CN106312293A - Full-hydraulic driving numerical-control frictional stitch welding machine for on-line repair of underwater tubular structure - Google Patents
Full-hydraulic driving numerical-control frictional stitch welding machine for on-line repair of underwater tubular structure Download PDFInfo
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- CN106312293A CN106312293A CN201610954079.0A CN201610954079A CN106312293A CN 106312293 A CN106312293 A CN 106312293A CN 201610954079 A CN201610954079 A CN 201610954079A CN 106312293 A CN106312293 A CN 106312293A
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- frame
- stitch welding
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- wedge
- welding machine
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
- B23K20/122—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention provides a full-hydraulic driving numerical-control frictional stitch welding machine for on-line repair of an underwater tubular structure. The full-hydraulic driving numerical-control frictional stitch welding machine comprises a stitch welding device and a protective frame covering the stitch welding device, wherein the stitch welding device comprises a rack, clamping mechanisms mounted on the rack, circumferential moving mechanisms and a welding device; the welding device comprises a welding support, a frame type cross beam glidingly mounted in the welding support and a spindle mounting frame; each clamping mechanism comprises clamping arms arranged between two first side plates, and hinge shafts are connected to the middle of the clamping arms; arc-shaped claws matched with a pipeline are arranged at the lower parts of the clamping arms, and the upper ends of the clamping arms are driven by clamping hydraulic cylinders; each circumferential moving mechanism comprises an arc-shaped guide plate fixedly connected with a fixing bearing, and a guide block is arranged on the arc-shaped guide plate; gap adjusting structures are mounted on the frame-type cross beam and the movable welding support. The full-hydraulic driving numerical-control frictional stitch welding machine solves the problems of insufficient clamping force, inflexible longitudinal movement and the like, increases the underwater operation efficiency and reduces the production cost.
Description
Technical field
The present invention relates to friction stitch welding machine, particularly relate to a kind of all-hydraulic drive towards what tubulose works under water was repaired online
Dynamic numerical control friction stitch welding machine.
Background technology
World today's seabed resources obtain the great attention of various countries, and the exploitation of seabed resources utilizes and grows in intensity.For sea
The equipment reparation of end resource exploitation is taken seriously the most accordingly.
Patent documentation CN101244485 and CN2010559382 individually discloses one friction stitch welding equipment under water.These are two years old
The individual equipment of friction stitch welding under water specifically include that be positioned under water friction main tapping, underwater operation mechanical hand, automatic tool magazine, tool changing
Mechanism and underwater remote-control robot and be positioned at hydraulic power system waterborne, electric-control system and data collecting system.The two
Friction stitch welding equipment is when implementing under water, is to be fixed at crackle to be repaired attached by underwater robot by the fixing seat that slides respectively
Closely, mechanical hand welding is completed.Wherein, in the disclosed equipment of friction stitch welding under water, only solid by single slip due to whole equipment
Reservation is fixed, and in actual welding process, its main tapping position, by bigger axial force, therefore, makes whole equipment be subject to
Power is uneven, and the rigidity of structure is had large effect；And may be irregular owing to being repaired the shape of crackle, and mechanical hand
Working range is the most limited, and this is accomplished by the mobile fixing seat that slides.So, not only give under water friction stitch welding equipment location,
Welding precision brings adverse effect；And, for mechanical hand design, control the most more complicated, be unfavorable for improve work can
By property and cost-effective.Furthermore, its welding that is once installed is limited in scope, clamp system bad adaptability, controls complexity, inadequate warp
Ji.Therefore have much room for improvement.
At present, also one friction stitch welding equipment under water, this equipment specifically include that positioning and clamping mechanism, movable supporting frame,
Hoop travel mechanism, main shaft frame, axial moving mechanism.It is attached that the whole equipment of friction stitch welding under water is arranged on pipeline location to be repaired
Closely, it is to complete main tapping by axial moving mechanism and circumference travel mechanism to position, and is completed boring and welding by main tapping
Process.But, owing to it is to use gear and rack gear, the problem of the low precision of between not only existing reversely and location, and used
Single armed clamping body there is also the hypodynamic problem of clamping, accordingly, it is difficult to it is actual to meet the online engineering of tubulose works under water
Demand.Be additionally, since transverse moving mechanism distance and pipeline to be repaired between space less, it is impossible to meet 60 meters deep with maritime interior waters
The lower diver of degree is for the requirement in underwater operation space.
Summary of the invention
Present invention is primarily targeted at the disadvantages mentioned above overcoming prior art to exist, and one tubular structure under water is provided
The full hydraulic drive numerical control friction stitch welding machine that thing is repaired online, it uses the fixing of full hydraulic drive, operating mechanism and tube
Realized by hydraulic clamp, not only solve clamping force of the prior art not enough, once the welding that is installed be limited in scope, vertically move
The problem of underaction；And, arc fixed block it is matched for clamping tightly, tube is had certain adaptability, reliable clamping；Significantly carry
The high efficiency of underwater performance, reduces production cost；Meanwhile, its control is simpler, has working place, welding scope more
Greatly, lightweight feature.
It is an object of the invention to be realized by techniques below scheme:
The full hydraulic drive numerical control friction stitch welding machine that a kind of works of tubulose under water is repaired online, it is characterised in that: including:
One stitch welding equipment, covering on the shielded frame outside stitch welding equipment, wherein, stitch welding equipment includes: a frame, rack-mounted
Clamp system, circumference travel mechanism and welder；This welder includes: a welding support, be slidably mounted on welding support
The frame-type crossbeam that can lift of inside, main shaft installing rack, wherein, main shaft installing rack is slidably connected in frame-type crossbeam；
Frame-type crossbeam be respectively arranged at the two ends with a Z-direction driving cylinder；In main shaft installing rack, main shaft is installed；This clamp system includes: with pipe
The arc fixed block that road is adaptive, arc fixed block is fixed between two the first relative side plates；Clamp system also includes: arrange
Clamp arm between two the first relative side plates, the middle part of clamp arm connects has hinge axis, hinge axis to be fixed in two phases
To the first side plate between；The bottom of clamp arm is provided with the arc pawl adaptive with pipeline, and the upper end of clamp arm is by compression hydraulic cylinder
Driving, compression hydraulic cylinder is fixed between two the first relative side plates；Circumference travel mechanism includes: solid with inside fixed bearing
The arc-shaped guide plate connect, is provided with arc guide barrel on arc-shaped guide plate, is equipped with guide pad in arc guide barrel, and guide pad is assemblied in
On two side plates, connecting and be provided with the adjustable regulating block in position on having on the second side plate, supporting on regulating block has arc-shaped guide plate；?
The frame-type crossbeam that can lift and several gap adjustment structure can be provided with on the framework that moves of hoop.
Described frame includes: symmetrically arranged two fixed support structures, solid by lower binder between fixed support structure
Be connected together formation frame structure.
Described fixed support structure is crossed on pipeline, and each stationary support is provided with inside and outside two the first side plates；?
Connect in each stationary support and have a clamp system.
Described shielded frame is the frame structure linked together by several square tubes.
Described welding support includes: symmetrically arranged two the first side plates, and the first side plate is by the several companies front and back arranged
Binder is fixed together, and forms frame structure.
Described each gap adjustment structure is provided with the first wedge being arranged symmetrically with, superposed first wedge small end
Upward, the first wedge small end of bottom it is positioned at down；Each first wedge is equipped with the second of and its adaptation
Wedge；Second wedge is slidably fitted on sliding surface, and the big end at the second wedge is provided with perpendicular affixed pressing plate,
It is provided with shim pack between pressing plate with the small end of corresponding first wedge；And pressing plate, shim pack and the first wedge are connected to
Together.
Described circumference travel mechanism is arranged between each fixed support structure and the second side plate.
Beneficial effects of the present invention: due to the fact that employing technique scheme, it uses full hydraulic drive, operating mechanism
Fixing with tube is realized by hydraulic clamp, not only solves that clamping force of the prior art is not enough, is once installed welding model
It is with limit, the problem vertically moving underaction；And, arc fixed block it is matched for clamping tightly, tube is had certain adaptability,
Reliable clamping；Substantially increase the efficiency of underwater performance, reduce production cost；Meanwhile, its control is simpler, has operation
Space, welding scope feature bigger, lightweight.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is the stitch welding device structure schematic diagram of the present invention；
Fig. 3 is the welder structural representation of the present invention；
Fig. 4 is the beam structure schematic diagram of the present invention；
Fig. 5 is the rack construction schematic diagram of the present invention；
Fig. 6 is the gap adjustment structural representation of the present invention.
Major Symbol explanation in figure:
1. stitch welding equipment, 11. frames, 111. stationary support, 1111. first side plates, 12. clamp systems, 121. arcs
Shape fixed block, 122. clamp arms, 123. compression hydraulic cylinder, 124. hinge axis, 13. circumference travel mechanisms, 131. arc-shaped guide plates,
132. guide pads, 133. regulating blocks, 14. welders, 141. welding supports, 1411. second side plates, 1412. linking beams,
1421.X to crossbeam, 1422.Y to crossbeam, 142. frame-type crossbeams, 143. main shaft installing racks, 144. main shafts, 145.X to movement
Mechanism, 146.Z to driving cylinder, 15. gap adjustment structures, 151. first wedges, 152. second wedges, 153. pressing plates,
154. shim pack, 2. shielded frame.
Detailed description of the invention
As shown in Fig. 1 Fig. 6, the present invention includes: stitch welding equipment 1, cover on the shielded frame 2 outside stitch welding equipment 1, its
In, stitch welding equipment 1 includes: frame 11, the clamp system 12 being arranged in frame 11, circumference travel mechanism 13 and welder
14；Welder 14 includes: welding support 141, be slidably mounted on the frame-type crossbeam that can lift within welding support 141
142, main shaft installing rack 143, wherein, main shaft installing rack 143 is slidably connected in frame-type crossbeam 142；Frame-type crossbeam 142 sets
Have: two X are to crossbeam 1421 and two Y-direction crossbeams 1422；The Z-direction that is respectively arranged at the two ends with at described frame-type crossbeam 142 drives
Cylinder 146；Z-direction driving cylinder 146 is fixed on the second side plate 1411；Main shaft 144 is installed in main shaft installing rack 422；The present invention is led to
Cross and main shaft 144 is arranged on liftable frame-type crossbeam 142, expand the Z-direction moving range of main shaft 144, and then expand
Working place.
Above-mentioned shielded frame 2 is by several square tubes, and uses the frame structure that welding manner links together, it is achieved stitch welding
The protection of equipment and the function of lifting.
Above-mentioned welding support 141 includes: two the first side plates 1411 being symmetrical set, and two the first side plates 1411 lead to
The several linking beams 1412 arranged before and after crossing are fixed together (linking beam 1412 of the present embodiment is five), five linking beams
1412 and two the first side plates 1411 form frame structure.
In the present embodiment, in order to improve the reliability of clamping and the adaptability to different-diameter pipeline, frame 11 includes:
Two fixed support structures 111 being symmetrical set, are fixed together shape by lower binder 13 between fixed support structure 111
Become frame structure.
Above-mentioned fixed support structure 111 is crossed on pipeline, and each stationary support 111 is provided with inside and outside two the first sides
Plate 1111；Each stationary support 111 connects and has a described clamp system 12.
Described clamp system 12 includes: the arc fixed block 121 adaptive with pipeline, arc fixed block 121 is fixed in two
Between the first relative side plate 1111；Clamp system 12 also includes: be arranged on the folder between two the first relative side plates 1111
Tight arm 122, the middle part of clamp arm 122 connects has hinge axis 124, hinge axis 124 to be fixed in two the first relative side plates 1111
Between；The bottom of clamp arm 122 is provided with the arc pawl adaptive with pipeline, and the upper end of clamp arm 122 is driven by compression hydraulic cylinder 123
Dynamic, compression hydraulic cylinder 123 is fixed between two the first relative side plates 1111.
In order to improve equipment running precision in three directions, at the frame-type crossbeam 142 that can lift and can ring
Being provided with gap adjustment structure 15 in the lead frame 141 of movement, in the present embodiment, gap adjustment structure 15 is provided with 16
Individual.
And each gap adjustment structure 15 is provided with the first wedge 151 being arranged symmetrically with, superposed first wedge shape
Block 151 small end upward, is positioned at the first wedge 151 small end of bottom down；Each first wedge 151 is equipped with one
The second wedge 152 with its adaptation.
Above-mentioned second wedge 152 is slidably fitted on sliding surface, and the big end at the second wedge 152 is provided with perpendicular
Affixed pressing plate 153, is provided with shim pack 154, described pressing plate between pressing plate 153 with the small end of corresponding first wedge 151
153, shim pack 154 with bolts with the first wedge 151 together with.By regulating the thickness of shim pack 154, can adjust
Save described first wedge 151 and the thickness of the second wedge 152, the gap in the face that is slidably matched with regulation.
In the present embodiment, in order to improve the precision of circumference movement, at each fixed support structure 111 and the second side plate
Being provided with a circumferential travel mechanism 13 between 1411, circumference travel mechanism 13 includes: with arc affixed inside fixed bearing 111
Guide plate 131, is provided with arc guide barrel on arc-shaped guide plate 131, is equipped with guide pad 132 in arc guide barrel, and guide pad 132 assembles
On the second side plate 1411, the second side plate 1411 connects and on having, is provided with the adjustable regulating block in position 133, at regulating block 133
Upper support has arc-shaped guide plate 131.
When finding and position under water after tube crackle, by frame 11, equipment is tentatively fixed on welding easy to implement
Position, then with clamp system 12, welder is fixed on tube, provide safeguard for Welding Safety, in order to according to splitting
The particular location of seam is adjusted the attitude of main tapping by transverse moving mechanism 15 and circumference travel mechanism 13.Then, according to welding
The degree of depth and the length of brazed shank tool, by Z-direction driving cylinder 146 fuel feeding, make frame-type crossbeam 142 move along Z-direction, by main shaft
144 are adjusted to suitable height, install drill bit, hole, then go out consent by special tool sharpening on main shaft 144,
Main shaft 144 is raised, changes stopper, under main tapping drives, complete welding；Then, change emery wheel, cut away remaining stopper, more more
Change milling cutter, mill the overlap that welding stays, so far complete the welding of first plug welding unit；Further according to the trend of crackle, make
Suitable pose adjustment, carries out the welding of next plug welding unit, and it is complete that final a series of welding units mutually overlap formation
Weld seam；In whole welding process, the control of main shaft can be realized by digital control system: axial feed stops starting to rotate rising
Speed feeding applies the series of complex motions such as the feeding pressurize under pressure constant pressure and speed conditions；Data acquisition
System can automatically computing, sample, the main shaft oil in-cylinder pressure that stores in welding process, Axial-output pressure, hydraulic motor rotate
The important parameters such as speed, output moment of torsion, axial feeding and feed speed, to ensure welding quality.
Above-mentioned hydraulic cylinder, welder, driving cylinder are prior art, and the technology of not specified (NS) is prior art, therefore no longer
Repeat.
The above, be only presently preferred embodiments of the present invention, and the present invention not makees any pro forma restriction, all
It is based on any simple modification, equivalent variations and modification that above example is made by the technical spirit of the present invention, all still falls within
In the range of technical solution of the present invention.
Claims (7)
1. the full hydraulic drive numerical control friction stitch welding machine that tubulose works is repaired online under water, it is characterised in that: including: one
Stitch welding equipment, covering on the shielded frame outside stitch welding equipment, wherein, stitch welding equipment includes: a frame, rack-mounted folder
Tight mechanism, circumference travel mechanism and welder；This welder includes: a welding support, be slidably mounted in welding support
The frame-type crossbeam that can lift in portion, main shaft installing rack, wherein, main shaft installing rack is slidably connected in frame-type crossbeam；Frame
Posture crossbeam be respectively arranged at the two ends with a Z-direction driving cylinder；In main shaft installing rack, main shaft is installed；This clamp system includes: with pipeline
Adaptive arc fixed block, arc fixed block is fixed between two the first relative side plates；Clamp system also includes: be arranged on
Clamp arm between two the first relative side plates, the middle part of clamp arm connects has hinge axis, hinge axis to be fixed in two relatively
The first side plate between；The bottom of clamp arm is provided with the arc pawl adaptive with pipeline, and the upper end of clamp arm is driven by compression hydraulic cylinder
Dynamic, compression hydraulic cylinder is fixed between two the first relative side plates；Circumference travel mechanism includes: affixed with inside fixed bearing
Arc-shaped guide plate, arc-shaped guide plate is provided with arc guide barrel, in arc guide barrel, is equipped with guide pad, guide pad is assemblied in second
On side plate, connecting and be provided with the adjustable regulating block in position on having on the second side plate, supporting on regulating block has arc-shaped guide plate；At energy
The frame-type crossbeam of enough liftings and several gap adjustment structure can be provided with on the framework that moves of hoop.
The full hydraulic drive numerical control friction stitch welding machine that the works of tubulose under water the most according to claim 1 is repaired online, its
It is characterised by: described frame includes: symmetrically arranged two fixed support structures, solid by lower binder between fixed support structure
Be connected together formation frame structure.
The full hydraulic drive numerical control friction stitch welding machine that the works of tubulose under water the most according to claim 2 is repaired online, its
Being characterised by: described fixed support structure is crossed on pipeline, each stationary support is provided with inside and outside two the first side plates；?
Connect in each stationary support and have a clamp system.
The full hydraulic drive numerical control friction stitch welding machine that the works of tubulose under water the most according to claim 1 is repaired online, its
It is characterised by: described shielded frame is the frame structure linked together by several square tubes.
The full hydraulic drive numerical control friction stitch welding machine that the works of tubulose under water the most according to claim 1 is repaired online, its
Being characterised by: described welding support includes: symmetrically arranged two the first side plates, the first side plate is by the several companies front and back arranged
Binder is fixed together, and forms frame structure.
The full hydraulic drive numerical control friction stitch welding machine that the works of tubulose under water the most according to claim 1 is repaired online, its
It is characterised by: described each gap adjustment structure is provided with the first wedge being arranged symmetrically with, and superposed first wedge is little
End upward, is positioned at the first wedge small end of bottom down；Each first wedge is equipped with the of one and its adaptation
Two wedges；Second wedge is slidably fitted on sliding surface, and the big end at the second wedge is provided with perpendicular affixed pressure
Plate, is provided with shim pack between pressing plate with the small end of corresponding first wedge；And pressing plate, shim pack and the first wedge connect
Together.
The full hydraulic drive numerical control friction stitch welding machine that the works of tubulose under water the most according to claim 1 is repaired online, its
It is characterised by: described circumference travel mechanism is arranged between each fixed support structure and the second side plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610954079.0A CN106312293A (en) | 2016-10-27 | 2016-10-27 | Full-hydraulic driving numerical-control frictional stitch welding machine for on-line repair of underwater tubular structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610954079.0A CN106312293A (en) | 2016-10-27 | 2016-10-27 | Full-hydraulic driving numerical-control frictional stitch welding machine for on-line repair of underwater tubular structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106312293A true CN106312293A (en) | 2017-01-11 |
Family
ID=57819107
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610954079.0A Pending CN106312293A (en) | 2016-10-27 | 2016-10-27 | Full-hydraulic driving numerical-control frictional stitch welding machine for on-line repair of underwater tubular structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106312293A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106994578A (en) * | 2017-06-01 | 2017-08-01 | 上海振华重工(集团)股份有限公司 | A kind of assembled welding equipment of body beam |
| CN108637867A (en) * | 2018-05-10 | 2018-10-12 | 北京石油化工学院 | A kind of submarine pipeline grinding device |
| CN115781177A (en) * | 2022-12-28 | 2023-03-14 | 四川嘉陵江新政航电开发有限公司 | Piston rod online repairing device and method |
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| CN104259653A (en) * | 2014-09-22 | 2015-01-07 | 天津大学 | Full-hydraulic pressure drive closing type dual-main shaft numerical control underwater friction welding device |
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| CN205571705U (en) * | 2016-01-28 | 2016-09-14 | 中国海洋石油总公司 | Multi freedom is friction stir welding main tapping operating device under water |
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| CN108637867A (en) * | 2018-05-10 | 2018-10-12 | 北京石油化工学院 | A kind of submarine pipeline grinding device |
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Address after: 100010 Chaoyangmen North Street, Dongcheng District, Dongcheng District, Beijing Applicant after: China Offshore Oil Group Co., Ltd. Applicant after: Offshore Oil Engineering Co., Ltd. Address before: 100010 Chaoyangmen North Street, Dongcheng District, Dongcheng District, Beijing Applicant before: China National Offshore Oil Corporation Applicant before: Offshore Oil Engineering Co., Ltd. |
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Application publication date: 20170111 |