tilting hole of the tilting bracket and rotates along the tilting hole, thereby controlling the tilting angle of the second mounting block that is tilted and rotated, and a switch plate including a flat plate portion parallel to each base frame and an inclined portion inclined downward from the flat plate portion is provided on each base frame, and the first and second moving plates of the first and second adjustment parts are respectively provided with first and second limit switches, and the first and second limit switches are provided with first and second switching bars protruding downward, and the upper end of the first and second switching bars is hinge-coupled, and a switching roll is rotatably provided at the lower end, so that when the switching roll moves in contact with the inclined portion of the switch plate, the movement of the first and second moving plates is decelerated, and the switching roll on the flat portion of the switch plate It is provided to stop the linear movement of the first and second moving plates when moved in contact, and the first jaw and the second jaw have a first,An automatic adjustment pipe reproduction device capable of reproducing an adjustment pipe having a diameter exceeding the maximum gap between the first and second jaws by mounting a flange, provided with first and second extension jaws each comprising a fixing part coupled and fixed to each of the two jaws, and a mounting part formed to extend stepwise from the fixing part and protrude to the outside of the first and second jaws. Claim 2 An automatic adjustment tube reproduction device according to claim 1, wherein the first mounting bracket is provided to be rolled by a first ring gear rotatably installed on the first mounting block, the second mounting bracket is provided to be yawing rotated by a second ring gear rotatably installed on the second movable plate, tilted rotated by a third ring gear rotatably installed on the second mounting block, and rolled rotated by a fourth ring gear rotatably installed on the second mounting block, and wires are provided to be wired through the inner side of each ring gear. Claim 3 An automatic adjustment tube reproduction device according to claim 2, wherein each ring gear of the first and second adjustment sections is equipped with an encoder that controls the backlash of the corresponding ring gear to improve precision. Claim 4 delete

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