CN103627884A - Automatic ultrasonic impact device for straight welding line in pipeline - Google Patents
Automatic ultrasonic impact device for straight welding line in pipeline Download PDFInfo
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- CN103627884A CN103627884A CN201310564421.2A CN201310564421A CN103627884A CN 103627884 A CN103627884 A CN 103627884A CN 201310564421 A CN201310564421 A CN 201310564421A CN 103627884 A CN103627884 A CN 103627884A
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Abstract
The invention belongs to the field of metal welding and in particular relates to an automatic ultrasonic impact device for a straight welding line in a pipeline, which is used for improving the stress distribution of welding joints and improving the comprehensive performance of the welding joints. The automatic ultrasonic impact device for the straight welding line in the pipeline comprises a traveling mechanism, a stress elimination mechanism and a slag clearing mechanism and is characterized in that the traveling mechanism is a main body of the automatic ultrasonic impact device for the straight welding line in the pipeline and can be used as a bearing structure for crawling in the pipeline; the stress elimination mechanism is arranged on the rear part of the traveling mechanism and can be used for performing ultrasonic stress elimination processing on the straight welding line in the pipeline; the slag clearing mechanism is arranged on the front part of the traveling mechanism and is used for clearing away welding slag of the straight welding line in the pipeline. The automatic ultrasonic impact device for the straight welding line in the pipeline can synchronously implement the welding slag clearing work and the ultrasonic impact stress elimination work for the straight welding line in the pipeline, so that residual stress at a weld toe is eliminated, and the fatigue strength is improved; therefore, the postweld treatment efficiency is greatly improved.
Description
Technical field
The invention belongs to metal solder field, particularly, relate to straight weld automatic ultrasonic percussion mechanism in a kind of pipeline, for improving the stress distribution of welding joint, improve the over-all properties of welding joint.
Background technology
The weld residual stress technology of eliminating ultrasonic impact has obtained application widely.Ultrasonic impact technology can make weld seam toe of weld generation intense plastic strain and cause grain refining, produce compressive stress layer, improve surface hardness, can greatly reduce the surfaceness of welding toe simultaneously, and make its rounding off, finally reach elimination weld residual stress, improve fatigue strength, prevent the object of stress corrosion crack.
Existing ultrasonic impact stress-removal equipment mostly is ultrasonic hand-held impact gun, needs artificial butt welded seam repeatedly to process, and labour intensity is high, and production efficiency is low.Due to narrow space in pipeline, internal direct weld seam is difficult to carry out artificial stress-removal processing, and most factories only carry out simple grinder buffing processing.Pipe welding seam unrelieved stress and welding flaw cannot thoroughly be eliminated, and easily cause commissure repeated stress failure.Removing and the cleaning of manually carrying out welding slag in pipeline are also comparatively difficult.
The at present domestic relevant device that there is no can carry out scarfing cinder and the processing of ultrasonic stress-removal to pipe interior straight weld simultaneously.Based on this, design for scarfing cinder and the ultrasonic impact stress-removal automatic equipment of inner-walls of duct weld seam just very necessary.
Summary of the invention
In order to solve inner-walls of duct welding slag in prior art, be difficult to the problem that removing and weld seam welding toe defect and stress are difficult to elimination, the invention provides straight weld automatic ultrasonic percussion mechanism in a kind of pipeline, for scarfing cinder and the ultrasonic impact stress-removal of inner-walls of duct straight weld.
For achieving the above object, the technical solution adopted in the present invention is as follows:
Straight weld automatic ultrasonic percussion mechanism in pipeline, comprises travel mechanism, strain relief mechanism and slag removing mechanism; Travel mechanism is the main body of straight weld automatic ultrasonic percussion mechanism in pipeline, and travel mechanism can be creeped at pipe interior as bearing structure time; Strain relief mechanism is arranged on the rear portion of travel mechanism, can carry out ultrasonic stress-removal processing to pipe interior straight weld; Slag removing mechanism is arranged on the front portion of travel mechanism, for removing the welding slag of pipe interior straight weld.
With respect to prior art, effect of the present invention is as follows: this equipment can complete welding slag cleaning and the work of ultrasonic impact stress-removal of straight weld in pipeline simultaneously, eliminates welding toe unrelieved stress and improves its fatigue strength, improves greatly after welding treatment efficiency.
Accompanying drawing explanation
Fig. 1 is straight weld automatic ultrasonic percussion mechanism schematic diagram in pipeline;
Fig. 2 is the travel mechanism overall schematic of straight weld automatic ultrasonic percussion mechanism in pipeline;
Fig. 3 is the chassis structure schematic diagram of straight weld automatic ultrasonic percussion mechanism in pipeline;
Fig. 4 is the travel mechanism bottom construction schematic diagram of straight weld automatic ultrasonic percussion mechanism in pipeline;
Fig. 5 is the strain relief mechanism overall schematic of straight weld automatic ultrasonic percussion mechanism in pipeline;
Fig. 6 is the strain relief mechanism bottom construction schematic diagram of straight weld automatic ultrasonic percussion mechanism in pipeline;
Fig. 7 is the slag removing mechanism schematic diagram of straight weld automatic ultrasonic percussion mechanism in pipeline;
Fig. 8 is another schematic diagram of slag removing mechanism of straight weld automatic ultrasonic percussion mechanism in pipeline;
Fig. 9 is straight weld automatic ultrasonic percussion mechanism folded state schematic diagram in pipeline.
In figure: 1, travel mechanism, 2, strain relief mechanism, 3, slag removing mechanism; 11, chassis, 12, swinging kick, 13, angle adjusting mechanism, 14, crawler belt foot; 21, base plate, 22, slider-crank mechanism, 23, guide rail, 24, ultrasonic impact gun connecting rod, 25, ultrasonic impact gun, 26, stress-removal electric motor, 27, stopper slot, 28, base plate front link, 29, base plate rear link; 31, welding slag basket, 32, scarfing cinder electric motor, the 33, first synchronous pulley, 34, gear connecting rod, the 35, second synchronous pulley, 36, synchronous cog belt, 37, scarfing cinder gear; 111, short groove, 112, elongated slot, 113, rear portion, chassis otic placode, 114, the anterior otic placode in chassis, 115, chassis threaded hole, the 116, first chassis pin-and-hole, the 117, second chassis pin-and-hole, the 118, the 3rd chassis pin-and-hole, 119, scarfing cinder motor reel bearing; 121, the first swinging kick pin-and-hole, 122, swinging kick threaded hole, the 123, second swinging kick pin-and-hole; 131, polished rod, the 132, first hinge, 133, flat connecting rod, the 134, second hinge, 135, screw rod, 136, setting nut; 211, rectangular slot, 212, base plate rear portion otic placode, 213, the anterior otic placode of base plate, 221, crank connecting link, 222, slide block, 223, crank, 241, impact gun connecting rod pin-and-hole, 251, ultrasonic impact pin, 252, impact gun otic placode, 271, half slot, 272, stopper slot pin-and-hole, 281, front link pin-and-hole, 282, double-screw bolt, 291, rear link pin-and-hole; 311, rear deflector door, 312, baffle plate side connecting rod, 313, side baffle plate, 314, a weldering basket connecting rod, 315, brush plate, 321, power output shaft; 1321, the first hinge pin aperture, the 1341, second hinge pin aperture; 3121, side connecting rod pin-and-hole, 3141, a weldering basket connecting rod pin-and-hole.
Embodiment
As shown in Figure 1, straight weld automatic ultrasonic percussion mechanism in pipeline, comprises travel mechanism 1, strain relief mechanism 2 and slag removing mechanism 3; Travel mechanism 1 is the main body of straight weld automatic ultrasonic percussion mechanism in pipeline, and travel mechanism 1 can be creeped at pipe interior as bearing structure time; Strain relief mechanism 2 is arranged on the rear portion of travel mechanism 1, can carry out ultrasonic stress-removal processing to pipe interior straight weld; Slag removing mechanism 3 is arranged on the front portion of travel mechanism 1, for removing the welding slag of pipe interior straight weld.
As Fig. 2, shown in Fig. 3, travel mechanism 1, comprising: chassis 11, swinging kick 12, angle adjusting mechanism 13 and crawler belt foot 14; Crawler belt foot 14 is connected to chassis 11 by swinging kick 12; Angle adjusting mechanism 13 can be adjusted the angle of swinging kick 12.
As shown in Figure 3, the main body on chassis 11 is that (working direction of creeping is that front end, one end relative with working direction are rear end to symmetrical square plate structure, and the left side of working direction is that left end, right side are right-hand member; Along chassis, the direction of 11 front and back is longitudinally, perpendicular to direction longitudinally, is horizontal), the mid-way of 11 rear and front ends, chassis has short groove 111 and elongated slot 112; Elongated slot 112 both sides of 11 rear ends, chassis are provided with rear portion, chassis otic placode 113, and rear portion, chassis otic placode 113 is symmetrical about the longitudinal center line on chassis 11; The left and right sides on chassis 11 is outwardly symmetrically, forms boss; The upper limb of every side boss is equipped with the anterior otic placode 114 in chassis, and the anterior otic placode 114 in chassis of the left and right sides is symmetrical about the longitudinal center line on chassis 11; The anterior otic placode 114 in rear portion, chassis otic placode 113 and chassis is for being connected strain relief mechanism 2; The side of every side boss is provided with two chassis threaded holes 115, two chassis threaded holes 115 of every side boss are about anterior otic placode 114 symmetries in chassis, the chassis threaded hole 115 of both sides boss is symmetrical about the longitudinal center line on chassis 11, and chassis threaded hole 115 is for fixing stopper slot 27; On the front/rear end of each boss, be equipped with the first chassis pin-and-hole 116, the first chassis pin-and-holes 116 for connecting swinging kick 12; The front end of 11 both sides, chassis is provided with the second chassis pin-and-hole 117 symmetrically about the longitudinal center line on chassis 11, the rear portion of the second chassis pin-and-hole 117 about the longitudinal center line on chassis 11 be provided with symmetrically the 3rd chassis pin-and-hole 118, the second chassis pin-and-holes 117 with the 3rd chassis pin-and-hole 118 for being connected welding slag basket 31; Scarfing cinder motor reel bearing 119 is positioned at the upper limb place of short groove 111 left side central portion, and scarfing cinder motor reel bearing 119 is provided with axis hole, for connecting the power output shaft 321 of scarfing cinder electric motor 32.
A swinging kick 12 is respectively installed in each boss front and back end; Swinging kick 12 is provided with the first swinging kick pin-and-hole 121, swinging kick threaded hole 122 and the second swinging kick pin-and-hole 123; The first swinging kick pin-and-hole 121 of swinging kick 12 is connected by bearing pin with the first chassis pin-and-hole 116 on the front/rear end face of boss, and swinging kick 12 can be around the first swinging kick pin-and-hole 121 rotations.
As shown in Figure 4, angle adjusting mechanism 13, is positioned at 11 belows, chassis, is symmetrical formula mechanism; Angle adjusting mechanism 13, comprising: two polished rods 131, four the first hinge 132, four flat connecting rods 133, the second hinge 134, screw rod 135 and two setting nuts 136; Polished rod 131 is cylindrical rod piece, and two ends car has screw thread, and the two ends of two polished rods 131 are threaded with the swinging kick threaded hole 122 of two swinging kicks 12 of 11 both sides, chassis respectively, and two swinging kicks 12 that two polished rods 131 all can connect with 11 both sides, chassis are rotated; On every polished rod 131, cover has two the first hinge 132, the first hinges 132 to be provided with the first hinge pin aperture 1321; The second hinge 134 is provided with four the second hinge pin aperture 1341; Flat connecting rod 133 two ends are respectively provided with a pin-and-hole; Screw rod 135 vertical weldings are 11 mid-way, bottom surface in chassis, and on screw rod 135, cover has the second hinge 134, the second hinges to be respectively rotary with a setting nut 136 in both sides Shang Xia 134; The second hinge 134 is enclosed within on screw rod 135 by unthreaded hole; Four flat connecting rods 133 are hinged with the first hinge pin aperture 1321 and the second hinge pin aperture 1341 respectively by the pin-and-hole at two ends.
By two setting nuts 136 on rotary screw 135, can make the second hinge 134 move up and down, thereby promote or pull four flat connecting rods 133 that length is identical, and flat connecting rod 133 promotes or pulls symmetrical two polished rods 131 to move simultaneously, and then two pairs of swinging kicks 12 of symmetrical installation are rotated around the first chassis pin-and-hole 116 simultaneously, finally reach the object that regulates swinging kick 12 angles of inclination.Because screw rod 135 positions under chassis 11 are fixed, four flat connecting rod 133 length of 11 bottoms, chassis are identical, and two pairs of swinging kicks 12 that in angular adjustment process, chassis 11 zygomorphy are installed are moved simultaneously.Therefore in angular adjustment process, the angle variation of two pairs of swinging kicks 12 is identical, has guaranteed that the chassis 11 of travel mechanism 1 can be not crooked in moving process.
The inner side of each crawler belt foot 14 is equipped with two crawler belts foot otic placodes 141, and two crawler belts foot otic placodes 141 on each crawler belt foot 14 are connected by bearing pin with the second swinging kick pin-and-hole 123 of front/rear two swinging kicks 12 of chassis 11 1 sides respectively.Two crawler belt foots 14 all adopt driven by power, can control respectively gait of march and the direction of two crawler belt foots 14 by external control system, and finally control the kinestate of whole travel mechanism 1.
As Fig. 5, shown in Fig. 6, strain relief mechanism 2 is symmetrical formula mechanism, comprising: base plate 21, slider-crank mechanism 22, two guide rails 23, ultrasonic impact gun connecting rod 24, two ultrasonic impact guns 25, stress-removal electric motor 26, two stopper slots 27, two base plate front link 28 and two base plate rear link 29.
Base plate 21 is the foundation structure of strain relief mechanism 2, for installing and carry slider-crank mechanism 22, guide rail 23, ultrasonic impact gun connecting rod 24, ultrasonic impact gun 25, stress-removal electric motor 26, stopper slot 27, base plate front link 28 and base plate rear link 29; For symmetrical " protruding " font thin plate, (side that has outstanding square plate is that the opposite side corresponding to ，Yu rear end, rear end of base plate 21 is the front end of base plate 21 to the main body of base plate 21, and the left side of front end is the left end of base plate 21, and the right side of front end is the right-hand member of base plate 21; In the middle of base plate 21, have rectangular slot 211, along the direction of rectangular slot 211 be base plate 21 longitudinally); The both sides that are positioned at rectangular slot 211 middle parts on base plate 21 bottom surfaces are provided with base plate rear portion otic placode 212 symmetrically about longitudinal center line, and the place, both sides of the edge of base plate 21 bottom surface front ends is provided with the anterior otic placode 213 of base plate symmetrically about longitudinal center line; Base plate front link 28 two ends are provided with front link pin-and-hole 281, base plate front link 28 respectively by the front link pin-and-hole 281 of upper end, the front link pin-and-hole of lower end 281 and the anterior otic placode 213 of base plate, the anterior otic placode 114 in chassis are hinged; Base plate rear link 29 two ends are provided with rear link pin-and-hole 291, base plate rear link 29 respectively by the rear link pin-and-hole 291 of upper end, the rear link pin-and-hole of lower end 291 and base plate rear portion otic placode 212, rear portion, chassis otic placode 113 are hinged; Base plate front link 28 is identical with the length of base plate rear link 29, by rotating two base plate rear link 29 and two base plate front link 28 can realize the altitude mixture control of base plate 21, thereby completes the altitude mixture control of whole strain relief mechanism 2.
Stopper slot 27 is thin semicircular plate, has half slot 271 on thin semicircular plate, for limiting the position of base plate front link 28; The two ends of thin semicircular plate are equipped with stopper slot pin-and-hole 272, can be by the chassis threaded hole 115 that is fixed on 1 both sides, chassis of two stopper slot symmetries by screw; Two base plate front link 28 middle parts are all welded with double-screw bolt 282, two double-screw bolts 282 are inserted in respectively in the half slot 271 of two stopper slots 27; By screwing two nuts on double-screw bolt 282, can be fixed being installed on two front link 28 of base plate 21 front edges, thereby limit the height of base plate 21, and then limit the height of whole strain relief mechanism 2.
For different calibers, strain relief mechanism 2 is different apart from the height of weld seam, therefore needs the height of counter stress eliminating machine 2 to regulate the ultrasonic impact gun 25 making in strain relief mechanism 2 can touch weld seam.
Base plate 21 is positioned at monosymmetric 23, two guide rail 23 inner sides of two parallel guide rails that arrange of rectangular slot 211 on outstanding end face to the back-end and is equipped with groove; Slider-crank mechanism 22, comprises crank connecting link 221, slide block 222 and crank 223; The two ends of crank connecting link 221 and crank 223 are equipped with pin-and-hole; Crank connecting link 221 two ends are hinged with crank 223 and slide block 222 respectively by pin-and-hole; Slide block 222 can slidably reciprocate in the groove of two parallel guide rail 23 inner sides, and slide block 222 tops are fixed with ultrasonic impact gun connecting rod 24; Ultrasonic impact gun connecting rod 24 both sides are provided with impact gun connecting rod pin-and-hole 241, for connecting two ultrasonic impact guns 25; Two ultrasonic impact gun 25 tops are provided with impact gun otic placode 252; Impact gun connecting rod pin-and-hole 241 is connected by screw bolt and nut with impact gun otic placode 252 and is fastening; Two ultrasonic impact guns 25 are all rotatable to adapt to different reinforcements and remaining wide weld seam;
Stress-removal electric motor 26 is provided with base, by base, be fixed on base plate 21, between stress-removal electric motor 26 and crank 223, by axle, be connected with key, by stress-removal electric motor 26, can drive crank 223 high speed rotating, and then drive crank connecting link 221 to swing, again by crank connecting link 221 with movable slider 222 linear reciprocating motion in two parallel guide rails 23, finally realize the linear reciprocating motion of ultrasonic impact gun 25, make ultrasonic impact pin 251 in the to-and-fro movement of weld seam welding toe, complete the ultrasonic stress-removal work of butt welded seam.
Stress-removal electric motor 26 adopts driven by power, by being placed in the Controlling System of pipeline external, can control the rotating speed of the stress-removal electric motor 26 of stress-removal mechanism 2, thereby control the linear reciprocating motion frequency of ultrasonic impact gun 25, and then control the stress-removal effect of straight weld in pipeline.
As Fig. 7, shown in Fig. 8, slag removing mechanism, comprising: scarfing cinder basket 31, scarfing cinder electric motor 32, the first synchronous pulley 33, gear connecting rod 34, the second synchronous pulley 35, synchronous cog belt 36 and scarfing cinder gear 37; Scarfing cinder basket 31 is for collecting the welding slag of disposing.
Scarfing cinder basket 31, comprises rear deflector door 311, two baffle plate side connecting rods 312, two side baffle plates 313, two weldering basket connecting rods 314 and brush plates 315; Rear deflector door 311 both sides are welded with baffle plate side connecting rod 312, and the two ends of baffle plate side connecting rod 312 are provided with side connecting rod pin-and-hole 3121; Brush plate 315 both sides are welded with side baffle plate 313, and the two ends of side baffle plate 313 are provided with pin-and-hole; Weldering basket connecting rod 314 two ends are provided with weldering basket connecting rod pin-and-hole 3141; The side baffle plate 313 of brush plate 315 both sides is hinged with baffle plate side connecting rod 312 and weldering basket connecting rod 314 respectively by the pin-and-hole at two ends; Two baffle plate side connecting rods 312 are hinged with the 3rd chassis pin-and-hole 118 of 11 both sides, chassis respectively by the side connecting rod pin-and-hole 3121 of upper end; Two weldering basket connecting rods 314 are hinged with the second chassis pin-and-hole 117 of 11 both sides, chassis respectively by the weldering basket connecting rod pin-and-hole 3141 of upper end; Symmetry be arranged on the baffle plate side connecting rod 312 of 11 both sides, chassis and weldering basket connecting rod 314 can be respectively around side connecting rod pin-and- hole 3121 and 3141 rotations of weldering basket connecting rod pin-and-hole of upper end.
Scarfing cinder electric motor 32 is provided with base, and is fixed on 11 tops, chassis by base, and scarfing cinder electric motor 32 1 sides are provided with power output shaft 321; Gear connecting rod 34 two ends are provided with axis hole; In power output shaft 321, cover has the first synchronous pulley 33 and gear connecting rod 34, between power output shaft 321 and the first synchronous pulley 33 for key is connected, with between gear connecting rod 34, by axis hole, be connected, the end of power output shaft 321 is connected by axis hole with scarfing cinder motor reel bearing 119 again; Gear connecting rod 34 can moving power output shaft 321 rotates, and between gear connecting rod 34 and the second synchronous pulley 35, by axle, is connected; On the first synchronous pulley 33 and the second synchronous pulley 35, cover has synchronous cog belt 36; Between scarfing cinder gear 37 and the second synchronous pulley 35, by axle, realizing key is connected; Scarfing cinder electric motor 32 drives the first synchronous pulley 33 to rotate, the first synchronous pulley 33 is given the second synchronous pulley 35 by synchronous cog belt 36 by transmission of power again, thereby drive scarfing cinder gear 37 high speed rotating, and the welding slag on butt welded seam surface impacts, thereby realize the function of removing welding slag, the welding slag of disposing is cleaned and is collected by welding slag basket 31 again.
The same driven by power that adopts of scarfing cinder electric motor 32, by the rotating speed of the adjustable scarfing cinder electric motor 32 of external control system, thus the rotating speed of control scarfing cinder gear 37, and then the frequency of impact of 37 pairs of welding slags of control scarfing cinder gear, finally reach best scarfing cinder effect.
In pipeline, the folded state of straight weld automatic ultrasonic percussion mechanism as shown in Figure 9, by rotating bottom board front link 28 and base plate rear link 29 forward, the height of strain relief mechanism 2 can be adjusted to minimumly, the base plate 21 in strain relief mechanism 2 is affixed on chassis 11; By rotating backward baffle plate side connecting rod 312 and the weldering basket connecting rod 314 on welding slag basket 31, welding slag basket 31 can be placed in to the below on chassis 11; By the gear connecting rod 34 that rotates backward, the gear connecting rod on slag removing mechanism 3 34, scarfing cinder gear 37, the second synchronous pulley 35 and synchronous cog belt 36 can be placed in to 11 tops, chassis; In whole pipeline, straight weld automatic ultrasonic percussion mechanism can fold when off working state, is convenient to deposit and transport.
Methodology of the present invention is as follows:
(1), the pipeline of rotating water placing flat, make pipe interior straight weld be positioned at pipeline lowest part, straight weld automatic ultrasonic percussion mechanism in pipeline is put into pipe interior.Two setting nuts 136 of straight weld automatic ultrasonic percussion mechanism in rotating pipe, make crawler belt foot 14 bottom surfaces of travel mechanism 1 be affixed on inner-walls of duct.
(2), by adjusting the height of strain relief mechanism 2, two ultrasonic impact guns 25 are pressed in to pipeline straight weld both sides welding toe.Regulate slag removing mechanism 3, make the bottom hairbrush of brush plate 315 be close to inner-walls of duct, the gear of scarfing cinder simultaneously 37 is pressed in weld face.
(3), after energising, by Controlling System, controls movement velocity and the direction of travel mechanism 1, guarantee that the interior straight weld automatic ultrasonic percussion mechanism of pipeline is along bead direction translational motion.Under the drive of scarfing cinder electric motor 32 and stress-removal electric motor 26, slag removing mechanism 3 and strain relief mechanism 2 can complete scarfing cinder and the ultrasonic stress-removal work of straight weld in pipeline automatically.
(4), worked after, straight weld automatic ultrasonic percussion mechanism in pipeline is taken out from pipeline opposite side, remove after the welding slag of collecting, by straight weld automatic ultrasonic percussion mechanism stored collapsed in pipeline.
Claims (10)
1. a straight weld automatic ultrasonic percussion mechanism in pipeline, comprises travel mechanism, strain relief mechanism and slag removing mechanism; It is characterized in that: travel mechanism is the main body of straight weld automatic ultrasonic percussion mechanism in pipeline, travel mechanism can be creeped at pipe interior as bearing structure time; Strain relief mechanism is arranged on the rear portion of travel mechanism, can carry out ultrasonic stress-removal processing to pipe interior straight weld; Slag removing mechanism is arranged on the front portion of travel mechanism, for removing the welding slag of pipe interior straight weld.
2. straight weld automatic ultrasonic percussion mechanism in pipeline according to claim 1, is characterized in that: travel mechanism, comprising: chassis, swinging kick, angle adjusting mechanism and crawler belt foot; Crawler belt foot is connected to chassis by swinging kick; Angle adjusting mechanism can be adjusted the angle of swinging kick.
3. according to straight weld automatic ultrasonic percussion mechanism in the pipeline described in claim 1-2, it is characterized in that: the main body on chassis is symmetrical square plate structure, and the mid-way of rear and front end, chassis has short groove and elongated slot; The elongated slot both sides of the extreme end of chassis are provided with rear portion, chassis otic placode, and rear portion, chassis otic placode is symmetrical about the longitudinal center line on chassis; The left and right sides on chassis is outwardly symmetrically, forms boss; The upper limb of every side boss is equipped with the anterior otic placode in chassis, and the anterior otic placode in chassis of the left and right sides is symmetrical about the longitudinal center line on chassis; The side of every side boss is provided with two chassis threaded holes, and two chassis threaded holes of every side boss are symmetrical about the anterior otic placode in chassis, and the chassis threaded hole of both sides boss is symmetrical about the longitudinal center line on chassis.
4. according to straight weld automatic ultrasonic percussion mechanism in the pipeline described in claim 1-3, it is characterized in that: on the front/rear end of each boss, be equipped with the first chassis pin-and-hole, the front end of both sides, chassis is provided with the second chassis pin-and-hole symmetrically about the longitudinal center line on chassis, the rear portion of the second chassis pin-and-hole is provided with the 3rd chassis pin-and-hole symmetrically about the longitudinal center line on chassis, scarfing cinder motor bearing seat is positioned at the upper limb place of short groove left side central portion, and scarfing cinder motor reel bearing is provided with axis hole.
5. according to straight weld automatic ultrasonic percussion mechanism in the pipeline described in claim 1-4, it is characterized in that: a swinging kick is respectively installed in each boss front and back end; Swinging kick is provided with the first swinging kick pin-and-hole, swinging kick threaded hole and the second swinging kick pin-and-hole; The first swinging kick pin-and-hole of swinging kick is connected by bearing pin with the first chassis pin-and-hole on the front/rear end face of boss, and swinging kick can be around the first swinging kick pin-and-hole rotation.
6. according to straight weld automatic ultrasonic percussion mechanism in the pipeline described in claim 1-5, it is characterized in that: angle adjusting mechanism, be positioned at chassis below, be symmetrical formula mechanism; Angle adjusting mechanism, comprising: two polished rods, four the first hinges, four flat connecting rods, the second hinge, screw rod and two setting nuts; Polished rod is that cylindrical rod piece, two ends car have screw thread, and the two ends of two polished rods are threaded with the swinging kick threaded hole of two swinging kicks of both sides, chassis respectively, and two swinging kicks that two polished rods all can connect with both sides, chassis are rotated; On every polished rod, cover has two the first hinges, and the first hinge is provided with the first hinge pin aperture; The second hinge is provided with four the second hinge pin aperture; Flat connecting rod two ends are respectively provided with a pin-and-hole; Screw rod vertical welding is in the mid-way, bottom surface on chassis, and on screw rod, cover has the second hinge, and the second upper and lower both sides of hinge are respectively rotary with a setting nut; The second hinge is enclosed within on screw rod by unthreaded hole; Pin-and-hole by two ends of four flat connecting rods and the first hinge pin aperture and the second hinge pin aperture are hinged; The inner side of each crawler belt foot is equipped with two crawler belts foot otic placodes, and two crawler belts foot otic placodes on each crawler belt foot are connected by bearing pin with the second swinging kick pin-and-hole of the front/rear swinging kick of chassis one side respectively.
7. according to straight weld automatic ultrasonic percussion mechanism in the pipeline described in claim 1-6, it is characterized in that: strain relief mechanism is symmetrical formula mechanism, comprising: base plate, slider-crank mechanism, two parallel guides, ultrasonic impact gun connecting rod, two ultrasonic impact guns, stress-removal electric motor, two stopper slots, two base plate front link and two base plate rear link; The main body of base plate is symmetrical " protruding " font thin plate; The both sides that are positioned at rectangular slot middle part on base plate bottom surface are provided with base plate rear portion otic placode symmetrically about longitudinal center line, and the place, both sides of the edge of base plate bottom surface front end is provided with the anterior otic placode of base plate symmetrically about longitudinal center line; Base plate rear link two ends are provided with rear link pin-and-hole, base plate rear link respectively by the rear link pin-and-hole of upper end, the rear link pin-and-hole of lower end and base plate rear portion otic placode, rear portion, chassis otic placode are hinged; Base plate front link two ends are provided with front link pin-and-hole, base plate front link respectively by the front link pin-and-hole of upper end, the anterior otic placode of the front link pin-and-hole of lower end and base plate, front portion, chassis otic placode are hinged; Base plate rear link is identical with base plate front link length; Stopper slot is thin semicircular plate, has half slot on thin semicircular plate, for limiting the position of base plate front link; The two ends of thin semicircular plate are equipped with stopper slot pin-and-hole, can be by the chassis threaded hole that is fixed on both sides, chassis of two stopper slot symmetries by screw; Two base plate front link middle parts are all welded with double-screw bolt, and two double-screw bolts are inserted in respectively in the half slot of two stopper slots; By screwing two nuts on double-screw bolt, can be fixed being installed on two front link of base plate front edge.
8. according to straight weld automatic ultrasonic percussion mechanism in the pipeline described in claim 1-7, it is characterized in that: base plate is positioned at that rectangular slot is monosymmetric arranges two parallel guide rails to the back-end on outstanding end face, and two guide rails inner sides are equipped with groove; Slider-crank mechanism, comprises crank connecting link, slide block and crank; The two ends of crank connecting link and crank are equipped with pin-and-hole; Crank connecting link two ends are hinged with crank and slide block respectively by pin-and-hole; Slide block can slidably reciprocate in the groove of two parallel guide rail inner sides, and slide block top is fixed with ultrasonic impact gun connecting rod; Ultrasonic impact gun connecting rod both sides are provided with impact gun connecting rod pin-and-hole, and two ultrasonic impact gun tops are provided with impact gun otic placode; Impact gun connecting rod pin-and-hole is connected by screw bolt and nut with impact gun otic placode and is fastening; Stress-removal electric motor is provided with base, by base, is fixed on base plate, between stress-removal electric motor and crank, by axle, is connected with key.
9. according to straight weld automatic ultrasonic percussion mechanism in the pipeline described in claim 1-8, it is characterized in that: slag removing mechanism, comprising: scarfing cinder basket, scarfing cinder electric motor, the first synchronous pulley, gear connecting rod, the second synchronous pulley, synchronous cog belt and scarfing cinder gear.
10. according to straight weld automatic ultrasonic percussion mechanism in the pipeline described in claim 1-9, it is characterized in that: scarfing cinder basket, comprises rear deflector door, two baffle plate side connecting rods, two side baffle plates, two weldering basket connecting rods and brush plate; Rear deflector door both sides are welded with baffle plate side connecting rod, and the two ends of baffle plate side connecting rod are provided with side connecting rod pin-and-hole; Brush plate both sides are welded with side baffle plate, and the two ends of side baffle plate are provided with pin-and-hole; Weldering basket connecting rod two ends are provided with weldering basket connecting rod pin-and-hole; The pin-and-hole of the side baffle plate of brush plate both sides by two ends respectively with baffle plate side connecting rod and a weldering basket rod hinge connection; Two baffle plate side connecting rods are hinged with the 3rd chassis pin-and-hole of both sides, chassis respectively by the side connecting rod pin-and-hole of upper end; Two weldering basket connecting rods are hinged with the second chassis pin-and-hole of both sides, chassis respectively by the weldering basket connecting rod pin-and-hole of upper end; Symmetry be arranged on the baffle plate side connecting rod of both sides, chassis and weldering basket connecting rod can be respectively around side connecting rod pin-and-hole and the rotation of a weldering basket connecting rod pin-and-hole of upper end; Scarfing cinder electric motor is provided with base, and is fixed on top, chassis by base, and scarfing cinder electric motor one side is provided with power output shaft; Gear connecting rod two ends are provided with axis hole; In power output shaft, cover has the first synchronous pulley and a gear connecting rod, between power output shaft and the first synchronous pulley, for key is connected, and by axis hole, is connected between gear connecting rod, and the end of power output shaft is connected by axis hole with scarfing cinder motor reel bearing again; Gear connecting rod can moving power output shaft rotates, and between gear connecting rod and the second synchronous pulley, by axle, is connected; Sheathed synchronous cog belt on the first synchronous pulley and the second synchronous pulley; Between scarfing cinder gear and the second synchronous pulley, by axle, realizing key is connected.
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| CN201310564421.2A CN103627884B (en) | 2013-11-14 | 2013-11-14 | Automatic ultrasonic impact device for straight welding line in pipeline |
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| CN201310564421.2A CN103627884B (en) | 2013-11-14 | 2013-11-14 | Automatic ultrasonic impact device for straight welding line in pipeline |
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| CN103952531A (en) * | 2014-05-12 | 2014-07-30 | 中国石油大学(华东) | Automatic ultrasonic impact device for circumferential weld |
| CN106080158A (en) * | 2016-08-24 | 2016-11-09 | 北京灵铱科技有限公司 | A kind of humanoid caterpillar type robot base apparatus |
| CN106181042A (en) * | 2016-07-28 | 2016-12-07 | 东南大学 | A kind of ultra-large type sea frock for low stress without surplus welding method and device |
| CN107138892A (en) * | 2017-07-23 | 2017-09-08 | 张多艳 | A kind of adjustable height remove welding slag frock |
| CN107252940A (en) * | 2017-08-04 | 2017-10-17 | 佛山市艾德克朗机电科技有限公司 | A kind of portable multifunctional electrochemistry welding bead processor |
| CN108754122A (en) * | 2018-06-27 | 2018-11-06 | 中国核工业华兴建设有限公司 | A kind of automatic ultrasonic impact elimination welding residual stress device |
| CN109355491A (en) * | 2018-12-20 | 2019-02-19 | 江苏阳明船舶装备制造技术有限公司 | It is a kind of to impact the beat device for eliminating welding residual stress machine for automatic ultrasonic |
| CN109402374A (en) * | 2018-12-20 | 2019-03-01 | 江苏阳明船舶装备制造技术有限公司 | It is a kind of to impact the running gear for eliminating welding residual stress machine for automatic ultrasonic |
| CN109457106A (en) * | 2018-12-20 | 2019-03-12 | 江苏阳明船舶装备制造技术有限公司 | A kind of towed elimination welding residual stress device |
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| CN109402374A (en) * | 2018-12-20 | 2019-03-01 | 江苏阳明船舶装备制造技术有限公司 | It is a kind of to impact the running gear for eliminating welding residual stress machine for automatic ultrasonic |
| CN109457106A (en) * | 2018-12-20 | 2019-03-12 | 江苏阳明船舶装备制造技术有限公司 | A kind of towed elimination welding residual stress device |
| CN109355491B (en) * | 2018-12-20 | 2023-10-31 | 江苏阳明船舶装备制造技术有限公司 | Deflection device for automatic ultrasonic impact welding residual stress elimination machine |
| CN109355491A (en) * | 2018-12-20 | 2019-02-19 | 江苏阳明船舶装备制造技术有限公司 | It is a kind of to impact the beat device for eliminating welding residual stress machine for automatic ultrasonic |
| CN109457106B (en) * | 2018-12-20 | 2023-12-15 | 江苏阳明船舶装备制造技术有限公司 | Traction type welding residual stress eliminating device |
| CN109402374B (en) * | 2018-12-20 | 2023-12-22 | 江苏阳明船舶装备制造技术有限公司 | Running system for automatic ultrasonic impact welding residual stress elimination machine |
| CN111843324A (en) * | 2020-07-20 | 2020-10-30 | 东北石油大学 | Crawling welding robot for connecting oil and gas long-distance pipeline |
| CN111843324B (en) * | 2020-07-20 | 2021-11-23 | 东北石油大学 | Crawling welding robot for connecting oil and gas long-distance pipeline |
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