CN113385786B

CN113385786B - Welding system and welding method for all-position automatic welding of small-diameter pipeline

Info

Publication number: CN113385786B
Application number: CN202110694453.9A
Authority: CN
Inventors: 肖尤金; 张旺; 何江龙; 李荣东; 刘碧清; 牟坤
Original assignee: CHENGDU XIONGGU JIASHI ELECTRICAL CO LTD
Current assignee: CHENGDU XIONGGU JIASHI ELECTRICAL CO LTD
Priority date: 2021-06-22
Filing date: 2021-06-22
Publication date: 2022-08-26
Anticipated expiration: 2041-06-22
Also published as: CN113385786A

Abstract

The invention discloses a welding system and a welding method for all-position automatic welding of small-diameter pipelines, which relate to the technical field of pipe welding and comprise a supporting main body with an opening, wherein a rotating disc and a holder base are arranged on the supporting main body, and the rotating disc can rotate on the supporting main body; the rotary disc is further provided with a welding gun, the holder base is provided with a quick holding device, the quick holding device comprises a holding and positioning angle block and a holding rotating block which are arranged oppositely through the rotating circle center of the rotary disc, and the holding and positioning angle block and the holding rotating block can move relatively. The invention can effectively meet the requirements of factory stations and other pipeline systems with small pipe diameter, high pipeline concentration, more pipeline turning points, more crossing positions and narrow construction space, and the welding equipment has small volume and convenient assembly and disassembly.

Description

Welding system and welding method for all-position automatic welding of small-diameter pipeline

Technical Field

The invention relates to the technical field of pipe welding, in particular to a welding system and a welding method for all-position automatic welding of small-diameter pipelines.

Background

The pipeline system comprises long-distance large-diameter conveying pipelines and conveying pipelines for small-diameter processing systems such as factory sites. Compared with large-scale conveying pipelines, pipeline systems of factory stations and the like are different in that the density of small pipe diameter pipelines is high, positions of pipe turning points, crossing points and the like are more, large-scale pipelines are generally single pipelines, the pipe diameters are large, the distances are long, and the large-scale conveying pipelines belong to large-scale engineering operation construction.

At present, the material of the pipeline mainly relates to common carbon steel, stainless steel or other types of metal, and the construction of the pipeline system generally comprises connecting the pipelines with proper diameter and longitudinal dimension together by welding, and mainly provides sealing connection for liquid or gas transmission between the pipeline sections, but because the small-diameter pipelines are mostly pipeline-intensive, the pipeline welding equipment is required to be relatively small so as to be constructed in the narrow space and dense pipeline areas, and the traditional welding equipment is difficult to exert the effect under the condition; meanwhile, the existing welding of pipelines with the diameter of less than 325mm is mainly a manual semi-automatic method, the automatic welding only adopts an argon arc automatic welding process method, and a single argon arc welding process method has the problems of low efficiency and low welding speed although the welding quality is good, so that the welding process method is difficult to adapt to the requirements of the current high-efficiency times, and particularly for construction projects with short construction periods, the speed is very important on the premise of ensuring the quality.

However, for the existing cured automatic welding system with large pipe diameter, a rail guide mode is mostly adopted, and for the welding of small pipe diameter pipelines, because the pipe diameter is relatively small, the guide walking is difficult to realize by using a rail mode, and the automatic welding system of large pipe diameter pipelines generally has a specific rail specification and can only be applied to the corresponding pipe diameter pipelines, and few rail multi-pipe diameter welding can be realized, so that the use convenience is reduced, the cost input is improved, the adaptability is lower, the specialization is realized, and the rail is required to be disassembled and assembled during each welding, thereby occupying part of time and restricting the welding efficiency; meanwhile, if the rail guide mode is applied to the welding construction of small-caliber pipelines with small dense intervals, the small-sized pipelines are difficult to assemble and disassemble due to the narrow operation space, so that the rail guide mode is not suitable for the field condition.

Disclosure of Invention

The invention aims to provide a welding system and a welding method for all-position automatic welding of small-diameter pipelines, which can effectively meet the requirements of pipeline systems such as factory stations and the like with small pipe diameter, high pipeline concentration, more pipeline turning points, more positions of intersection and the like and narrow construction space, and welding equipment has small volume and convenient assembly and disassembly.

In order to realize the purpose of the invention, the technical scheme is as follows: a welding method for all-position automatic welding of small-diameter pipelines comprises the steps of pipeline butt joint, welding trolley installation, argon arc root welding, MIG gas shielded welding filling and MIG gas shielded welding cover face:

the pipeline is aligned: manually inserting one end of a butt joint device in the pipeline gasket into the welded pipeline, sending a driving instruction to a rear expansion device by a butt joint device control module, and tightly jacking and positioning the rear expansion device and the inner wall of the welded pipeline; inserting another welded pipeline into the other end of the butt-joint device in the pipeline liner, enabling the two welded pipelines to be in butt joint, sending a driving instruction to a forward expansion device by a butt-joint device control module, tightly pushing and positioning the forward expansion device and the inner wall of the other welded pipeline, and forming a welding line at the butt joint position of the two adjacent welded pipelines;

the front expansion device is tightly pressed against the inner wall of the other welded pipeline for positioning, and simultaneously drives the tensioning bushing device to act, and the tensioning bushing device seals the bottom of the welding seam;

installing a welding trolley: installing an argon arc welding gun on a welding trolley, clamping the welding trolley on one of the welded pipelines, sending a driving instruction to a quick clamping device through a welding control module, and quickly clamping and fixing the welding trolley through the quick clamping device;

argon arc root welding: the welding control module drives the argon arc welding gun to rotate, and the argon arc welding gun performs root welding on the bottom of a welding seam;

the protective gas is filled into the welding line through the protective gas pipe under the control of the mouth aligner control module;

MIG gas shielded welding filling: the argon arc welding gun is detached from the welding trolley, the MIG welding gun is installed on the welding trolley, the welding control module drives the MIG welding gun to rotate, and the MIG welding gun fills a welding seam;

MIG gas shielded welding facing: and the welding control module drives the MIG welding gun to continuously rotate, and the MIG welding gun covers the welding seam.

A welding method for all-position automatic welding of small-diameter pipes, comprising: the method comprises the following steps of pipeline alignment, welding trolley installation, MIG root welding, MIG filling and MIG capping;

installing a welding trolley: clamping the welding trolley on one of the welded pipelines, sending a driving instruction to the rapid clamping device through the welding control module, and rapidly clamping and fixing the welding trolley through the rapid clamping device;

MIG gas shielded root welding: installing an MIG welding gun on a welding trolley, driving an argon arc welding gun to rotate by a welding control module, and carrying out root welding on the bottom of a welding seam by the MIG welding gun;

MIG gas shielded welding filling: the welding control module drives an MIG welding gun to rotate, and the MIG welding gun fills a welding seam;

MIG gas shielded welding facing: the welding control module drives the MIG welding gun to rotate, and the MIG welding gun covers the welding seam.

Further, polishing and derusting the welding position of the pipeline before the pipeline is aligned to make the welding position of the pipeline in a conical surface shape.

Further, the method comprises the steps of welding bead inspection, welding bead repair and welding bead grinding.

A welding system for all-position automatic welding of small-diameter pipelines comprises a welding trolley and a pipeline liner internal butt-joint device, the welding trolley is provided with a welding control module, a welding gun and a quick clamping device, the welding gun can rotate on the welding trolley, the input ends of the welding gun and the quick clamping device are both connected with the welding control module, the mouth-aligning device in the pipeline liner is provided with a mouth-aligning device control module, a protective gas pipe, a front expansion device and a rear expansion device which are respectively tensioned with two welded pipelines, the front expansion device and the rear expansion device are oppositely connected through a connecting shaft, the gas outlet end of the protective gas pipe is positioned between the front expansion device and the rear expansion device, the gas inlet end of the protective gas pipe extends outwards, and the inner side of the front expansion device or the rear expansion device is also provided with a tensioning bushing device, and the output ends of the front expansion device, the rear expansion device and the expansion bushing device are connected with the aligner control module.

Furthermore, the welding trolley comprises a supporting main body with an opening, wherein the supporting main body is provided with a rotating disc and a holder base, and the rotating disc can rotate on the supporting main body; the welding gun is arranged on the rotating disk, the rapid clamping device is arranged on the holder base and comprises a clamping and positioning angle block and a clamping rotating block which are oppositely arranged by the rotating circle center of the rotating disk, and the clamping and positioning angle block and the clamping rotating block can move relatively.

Furthermore, the holder base is further provided with a sliding groove extending towards the moving direction of the holding rotating block, the holding and positioning corner block is slidably mounted in the sliding groove, a locking pin is mounted in the sliding groove, a fixing hole extending towards the moving direction of the holding rotating block is formed in the holding and positioning corner block, and a locking nut for locking the holding and positioning corner block is further mounted on the locking pin.

Furthermore, quick clamping device still includes centre gripping cylinder and transmission linkage, and the centre gripping cylinder articulates in the holder base, and transmission linkage can swing in the holder base, and centre gripping cylinder output is articulated with transmission linkage, and the output at transmission linkage is installed to the centre gripping commentaries on classics piece.

Furthermore, the transmission connecting rod group comprises a connecting rod arm and a swing arm, one end of the connecting rod arm, far away from the clamping cylinder, and the middle of the connecting rod arm are hinged to the holder base, a guide block with a guide groove is further installed in the holder base, a fixing pin is arranged in the middle of the swing arm, the fixing pin is inserted into the guide block in a sliding mode, and one end of the connecting rod arm, far away from the clamping rotating block, is hinged to the fixing pin.

Furthermore, the clamping cylinder and the welding gun are connected with the same air source together.

Furthermore, a tension spring is further installed in the holder base, and the other end of the tension spring is connected with one end of the transmission connecting rod group, which is provided with the holding rotating block.

Furthermore, the clamping surface of the clamping and positioning corner block is provided with a V-shaped opening, and the clamping surface of the clamping rotating block is arc-shaped.

Furthermore, a rotary driving structure for driving the rotary disc to rotate is further installed in the supporting main body.

Further, the rotary driving structure includes rotatable transmission ring gear in the support subject, and the rotary disk is installed on the transmission ring gear, and the transmission ring gear is the arc, and the circular arc length of transmission ring gear is greater than the half of transmission ring gear circumference length, the rotary driving structure still includes driving motor and two pinions, and circular arc length between two pinions is less than the pitch arc length of transmission ring gear, and two pinions all mesh with the transmission ring gear, and two pinion gears are connected with driving motor's output transmission jointly.

Furthermore, the support main body is further provided with a protection plate which synchronously rotates with the rotating disk, the transmission gear ring and the protection plate are respectively positioned on the front side and the rear side of the support main body, and the inner edge of the protection plate is fixed with the inner edge of the transmission gear ring.

Further, a horizontal swinging dry-stretching movement device is further installed on the rotating disc, the welding gun is installed on the horizontal swinging dry-stretching movement device, and the horizontal swinging dry-stretching movement device can drive the welding gun to move along the Y, Z direction.

Furthermore, the pendulum extends the telecontrol equipment futilely including installing the slide base on the rotary disk, installs the slide that feeds along the Z axle direction on the slide base, and installs the slide that stretches futilely that can feed along the Z axle direction on the slide, stretches the pendulum slider that installs on the slide and feed along the Y axle direction futilely, welder installs on the pendulum slider.

Furthermore, a dry extension screw rod and a dry extension motor for driving the dry extension screw rod to rotate are further arranged on the sliding plate, a matched dry extension sliding block is further arranged on the dry extension screw rod, and the dry extension sliding block is fixed with the dry extension sliding plate; and the dry-extension sliding plate is also provided with a horizontal swing lead screw and a horizontal swing motor for driving the horizontal swing lead screw to rotate, and the horizontal swing sliding block is arranged on the horizontal swing lead screw in a matching manner.

Further, a horizontal pendulum spline shaft parallel to the horizontal pendulum lead screw is further mounted on the dry-extension sliding plate, and the horizontal pendulum sliding block is in sliding fit with the horizontal pendulum spline shaft; the horizontal pendulum spline shaft and the dry-extension lead screw are jointly covered with a horizontal pendulum protective cover, and the top of the horizontal pendulum slider is in sliding fit with the horizontal pendulum protective cover.

Further, a wire feeding device and a limiting device are further mounted on the rotating disc.

Furthermore, stop device is including installing the shell on the rotary disk, and the shell inboard is open form, and still installs limit switch in the shell.

Furthermore, at least one walking device is arranged on each of the front expansion device and the rear expansion device, sealing rings are arranged at the outer ends of the front expansion device and the rear expansion device, and the air outlet end of the protection air pipe is positioned between the two sealing rings.

Further, the front expansion device and the rear expansion device respectively comprise an expansion cylinder, expansion claws, expansion claw mandrils, a connecting rod and a supporting frame, the supporting frame is arranged at the inner end of the expansion cylinder, the expansion claws, the expansion claw mandrils and the connecting rods are multiple, the expansion claw mandrils are arranged on the supporting frame at intervals in the circumferential direction and hinged to the supporting frame, the expansion claws are arranged at the output ends of the expansion claw mandrils one by one, the connecting rods are hinged to the middle parts of the expansion claw mandrils one by one, and linear driving elements are jointly arranged at the other ends of the connecting rods.

Furthermore, the linear driving element comprises a piston and an expansion claw push rod, the piston is hermetically and slidably arranged in the expansion cylinder, the expansion claw push rod is arranged on the piston, and the connecting rods are jointly hinged to the output end of the expansion claw push rod.

Furthermore, the outer ends of the front expansion device and the rear expansion device are respectively provided with an end cover.

Furthermore, the tensioning bushing device comprises a gasket connecting rod disc chuck, a gasket push rod, a plurality of gasket connecting rods and a plurality of gaskets, the gasket connecting rod disc chuck is arranged on a tensioning cylinder on a front tensioning device or a rear tensioning device, the gasket connecting rod disc chuck is hollow, a plurality of guide grooves are formed in the circumferential surface of the gasket connecting rod disc chuck, the gasket push rod is arranged at the center of the gasket connecting rod disc chuck, the inner ends of the gasket connecting rods penetrate through the guide grooves one by one and are hinged to the gasket push rod together, and the gaskets are arranged at the outer ends of the gasket connecting rods one by one.

Further, the gasket push rod is connected with a push rod on the front expansion device or the rear expansion device.

Further, the liner ejector pin is still installed to liner connecting rod outer end, and the liner ejector pin is the U type, and the liner card is established in the opening of liner ejector pin, installs the liner spring between liner one side and the liner ejector pin, the liner is circular-arcly, through the inclined plane cooperation between two adjacent liners, and the not co-altitude department that is located the liner push rod in the inner of a plurality of liner connecting rods.

Further, the gasket springs on two adjacent gasket ejector rods are positioned on different sides of the gasket ejector rod.

Furthermore, the outer end of the front expansion device or the rear expansion device is further connected with an operating rod, the protective air pipe extends along the operating rod, the outer end of the operating rod is provided with an operating support, the inner end of the operating rod is connected with the front expansion device or the rear expansion device through a universal joint, and the operating rod is further provided with a guide tripod.

Furthermore, the guide tripods are multiple, and a plurality of guide tripods are arranged at intervals along the circumferential direction of the operating rod, and the guide tripods jointly form a conical shape, and guide wheels are installed on the outer sides of the bottoms of the guide tripods.

Furthermore, the front expansion device and the rear expansion device are respectively provided with at least one group of walking wheels.

Furthermore, the outer end of the front expansion device or the rear expansion device is also provided with an inspection device, the inspection device comprises a speed reduction motor, a coupling disc and a camera, the coupling disc is arranged at the output end of the speed reduction motor, and the camera is fixedly arranged on the coupling disc.

Furthermore, the inspection device further comprises a connecting cylinder arranged on the outer end of the speed reducer motor shell or the front expansion device or the rear expansion device, a rotating shaft sleeve is further arranged on the connecting shaft disc, the camera is located in the rotating shaft sleeve, a camera shooting rotary drum is further arranged on the rotating shaft sleeve, a reflecting plane mirror corresponding to the camera is arranged in the camera shooting rotary drum, and a camera shooting window lens corresponding to the reflecting plane mirror is further arranged on the side wall of the camera shooting rotary drum.

Further, the gas cylinder welding device further comprises a protection gas cylinder and an operation remote controller, wherein the output end of the protection gas cylinder is connected with the operation remote controller, and the welding control module and the aligner control module are in two-way communication connection with the operation remote controller.

The beneficial effect of the invention is that,

1. the invention combines argon arc welding and MIG gas shielded welding, uses the argon arc welding which is easy to control as root welding, and uses MIG gas shielded welding as filling and capping, so that different process stages adopt proper process methods, the welding quality is ensured, the welding efficiency is improved, and the requirements of high-quality and high-efficiency production operation in the pipeline welding industry are met.

2. Through providing the interior ware of keeping to the mouth of pipe gasket, can effectively fix a position the mouth of keeping to of pipeline to blow in protective gas to mouthful department through the protective gas pipe after two accurate butt joints of pipeline, make and need not interior welding machine or argon arc root welding bottoming among the welding process, thereby directly adopt MIG gas shielded welding to carry out root welding, fill and capping, make the welding mode simpler.

3. The invention adopts argon arc welding and gas shielded welding, so that the shielding gas always tracks the electric arc in the welding process of the pipeline, and the time waste caused by the position adjustment of a welding gun is reduced when the pipeline is welded at 360 degrees, so that the welding efficiency is greatly improved.

4. The invention can effectively meet the requirements of factory stations and other pipeline systems with small pipe diameter, high pipeline concentration, more turning points, more crossing positions and the like and narrow construction space, and the welding equipment has small volume, light weight and convenient assembly and disassembly.

5. According to the invention, the clamping cylinder and the welding gun are connected with the gas source together, so that the clamping cylinder directly uses the protective gas during welding as the gas source, and additional gas source equipment is not required; simultaneously, provide clamping-force through the centre gripping cylinder, make the pipeline can be fast automatic centre gripping fixed, and through adjusting centre gripping location hornblock, not only satisfy and carry out the centre gripping to the pipeline of different pipe diameters, and guaranteed the concentricity requirement when the pipeline centre gripping to different pipe diameters, realized the effect that a quick-witted multi-diameter pipeline is suitable for.

6. According to the invention, the anti-skid plate is arranged, so that the gear ring is effectively prevented from being exposed in the movement process, splashes of a welding gun are effectively prevented from entering the rotary driving structure in the welding process, the influence on the normal work, the use precision and the service life of the rotary driving structure is avoided, and the reliable work of each part in the rotary driving structure is fully ensured.

7. The welding gun is driven to move along the direction Y, Z by the horizontal swinging dry stretching movement device, so that the accurate and stable feeding of the welding gun is ensured, and the welding gun has the advantages of compact structure, small volume and tight protection; meanwhile, through the arrangement of the horizontal pendulum protective cover, splashes of the welding gun are effectively prevented from falling on the horizontal pendulum lead screw and the horizontal pendulum spline shaft, and the protective effect is good.

8. The inspection device is arranged on the mouth aligning device in the pipeline liner, so that after welding is finished, the inspection device can directly acquire welding seam data and transmit the acquired data to external middle-end equipment, thereby providing and monitoring the welding and inspection personnel, facilitating the timely discovery, correction and unreliation of problems in the welding process, avoiding the trouble of remedying the problems discovered after detection, and further realizing high-quality and high-efficiency welding; simultaneously, through the cooperation of camera and reflectance flat mirror, effectively solve in the pipe of pipe diameter the problem that makes the unable satisfaction of focus because of the distance of making a video recording is short for the function of making a video recording realizes more easily.

Drawings

FIG. 1 is a block diagram of a welding carriage according to the present invention 1;

FIG. 2 is a block diagram 2 of a welding carriage provided by the present invention;

FIG. 3 is a view showing the working state of the welding carriage according to the present invention;

FIG. 4 is a block diagram of a rotary drive configuration;

FIG. 5 is a block diagram of the quick clamp assembly;

fig. 6 is a structural view of the rotation driving device;

FIG. 7 is a view showing an installation structure of the shielding plate;

FIG. 8 is a block diagram of a pendulum dry-extension exercise device;

FIG. 9 is a view showing an installation structure of the horizontal swing protector cover;

FIG. 10 is a block diagram of a spacing device;

FIG. 11 is a block diagram of the mouthpiece in the duct liner;

FIG. 12 is a cross-sectional view of the mouthpiece in the duct liner;

FIG. 13 is a cross-sectional view of the expansion device;

fig. 14 is a block diagram of a tensioner bushing assembly;

FIG. 15 is a view showing an installation structure of the inspection apparatus;

FIG. 16 is a cross-sectional view of the inspection device;

FIG. 17 is a system diagram of a welding system;

FIG. 18 is a system diagram of a welding carriage;

FIG. 19 is a control flow chart of the welding carriage;

FIG. 20 is a process file format diagram of the welding carriage;

FIG. 21 is a torch arc tracking control block diagram;

FIG. 22 is a block diagram of a welding method;

FIG. 23 is a weld schematic of the welding method;

FIG. 24 is a schematic view of a weld.

Reference numbers and corresponding part names in the drawings:

1. a welding power supply 2, a protective gas cylinder 3, a grounding clamp 4, an operation remote controller 5, a welding trolley 6 and a pipeline liner inner butt joint device;

501. the device comprises a horizontal pendulum dry-extension movement device, 502, a support body, 503, a welding gun, 504, a limiting device, 505, a holder base, 506, a rotating disk, 507, a wire feeding device, 508, a rapid clamping device, 509, a rotary driving device, 510 and a protection plate;

50101. the device comprises a horizontal pendulum lead screw, 50102, a horizontal pendulum spline shaft, 50103, a horizontal pendulum protective cover, 50104, a horizontal pendulum slider, 50105, a horizontal pendulum frame, 50106, a dry stretching motor, 50107, a dry stretching slider, 50108, a dry stretching lead screw, 50109, a dry stretching sliding plate, 50110, a sliding plate base, 50111, a sliding plate, 50112 and a horizontal pendulum motor;

50401. limit switch, 50402, outer casing;

50801. the device comprises a sliding chute, a 50802 link arm, a 50803 clamping cylinder, a 50804 swing arm, 50805, a guide block, a 50806 fixing pin, a 50807 clamping rotating block, a 50808 clamping positioning corner block, a 50809 tension spring, a 50810 manual reversing valve, a 50812 locking pin, a 50813, a locking nut, a 50814 fixing hole;

50901. the transmission gear ring, 50902, a duplex transmission gear, 50903, a large gear, 50904, a pinion, 50905, a winding rod, 50906, a wire fixer, 50907 and a driving motor;

601. the device comprises a tensioning bushing device, 602, a front tensioning device, 603, a walking device, 604, a rear tensioning device, 605, an operating rod, 606, a pneumatic device, 607, an inspection device, 608, a sealing ring, 609, an operating bracket, 610, a universal joint, 611, a guide tripod, 612 and a guide wheel;

60101. liner, 60102, a liner spring, 60103, a holding spring, 60104, a liner ejector rod, 60105, a liner connecting rod, 60106, a liner connecting rod flower disc, 60107, a liner push rod, 60108 and a guide groove;

60201. an expansion cylinder 60202, an expansion claw 60203, an expansion claw mandril 60204, a connecting rod 60205, a push rod 60206, a piston 60207 and an end cover; 60208. a support frame;

60301. a traveling wheel;

60701. the camera shooting device comprises a camera shooting rotary drum 60702, a camera shooting window lens 60703, a rotary shaft sleeve 60704, a connecting cylinder 60705, a reflecting plane mirror 60706, a camera, a 60707, a plane thrust bearing 60708, a coupling disc 60709 and a speed reducing motor.

Detailed Description

The present invention will be described in further detail below with reference to specific embodiments and with reference to the attached drawings.

As shown in fig. 1 and 2, the welding system for the all-position automatic welding of the small-diameter pipeline provided by the invention comprises a welding trolley 5 and a pipeline liner internal aligner 6, wherein the welding trolley 5 is provided with a welding control module, a welding gun 503 and a quick clamping device 508; the welding gun 503 is a working component for performing a welding task, and welding shielding gas, welding material, and electric energy during welding are all output therefrom, and specifically, the welding gun 503 is an existing multifunctional digital welding machine, and can provide a plurality of welding modes, for example: the welding mode includes MIG, pulse, argon arc welding, pulsed argon arc welding, etc., and the motion mode of the welding gun 503 includes normal (normal walking, wire feeding, swinging), drag welding (only walking motion), etc.; the fast clamping device 508 is a clamping and positioning component of the welding trolley 5, and when a welding task is performed, the welding trolley 5 is fixed near a welding opening of a welded pipeline through the fast clamping device 508.

The mouth-aligning device 6 in the pipeline gasket is provided with a mouth-aligning device control module, a protective gas pipe, a front expansion device 602 and a rear expansion device 604 which are respectively expanded with two welded pipelines, the front expansion device 602 and the rear expansion device 604 are oppositely connected through a connecting shaft, wherein the protective gas pipe is mainly used for providing protective gas for the first welded pipeline and the second welded pipeline at the butt joint position, and the gas outlet end of the shielding gas pipe is located between the front expanding device 602 and the rear expanding device 604, and the gas inlet end of the shielding gas pipe extends outwards, so that after the front expanding device 602 and the rear expanding device 604 are aligned, positioned and expanded in the first welded pipeline and the second welded pipeline, the accessible is to mouthpart control module control protective gas pipe, makes protective gas pipe can blow protective gas to first by welding pipeline and second by welding pipeline to the mouth, makes two by welding pipeline in welding process, also can protect through protective gas to mouthful department inside.

The inner sides of the front expansion device 602 or the rear expansion device 604 are further provided with a tension bushing device 601, the output ends of the front expansion device 602, the rear expansion device 604 and the tension bushing device 601 are connected with the aligner control module, the front expansion device 602 and the rear expansion device 604 are respectively abutted against the inner walls of two welded pipelines by driving the front expansion device 602, the rear expansion device 604 and the tension bushing device 601 through the aligner control module, and a welding seam formed by the two welded pipelines after being abutted can be sealed at the bottom of the welding seam through the tension bushing device 601 by driving the tension bushing device 601 through the alignment device control module.

When two welded pipelines which are completely butted are required to be welded, the welding control module controls the welding gun to rotate on the welding trolley 5 and controls the welding gun 503 to weld seams, so that the pipelines are automatically welded.

The welding tractor 5 comprises a support body 502 with an opening, the opening on the support body 502 is U-shaped, the bottom of the opening on the support body 502 is semicircular, and a handle can be arranged on the top of the support body 502. The front side and the rear side of the supporting main body 502 are respectively provided with a rotating disk 506 and a holder base 505, the holder base 505 is a frame of a clamping device and plays a role of being connected and fixed with the supporting main body 502, the outer circles of the rotating disk 506 and the holder base 505 are in an arc shape, the centers of the rotating disk 506 and the holder base 505 are on the same straight line, and the rotating disk 506 can rotate on the supporting main body 502.

The welding gun 503 is mounted on a rotating disk 506 and a quick clamping device 508 is mounted on a clamp base 505. The fast clamping device 508 comprises a clamping and positioning angle block 50808 and a clamping and rotating block 50807 which are arranged relatively at the rotating circle center of the rotating disc 506, namely, when the welding trolley 5 needs to be clamped on a pipeline, the central axis of the pipeline and the rotating circle center of the rotating disc 506 are on the same straight line, the clamping and positioning angle block 50808 and the clamping and rotating block 50807 serve as a working part for clamping and positioning, when the welding trolley needs to be clamped and positioned on the welded pipeline, the clamping and positioning angle block 50808 can adjust the positions of the clamping and rotating blocks 50807 according to different pipe diameters and can clamp the welded pipeline by ensuring enough force, so that the welding trolley 5 is fixedly arranged on the welded pipeline.

During welding, the rotating disk 506 rotates, the welding gun 503 arranged on the rotating disk 506 rotates along with the rotating disk 506, welding wires are fed into a contact tip of the welding gun 503, welding arcs are generated between the welding wires and a welding opening under the coating isolation of protective gas on the welding gun 503, heat is generated to form a molten pool, the purpose of welding is achieved, the welding wires are continuously fed to a welding position in the process that the rotating disk 506 drives the welding gun 503 to continuously move along the welding opening, and therefore the whole welding seam is continuously formed. As shown in fig. 3, the states of the rotating disk 506 at 0 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees and 315 degrees are respectively shown in fig. 3, and the working cycle process of welding of the welding carriage 5 in the 360-degree direction can be seen.

As shown in fig. 4, the gripper base 505 further has a sliding groove 50801 extending in the moving direction of the gripping rotation block 50807, the axial direction of the sliding groove 50801 is aligned with the radial direction of the gripper base 505, the gripping and positioning corner block 50808 is slidably mounted in the sliding groove 50801, the gripping and positioning corner block 50808 slides in the sliding groove 50801, so that the distance between the gripping and positioning corner block 50808 and the rotation center of the rotation disc 506 is adjusted, and the axial position of the welded pipe is always kept fixed when the gripping and positioning corner block 50808 and the gripping rotation block 50807 clamp the welded pipe with any diameter.

A locking pin 50812 is installed in the sliding groove 50801, the locking pin 50812 is fixed on the gripper base 505, a fixing hole 50814 is formed in the gripping and positioning corner block 50808, the fixing hole 50814 is a long hole, and the axial direction of the fixing hole 50814 extends to the movement direction of the gripping rotating block 50807; the fixing hole 50814 corresponds to the locking pin 50812, after the clamping and positioning corner block 50808 is installed in the sliding groove 50801, the locking pin 50812 penetrates through the fixing hole 50814 and extends upwards; the locking pin 50812 is also provided with a locking nut 50813 for locking the clamping and positioning angle block 50808, by adjusting the locking nut 50813, when the position of the clamping and positioning angle block 50808 needs to be adjusted, the locking nut 50813 is loosened to loosen the clamping and positioning angle block 50808, so that the position of the clamping and positioning angle block 50808 is adjusted by sliding the clamping and positioning angle block 50808, and when the clamping and positioning angle block 50808 is adjusted to a fixed position, the locking nut 50813 is screwed down to press the locking nut 50813 on the clamping and positioning angle block 50808, so that the clamping and positioning angle block 50808 is fixed.

The locking nut 50813 is further provided with a handle, so that the locking nut 50813 can be screwed more conveniently, the number of the locking nuts 50813, the number of the locking pins 50812 and the number of the fixing holes 50814 are two, and the two locking nuts 50813, the number of the locking pins 50812 and the number of the fixing holes 50814 are symmetrically arranged along the width direction of the clamping and positioning corner block 50808; meanwhile, the clamping and positioning corner block 50808 is also provided with scale marks which extend along the length direction of the fixing hole 50814, so that when the clamping and positioning corner block 50808 is adjusted, the moving distance of the clamping and positioning corner block 50808 is read through the scale marks according to the locking pin 50812 as a reference, and the clamping on the welded pipe with the corresponding pipe diameter is met.

As shown in fig. 5, the clamping device further includes a clamping cylinder 50803 and a transmission linkage, the interior of the clamp base 505 is hollow, the clamping cylinder 50803 is hinged in the clamp base 505, the transmission linkage can swing in the clamp base 505, the output end of the clamping cylinder 50803 is hinged with the transmission linkage, and a clamping rotating block 50807 is installed at the output end of the transmission linkage, wherein the clamping cylinder 50803 is used as a power source for generating clamping power and converts air pressure energy into mechanical energy, the transmission linkage is a motion conversion component of the clamping rotating block 50807, and can transmit the force and motion of the cylinder to the clamping rotating block 50807, so that the clamping rotating block moves towards a clamping positioning corner block 50808, and is clamped and fixed on a welded pipe.

The transmission linkage comprises a link arm 50802 and a swing arm 50804, the swing arm 50804 is arc-shaped, one end of the swing arm 50804 far away from the clamping cylinder 50803 and the middle part of the link arm 50802 are hinged on the clamp base 505, so that the swing arm 50804 swings around one end of the swing arm 50804 far away from the clamping cylinder 50803, and the link arm 50802 swings around the middle part of the swing arm 50802; the gripper base 505 is also internally provided with a guide block 50805, the guide block 50805 is positioned in the middle of the swing arm 50804, the guide block 50805 is provided with a long guide groove, the middle of the swing arm 50804 is also provided with a fixing pin 50806, the upper end of the fixing pin 50806 is inserted into the guide groove and is in sliding fit with the guide groove, and the end, far away from the clamping rotating block 50807, of the link arm 50802 is hinged on the fixing pin 50806.

The gripper base 505 is further provided with a manual reversing valve 50810, the manual reversing valve 50810 is an operation control element, the manual reversing valve 50810 is connected with a gas circuit of a gripping cylinder 50803, and the gripping cylinder 50803 can be controlled to move through the manual reversing valve 50810. The clamping cylinder 50803 and the welding gun 503 are connected with the same gas source together, so that the clamping cylinder 50803 directly uses protective gas during welding as the gas source, and additional gas source equipment is not required.

And a tension spring 50809 is further installed in the clamp base 505, the tension spring 50809 is used as a reset element of the clamping rotating block 50807, the other end of the tension spring 50809 is connected with one end of the transmission linkage group installation clamping rotating block 50807, when the clamping air cylinder 50803 does not push the swing arm 50804 to swing, the tension spring 50809 can pull the link arm 50802 to reset according to the self elastic force, and therefore when the clamped pipeline is released, the clamping rotating block 50807 is always kept in an open state.

The clamping face of clamping location angle piece 50808 has a V-shaped opening, and the clamping face of clamping rotating block 50807 is arc-shaped, so that clamping location angle piece 50808 and clamping rotating block 50807 can be matched with the welded pipeline with any diameter when clamping the welded pipeline together, and therefore the stability can be guaranteed when clamping location angle piece 50808 and clamping rotating block 50807 clamp the welded pipeline with any diameter, and the clamping fixing effect of the clamping device is better. The clamping surface of the clamping and positioning corner block 50808 and the clamping surface of the clamping rotating block 50807 are both provided with cushion layers, so that the clamping and positioning corner block 50808 and the clamping rotating block 50807 can protect the surface of a welded pipeline when the welded pipeline is clamped, and the surface of the welded pipeline is effectively prevented from being damaged.

When the device is used, firstly, the locking nut 50813 is loosened to enable the clamping and positioning corner block 50808 to be unlocked, the position of the clamping and positioning corner block 50808 is adjusted according to pipe diameters of different pipes, the locking nut 50813 is tightened after the position of the clamping and positioning corner block 50808 is determined, the welding trolley 5 is placed on a welded pipe, a clamping surface of the clamping and positioning corner block 50808 is in contact with the welded pipe, the clamping cylinder 50803 is controlled through manual reversing, the clamping cylinder 50803 drives the swing arm 50804 to swing under the pressure of a welding protection gas source, the swing arm 50804 swings while the fixing pin 50806 slides along the guide groove, the locating pin drives the 50802 to swing synchronously while the locating pin slides, the link arm 50802 swings while driving the adjusting and clamping rotary block 50807 to move synchronously, the clamping rotary block 50807 is in contact with the pipe to clamp along with continuous pushing of the clamping cylinder 50803, and clamping of the welding trolley 5 is achieved. After welding, the manual reversing valve 50810 is opened to pull back the clamping cylinder 50803, the clamping cylinder 50803 drives the swing, the link arm 50802 opens the clamping rotating block 50807, and the welding trolley 5 can be directly taken down to finish the dismounting action.

As shown in fig. 6, a rotation driving structure for driving the rotation disc 506 to rotate is further installed in the support main body 502, and the rotation driving structure mainly generates a rotation motion to provide motive power for the rotation disc 506, so as to drive the welding gun 503 to perform a circular motion.

The inside of the support main body 502 is a hollow structure, the rotary driving structure is installed inside the rotary disk 506, the rotary driving structure comprises a transmission gear 50901 which can rotate on the support main body 502, the arc-shaped bottom of the opening on the support main body 502 is provided with an edge platform which is turned outwards, the inner edge of the transmission gear 50901 is bent, and the inner edge of the transmission gear 50901 is buckled on the edge platform in a sliding manner, so that the transmission gear 50901 is effectively prevented from falling off while the transmission gear 50901 rotates on the support main body 502, and when the transmission gear 50901 rotates to the opening on the support main body 502, one side of the transmission gear 50901, which is close to the rotary disk 506, is shielded, and the transmission gear 50901 is effectively prevented from being damaged by splashed objects generated by the welding gun 503 in the welding process; the rotating disc 506 is installed on a transmission gear ring 50901, the transmission gear ring 50901 is arc-shaped, the radius of the transmission gear ring 50901 is matched with the radius of the arc-shaped bottom of the opening in the supporting main body 502, and the transmission gear ring 50901 and the arc-shaped bottom of the opening in the supporting main body 502 can jointly enclose a circle; the arc length of the transmission gear 50901 is greater than half of the circumference length of the transmission gear 50901, the rotary driving structure further comprises a driving motor 50907 and two pinions 50904, the driving motor 50907 provides motive power for rotation of the rotary disk 506, the two pinions 50904 are respectively meshed with two ends of the transmission gear 50901, the arc length between the two pinions 50904 is smaller than the arc length of the transmission gear 50901, and the two pinions are jointly in transmission connection with the output end of the driving motor 50907.

The transmission between the output end of the driving motor 50907 and the pinion 50904 is mainly realized by a duplex transmission gear 50902 arranged on the output end of the driving motor 50907, a large gear 50903 meshed with the duplex transmission gear 50902 and the pinion 50904, the duplex transmission gear 50902, the large gear 50903 and the pinion 50904 are jointly used for transmission speed change, when the driving motor 50907 rotates, the duplex transmission gear 50902 is driven to rotate, the large gear 50903 is driven to rotate by the large gear 50903, the pinion 50904 is driven to rotate by the pinion 50904, the transmission among the driving motor 50907, the duplex transmission gear 50902, the large gear 50903, the pinion 50904 and the transmission ring 50901 forms a transmission chain together, and as the transmission ring 50901 is meshed with the two pinions 50904, even if the transmission ring 50901 is not a complete ring gear during the rotation process, because the transmission ring 50901 rotates, when the transmission gear 50901 rotates to any position, the transmission gear 50901 is meshed with one pinion 50904, so that the transmission gear 50901 always has a meshing point when rotating, and the transmission gear 50901 can realize the rotation of more than 360 degrees.

As shown in fig. 7, the support main body 502 is further provided with a protection plate 510 which rotates synchronously with the rotating disk 506, the shape of the protection plate 510 is the same as that of the rotating disk 506, the protection plate 510 is parallel to the rotating disk 506 and is respectively positioned at the front side and the rear side of the support main body 502, the inner edge of the protection plate 510 is fixed with the inner edge of the transmission gear ring 50901, so that when the transmission gear ring 50901 drives the rotating disk 506 to move to the opening of the support main body 502 in the welding process of a pipeline to be welded, the transmission gear ring 50901 is exposed because the transmission gear ring 50901 is not shielded at this time, the transmission gear ring 50901 is completely covered and shielded through shielding of the protection plate 510, and thus spatters flying from the welding gun 503 are effectively prevented, and the transmission gear ring 50901, the pinion 50904 and the like are damaged by the spatters.

In order to protect the drive motor 50907, a housing 50402 can be arranged outside the drive motor 50907 to prevent spatter generated by the welding gun 503 in the welding process from falling onto the drive motor 50907; meanwhile, in order to facilitate the carrying of the welding carriage 5, a handle may be provided on the support body 502.

As shown in fig. 8 and 9, a horizontal swinging dry-stretching movement device 501 is further mounted on the rotating disk 506, the horizontal swinging dry-stretching movement device 501 mainly realizes horizontal swinging movement and dry-stretching movement of the welding gun 503, the horizontal swinging movement refers to linear movement along the axis direction of the welded pipeline, the dry-stretching movement refers to linear movement along the radial direction of the welded pipeline, the welding gun 503 is mounted on the horizontal swinging dry-stretching movement device 501, so that the horizontal swinging dry-stretching movement device 501 can drive the welding gun 503 to move along the direction Y, Z, that is, the Y direction of the movement of the welding gun 503 is the axis direction of the welded pipeline, the Z direction of the movement of the welding gun 503 is the radial direction of the welded pipeline, so that when the welding gun 503 needs to weld the crater of the welded pipeline, the horizontal swinging dry-stretching movement device drives the welding gun 503 to move along the direction Y, Z, so that the welding gun 503 accurately corresponds to the crater, and the welding quality of the crater is ensured.

The horizontal pendulum dry-stretching movement device 501 comprises a sliding plate base 50110 arranged on a rotating plate 506, a dry-stretching sliding plate 50109 capable of feeding along the Z-axis direction is arranged on the sliding plate 50111, scale marks are arranged on the sliding plate base 50110, basic point scale marks are arranged on the dry-stretching sliding plate 50109, a guide hole extending along the radial direction of a welded pipeline is formed in the sliding plate base 50110, a guide shaft in sliding fit with the guide hole is arranged on the dry-stretching sliding plate 50109, and the dry-stretching sliding plate 50109 can guide in the sliding process through the fit of the guide shaft and the guide hole; meanwhile, the distance between the whole horizontal swinging dry-stretching movement mechanism and the center of a welded pipeline can be effectively adjusted through the matching of the dry-stretching sliding plate 50109 and the sliding plate base 50110, so that the welding gun 503 can adapt to the welding of the welded pipelines with different pipe diameters, and after the position of the sliding plate base 50110 is adjusted, the dry-stretching sliding plate 50109 is fixed on the sliding plate base 50110 through screws.

The horizontal swing sliding block 50104 which feeds along the Y-axis direction is mounted on the dry extension sliding plate 50109, the welding gun 503 is mounted on the horizontal swing sliding block 50104, the horizontal swing sliding plate 50111 moves on the dry very sliding plate 50111, so that the feeding of the welding gun 503 in the Y-axis direction is compensated, the welding gun 503 realizes the movement in the Y-axis direction, and the Y-axis and Z-axis directions of the welding gun 503 are fed, so that the welding gun 503 can accurately correspond to the welding opening of a welded pipeline, and the welding quality of the welded pipeline is ensured.

The sliding plate 50111 is also provided with a dry stretching lead screw 50108 and a dry stretching motor 50106 for driving the dry stretching lead screw 50108 to rotate, the dry stretching motor 50106 is a forward and reverse rotating motor, the dry stretching motor 50106 mainly generates power for dry stretching movement, the sliding plate 50111 is U-shaped, the dry stretching motor 50106 is installed on one side of the sliding plate 50111, two ends of the dry stretching lead screw 50108 are rotatably supported on two ends of the sliding plate 50111, and the output end of the dry stretching motor 50106 is fixedly connected with one end of the dry stretching lead screw 50108 through a coupler; the dry extension lead screw 50108 is also provided with a dry extension sliding block 50107 in threaded fit with the dry extension lead screw 50107, the dry extension sliding block 50107 is a rectangular block, one surface of the dry extension sliding block 50107 is in sliding fit with the bottom of a dry extension sliding plate 50109, so that when the dry extension lead screw 50108 rotates, the dry extension sliding block 50107 cannot synchronously rotate along with the dry extension lead screw 50108 through the fit of the dry extension sliding block 50107 and the dry extension sliding plate 50109, the rotation of the dry extension lead screw 50108 is converted into the linear motion of the dry extension sliding block 50107, and the dry extension sliding block 50107 reciprocates along the axial direction of the dry extension lead screw 50108. The dry-extension sliding block 50107 is fixed with a dry-extension sliding plate 50109, so that the dry-extension sliding block 50107 reciprocates on a dry-extension screw rod and simultaneously drives the dry-extension sliding plate 50109 to reciprocate synchronously, and the dry-extension sliding plate 50109 realizes the reciprocating motion in the Z-axis direction.

The dry extension sliding plate 50109 is also provided with a horizontal swing frame 50105, the extending end of the horizontal swing frame 50105 is U-shaped, and the extending end of the horizontal pendulum machine frame 50105 is also rotatably supported with a horizontal pendulum lead screw 50101 and a horizontal pendulum motor 50112 for driving the horizontal pendulum lead screw 50101 to rotate, the horizontal pendulum motor 50112 is a positive and negative rotation motor, the horizontal pendulum motor 50112 mainly generates the power of horizontal pendulum movement, the horizontal swing lead screw 50101 is also provided with a horizontal swing sliding block 50104 in threaded fit with the horizontal swing lead screw, the horizontal swing sliding block 50104 is rectangular, one side of the horizontal swing sliding block 50104 is in sliding fit with the bottom surface of the extending end of the horizontal swing frame 50105, when the horizontal swing motor 50112 drives the horizontal swing lead screw 50101 to rotate, through the matching of the horizontal swing sliding block 50104 and the horizontal swing frame 50105, the horizontal swing sliding block 50104 cannot synchronously rotate to the east along with the horizontal swing lead screw 50101, the rotation of the horizontal swing lead screw 50101 is converted into the linear motion of the horizontal swing sliding block 50104, and the horizontal swing sliding block 50104 reciprocates along the axial direction of the horizontal swing lead screw 50101; the horizontal swing sliding block 50104 is further provided with a clamping device, and the welding gun 503 is clamped and fixed on the horizontal swing sliding block 50104 through the existing clamping device, so that the welding gun 503 is more convenient to mount.

The dry-extension sliding plate 50109 is also provided with a horizontal pendulum spline shaft 50102 parallel to the horizontal pendulum lead screw 50101, two ends of the horizontal pendulum spline shaft 50102 are fixed at the extension end of the horizontal pendulum rack 50105, a horizontal pendulum slider 50104 is provided with a through hole matched with the horizontal pendulum spline shaft 50102, and the horizontal pendulum lead screw 50101 is more stable in reciprocating motion of the horizontal pendulum slider 50104 in the process of driving the horizontal pendulum slider 50104 to reciprocate through the sliding fit of the horizontal pendulum slider 50104 and the horizontal pendulum spline shaft 50102; meanwhile, the horizontal pendulum protecting cover 50103 is buckled on the horizontal pendulum rack 50105, the horizontal pendulum protecting cover 50103 is in a channel steel shape buckled at the extending end of the horizontal pendulum rack 50105 in a reversed mode, the horizontal pendulum protecting cover 50103 is installed behind the extending end of the horizontal pendulum rack 50105, the extending end of the horizontal pendulum rack 50105 is in a box structure with one side in an open mode, at the moment, the top of the horizontal pendulum sliding block 50104 is provided with a U-shaped sliding hole matched with the horizontal pendulum protecting cover 50103, the horizontal pendulum protecting cover 50103 is enabled to cover the horizontal pendulum spline shaft 50102 and the dry extension lead screw 50108 together, the horizontal pendulum sliding block 50104 can normally and stably slide in a reciprocating mode, splashes generated in the welding process of the welding gun 503 are effectively prevented from falling onto the horizontal pendulum lead screw 50101, the horizontal pendulum lead screw 50101 is effectively prevented from being damaged, and the horizontal pendulum sliding block 50104 is enabled to normally slide in a reciprocating mode.

Since the welding gun 503 is superimposed on slide 50111 by the pendulum slider 50104 and the dry slide 50109, when slide 50111 is adjusted, the welding gun 503 moves in the direction of adjustment of slide 50111, thereby achieving the applicable pipe diameter adjustment. When the dry stretching motor 50106 rotates, the dry stretching motor 50106 drives the dry stretching screw 50108 to rotate, and the dry stretching screw 50108 is matched with the dry stretching sliding block 50107 to enable the dry stretching sliding block 50107 to reciprocate linearly on the dry stretching screw 50108, so that the dry stretching sliding plate 50109, the horizontal pendulum rack 50105, the horizontal pendulum motor 50112, the horizontal pendulum sliding block 50104 and the welding gun 503 synchronously reciprocate; similarly, when the horizontal pendulum motor 50112 rotates, the horizontal pendulum motor 50112 drives the horizontal pendulum lead screw 50101 to rotate, and the horizontal pendulum lead screw 50101 is matched with the horizontal pendulum slider 50104 to enable the horizontal pendulum slider 50104 to linearly reciprocate on the horizontal pendulum lead screw 50101, so that the welding gun 503 synchronously reciprocates. Through the cooperation of the dry stretching motor 50106 and the horizontal swinging motor 50112, the welding gun 503 can perform composite motion in the two directions of the Y axis and the Z axis, so that the dry stretching motion and the horizontal swinging motion of the welding gun 503 are realized.

The rotating disc 506 is also provided with a wire feeder 507, the wire feeder 507 is used for continuously providing welding wires for the welding gun 503 in the welding process, the wire feeder 507 is directly used by the wire feeder 507 of the existing welding equipment, but in order to enable the wire feeder 507 to more smoothly advance the welding wires when the welding gun 503 feeds the welding wires, a plurality of winding rods 50905 can be arranged on the rotating disc 506, the welding wires are guided by the winding rods 50905 to be transmitted to the welding gun 503, and the winding rods 50905 and the wire feeder 507 are both arranged on the rotating disc 506, so that the welding wires cannot be wound in the feeding process; meanwhile, in order to prevent the welding wire from sliding on the winding rod 50905 when the welding wire is wound by the winding rod 50905, a wire holder 50906 through which the welding wire passes and which is limited may be further installed on the winding rod 50905.

As shown in fig. 10, a limit device 504 is further mounted on a face of the rotating disc 506 opposite to the supporting body 502, the limit device 504 is mainly used for determining a zero point position for limiting the rotating disc 506, the limit device 504 is a limit switch 50401 mounted on a protrusion of the rotating disc 506, and a housing 50402 is covered on the limit switch 50401; meanwhile, a protrusion corresponding to the limit switch 50401 is arranged on the supporting main body 502, when the rotating disc 506 rotates, the limit switch 50401 corresponds to the protrusion, the protrusion is arranged on the limit switch 50401 in an ejecting mode, the limit switch 50401 is changed into a closed state from an open state, and when the system receives a closing electric signal of the limit switch 50401, the rotating disc 506 realizes the check of the limit position.

The rotating disc 506 is also provided with an angle sensor, so that the angle sensor can detect the rotating angle of the rotating disc 506 in real time in the rotating process of the rotating disc 506, and the welding range of the welding gun 503 can be effectively monitored. Still install the control box on the support main part 502, and install welding control module in the control box, angle sensor, limit switch 50401 are connected with the control module input, and driving motor, do and stretch motor 50106, flat pendulum motor 50112, wire drive feed unit 507 and control module's output and be connected.

When the welding trolley 5 is clamped and fixed on the welded pipeline and needs to be welded, firstly the locking nut 50813 is loosened to ensure that the clamping and positioning angle block 50808 loses locking, the position of the clamping and positioning angle block 50808 is adjusted according to the pipe diameters of different pipes, the locking nut 50813 is screwed after the position of the clamping and positioning angle block 50808 is determined, the welding trolley 5 is placed on the welded pipe, the clamping surface of the clamping and positioning angle block 50808 is contacted with the welded pipe, through manual switching control centre gripping cylinder 50803, the swing arm 50804 of drive under the pressure effect of welding protection gas air supply swing of holding the cylinder, swing arm 50804 fixed pin 50806 slides along the guide way in the wobbling, the locating pin drives pitman arm 50802 synchronous oscillation in gliding, pitman arm 50802 drives and adjusts centre gripping commentaries on classics piece 50807 synchronous motion in the wobbling, along with constantly promoting of centre gripping cylinder 50803, centre gripping commentaries on classics piece 50807 is pressed from both sides with the pipeline contact, has realized the clamping action of welding tractor 5.

The slide plate 50111 is loosened, the slide plate 50111 is slid on the slide plate base 50110 to adapt the welding gun 503 to correspond to the pipe to be welded, and then the slide plate 50111 is fixed.

Then, the horizontal swing motor 50112 rotates, the horizontal swing motor 50112 drives the horizontal swing lead screw 50101 to rotate, and the horizontal swing lead screw 50101 is matched with the horizontal swing sliding block 50104 to enable the horizontal swing sliding block 50104 to move on the horizontal swing lead screw 50101, so that the welding gun 503 corresponds to a welding opening of a welded pipeline; the dry stretching motor 50106 rotates, the dry stretching motor 50106 drives the dry stretching lead screw 50108 to rotate, and the dry stretching lead screw 50108 is matched with the dry stretching sliding block 50107 to enable the dry stretching sliding block 50107 to reciprocate linearly on the dry stretching lead screw 50108, so that the dry stretching sliding plate 50109, the horizontal swinging rack 50105, the horizontal swinging motor 50112, the horizontal swinging sliding block 50104 and the welding gun 503 move to enable the welding gun 503 to be abutted against and correspond to the welding opening of the welded pipeline.

The wire feeding device 507 is started, the wire feeding device 507 continuously provides welding wire for the welding gun 503, so that the welding wire is fed into a contact tip of the welding gun 503, welding arc is generated between the welding wire and a welding opening of a welded pipeline to generate heat to form a molten pool under the cladding isolation of the welding wire at the position of the welding gun 503 by the protection gas, thereby realizing the welding of the welding opening of the welded pipeline, then, the driving motor is started and rotates at a certain speed, and the driving motor drives the transmission gear 50901 to rotate at the same time through the meshing among the duplex transmission gear 50902, the big gear 50903, the small gear 50904 and the transmission gear 50901, therefore, the rotating disc 506 and the protection plate 510 which are arranged on the transmission gear 50901 rotate synchronously, the horizontal swinging and dry stretching movement device 501, the welding gun 503, the wire feeding device 507 and the limiting device 504 which are arranged on the rotating disc 506 rotate synchronously, and finally the welding gun 503 is enabled to completely weld the welded opening of the welded pipeline.

Because the existing welding process generally uses root welding to carry out priming, while the existing priming is generally carried out by an internal welding machine or an argon arc welding mode, the internal welding machine is generally suitable for pipelines with larger pipe diameters by priming from the inside, the priming is difficult to realize for the pipelines with the diameter of less than 325mm, and the cost of the internal welding machine is higher; if argon arc welding is directly adopted for priming, MIG filling and capping are used, two sets of equipment are required to be adopted for switching in the whole welding process, so that two sets of equipment are required to be disassembled and assembled in the whole welding process, and the welding efficiency is greatly reduced.

Therefore, in order to solve the problems, the invention also provides a pipeline liner inner butt-joint device for the full-position automatic welding of small-diameter pipelines, which not only realizes the butt-joint positioning and gas protection functions of pipelines with the diameter less than 325mm, but also does not need an inner welding machine or argon arc butt welding for bottoming in the whole welding process, so that MIG butt welding, filling and capping can be directly used in the whole welding process, and the whole welding efficiency is greatly improved.

As shown in fig. 11 and fig. 12, at least one walking device 603 is installed on each of the front expanding device 602 and the rear expanding device 604, and the walking devices 603 cooperate with each other to enable the pipe lining internal aligning device 6 to walk and slide inside the welded pipe; sealing rings 608 are mounted at the outer ends of the front expansion device 602 and the rear expansion device 604, the sealing rings 608 are rubber sealing rings 608, and after the front expansion device 602 and the rear expansion device 604 are respectively aligned, positioned and expanded for two welded pipelines, a sealed protection air chamber is formed between the two sealing rings 608 through the matching of the two sealing rings 608; the end of giving vent to anger of protection trachea is located between two sealing washer 608, makes the protective gas who sends out through the protection trachea fill in the protection trachea to make two welded pipe's welding seam department medial surface can effectively protect through protective gas.

As shown in fig. 13, each of the front expanding device 602 and the rear expanding device 604 comprises an expanding cylinder 60201, an expanding claw 60202, an expanding claw top rod 60203, a connecting rod 60204 and a supporting frame 60208, wherein the supporting frame 60208 is supported and fixed at the inner end of the expanding cylinder 60201, wherein the expanding cylinder 60201 is a cylinder body in the cylinder assembly and mainly provides a sealed space, the expanding claw 60202 mainly realizes the expanding and pressing effect on the inner wall of the pipeline, the expanding claw top rod 60203 mainly converts the direction of force and transmits power, and the connecting rod 60204 realizes the direction change of force and the amplification of force; the pipe joint comprises a plurality of expansion claws 60202, expansion claw mandrils 60203 and connecting rods 60204, wherein the expansion claw mandrils 60203 are hinged on the outer wall of a support 60208 with an expansion cylinder 60201 as a circle center and arranged at intervals in a circumference way, the expansion claws 60202 are arranged at the output end of the expansion claw mandrils 60203 one by one, in order to prevent the expansion claws 60202 from damaging the inner wall of a welded pipe when the welded pipe is expanded, a flexible layer can be arranged on the supporting surface of the expansion claws 60202, so that the expansion claws 60202 buffer when the welded pipe is expanded; the plurality of connecting rods 60204 are hinged to the middle parts of the expansion claw mandrils 60203 one by one, in order to prevent the connecting rods 60204 from shaking left and right in the movement process, the supporting frame 60208 can be in a cap shape, a plurality of strip grooves are further formed in the supporting frame 60208, the other ends of the connecting rods 60204 penetrate through the strip grooves and converge towards the center line, a linear driving element is jointly installed at the other ends of the connecting rods 60204, when the linear driving element pushes the plurality of connecting rods 60204, the connecting rods 60204 push outwards through the strip grooves, so that the expansion claw mandrils 60203 are pushed to be gradually opened, the expansion claws 60202 on the expansion claw mandrils 60203 gradually approach to the inner wall of the welded pipeline, and finally the expansion claws 60202 are jointly tensioned on the welded pipeline.

The linear driving element comprises a piston 60206 and an expansion claw push rod 60205, the piston 60206 is arranged in the expansion cylinder 60201 in a sealing and sliding mode, the piston 60206 divides the inside of the expansion cylinder 60201 into two sealed air chambers, the piston 60206 automatically slides in the expansion cylinder 60201 by increasing the air pressure in one of the sealed air chambers, and the piston 60206 can reciprocate in the expansion cylinder 60201 by changing the air pressure in the two sealed air chambers, namely the piston 60206 generates pushing force or pulling force under the action of the air pressure to provide motive force for the rear expansion device 604; meanwhile, the expansion claw push rod 60205 is arranged on the piston 60206, the expansion claw push rod 60205 has the main function of connecting and transmitting force, namely the piston 60206 moves to drive the expansion claw push rod 60205 to move synchronously, and the plurality of connecting rods 60204 are hinged to the output end of the expansion claw push rod 60205 together, so that the expansion claw push rod 60205 moves to drive the plurality of expansion claw connecting rods 60204 to move synchronously, thereby pushing the plurality of expansion claw push rods 60203 to move synchronously.

When air is supplied to the left end of the outer expanding cylinder 60201 far away from the output end side of the expanding claw push rod 60205, the piston 60206 moves forwards under the pushing force of the air to drive the expanding claw push rod 60205 to move forwards, so that one end of the connecting rod 60204 far away from the expanding claw push rod 60203 is driven to move forwards, in the process that the connecting rod 60204 continuously moves, the pushing force of the connecting rod 60204 on the expanding claw push rod 60203 is continuously increased, the expanding claw push rod 60203 is continuously expanded outwards, the expanding claw 60202 is driven to expand outwards, and the expanding claw 60202, the expanding claw push rod 60203 and the connecting rod 60204 are continuously expanded outwards by taking the pipeline as the center, so that the claw 60202 is finally contacted with the inner wall of the pipe to tightly push the pipeline, and the positioning function is realized.

End covers 60207 are arranged at the outer ends of the front expansion device 602 and the rear expansion device 604, and the end covers 60207 are in a cone shape, so that the mouth aligner 6 in the pipeline gasket can be guided when being placed in the pipeline.

As shown in fig. 14, the tensioning bushing device 601 includes a liner connecting rod faceplate 60106, a liner push rod 60107, a plurality of liner connecting rods 60105, and a plurality of liners 60101, where the liner connecting rod faceplate 60106 is in a cap shape, the liner connecting rod faceplate 60106 is hollow inside, the liner connecting rod faceplate 60106 is mounted on a support frame 60208 on the front tensioning device 602 or the rear tensioning device 604, a plurality of guide grooves 60108 are uniformly arranged on the circumferential surface of the liner connecting rod faceplate 60106 in a circumferential direction at intervals, the plurality of guide grooves 60108 extend along the axial direction of the liner connecting rod faceplate 60106, the liner push rod 60107 is mounted at the center of the liner connecting rod faceplate 60106, the inner ends of the plurality of liner connecting rods 60105 penetrate through the plurality of guide grooves 60108 and are hinged to the liner push rod 60107 together, and the plurality of liners 60101 are mounted at the outer ends of the liner connecting rods 60105 one by one.

The gaskets 60101 are all arc-shaped, so that when the tensioning bushing device is in an expanded state, the gaskets 60101 form a complete ring shape together, and a ring-shaped welding pool substrate is formed by the joint matching of the gaskets 60101, so that the leakage of a molten pool welding molten material during the welding bottoming of two welded pipelines is prevented; meanwhile, a force conversion transmission mechanism is formed by the cooperation of the cushion connecting rod faceplate 60106, the cushion push rod 60107 and the plurality of cushion connecting rods 60105, so that the functions of force amplification and direction conversion are completed.

The liner push rod 60107 is connected with the push rod 60205 on the front expansion device 602 or the rear expansion device 604, a resisting spring 60103 can be sleeved at the joint of the liner push rod 60107 and the push rod 60205, one end of the resisting spring 60103 is contacted with the common hinged part of the plurality of liner connecting rods 60205, the common hinged part of the plurality of connecting rods 60204 at the other end of the resisting spring 60103 is contacted, so that the liner push rod 60107 and the front expansion device 602 or the rear expansion device 604 form a linkage function, a power element of the tensioning bushing device 601 is omitted, the cost of the pipe liner inner aligner 6 is reduced, the structure of the pipe liner inner aligner 6 is more compact, and the tensioning bushing device 601 and the front expansion device 602 or the rear expansion device 604 are more stable when synchronously acting.

A liner 60101 ejector rod is further mounted at the outer end of the liner connecting rod 60105, the liner 60101 ejector rod is U-shaped, the length direction of an opening of the liner 60101 ejector rod is consistent with the width direction of the liner 60101, one side of the liner 60101 abuts against one end of the liner 60101 ejector rod, the other side of the liner 60101 abuts against the other end of the liner 60101 ejector rod through a liner spring 60102, and the liner 60101 is abutted against between the liner 60101 ejector rod and a pressing spring. The end surfaces of the gaskets 60101 are inclined surfaces, the end surfaces of two adjacent gaskets 60101 are matched with each other, the circumferential distance between two adjacent gasket connecting rods 60105 on the gasket push rod 60107 is equal, but the two adjacent gasket connecting rods 60105 are at different positions in the axial direction of the gasket push rod 60107, so that the inner ends of the two adjacent gasket connecting rods 60105 are at different heights of the gasket push rod 60107, when the gasket connecting rods 60105 are not subjected to the jacking force of the gasket push rod 60107, certain dislocation exists between the two adjacent gaskets 60101, specifically, when the gasket connecting rods 60105 are not subjected to the jacking force of the gasket push rod 60107, the gaskets 60101 at the cardinal number position are located on the same circular ring, and the gaskets 60101 at the even number position are located on the other circular ring; meanwhile, the liner 60101 is arc-shaped, a plurality of liners 60101 form a circular ring together, a certain dislocation exists between every two adjacent liners 60101, the end faces of the two adjacent liners 60101 are matched through an inclined surface, when the liner push rod 60107 is pushed, the liner connecting rod 60105 closest to the power input end of the liner push rod 60107 is pushed first through the guide of the guide groove 60108, the liner connecting rod 60105 drives the liner 60101 ejector rod and the liner 60101 to act synchronously, the liner 60101 is forced forward, and the two adjacent liners 60101 are matched through the inclined surface, so that the liner 60101 extrudes the two adjacent liners 60101 when being forced forward, the diameter of the circular ring formed by the liner 60101 is increased, and the liners 60101 abut against the welding seams of two welded pipelines together.

The lining springs 60102 on the ejector rods of two adjacent linings 60101 are positioned on different sides of the ejector rods of the linings 60101, so that when the two adjacent linings 60101 are pressed, one lining 60101 is buffered by the compression of the lining spring 60102 on the left side, the other lining 60101 is buffered by the compression of the lining spring 60102 on the right side, and the two adjacent linings 60101 can be pressed against each other by the cooperation of the lining springs 60102 on one sides of the two adjacent linings 60101, so that the end surfaces of the two adjacent linings 60101 are always kept in contact; meanwhile, by arranging the gasket spring 60102, the gasket 60101 is effectively prevented from being directly hard-topped when being subjected to the thrust of the gasket push rod 60107, and the gasket 60101 is effectively prevented from being damaged.

When the piston 60206 in the front expanding device 602 or the rear expanding device 604 moves forwards, since the gasket push rod 60107 is connected with the expanding claw push rod 60205 in the front expanding device 602 or the rear expanding device 604, when the piston 60206 in the front expanding device 602 or the rear expanding device 604 moves forwards, the expanding claw push rod 60205 drives the gasket push rod 60107 to move forwards synchronously, the gasket push rod 60107 drives the gasket connecting rod 60105 to act synchronously while moving forwards, the thrust of the gasket connecting rod 60105 to the top rod of the gasket 60101 is continuously increased and continuously expanded outwards, the gaskets 60101 are pressed against each other, so that the gaskets 60101 expand outwards together, and since the gaskets 60101 are arranged in a staggered manner, and the end surfaces of two adjacent gaskets 60101 are matched through an inclined surface, when one or more gaskets 60101 are pressed, the gaskets 60101 are kept close together until the gaskets 60101 contact with the inside of the welded pipe.

When the ejector rod of the lining 60101 pushes the lining 60101, each lining 60101 can be transited through the buffer spring, so that the lining 60101 is in elastic contact when being in contact with a welded pipeline together, and the hard top is not generated and the adaptability of different pipe inner diameters is enhanced. When the liner 60101 is not pushed by the liner connecting rod 60105 and the liner push rod 60107 drives the liner connecting rod 60105 to return, the liner 60101 can be pushed to automatically return by the elastic force of the buffer spring, and the end surfaces of two adjacent liners 60101 are matched in an inclined plane, so that the extrusion force applied to the liner 60101 during returning generates component force on the axis, and the two adjacent liners 60101 are restored to be arranged in a staggered manner.

The outer end of the front expansion device 602 or the rear expansion device 604 is further connected with an operating rod 605, the protective gas pipe extends along the operating rod 605, an operating support 609 is mounted at the outer end of the operating rod 605, the inner end of the operating rod 605 is connected with the front expansion device 602 or the rear expansion device 604 through a universal joint 610, bending and steering of the operating rod 605 can be guaranteed under the condition that force can be transmitted, a guide tripod 611 is further mounted on the operating rod 605, the operating rod 605 can be supported in a welded pipeline through the guide tripod 611, and instability caused by overlarge bending in the process of pushing and pulling the pipe liner internal alignment device 6 through the operating rod 605 is prevented. The operating bracket 609 can also be provided with a pneumatic device 606 for providing protective gas for the welding seam at the butt joint of the two welded pipelines through a protective gas pipe and controlling the pneumatic device to provide air pressure for the expanding cylinders 60201 in the front expanding device 602 and the rear expanding device 604, and a push-pull handle can also be arranged on the operating bracket 609 in order to facilitate the push-pull of the operating rod 605; meanwhile, in order to control the pneumatic device 606 conveniently, a mouth aligner control module can be connected to the pneumatic device 606, so that a pneumatic control logic function is realized.

The plurality of guide tripods 611 are arranged at intervals along the circumferential direction of the operating rod 605, so that the plurality of guide tripods 611 form a conical shape together, that is, the inclined surfaces of the plurality of guide tripods 611 enclose a conical surface together, the guide wheels 612 are arranged on the outer sides of the bottoms of the plurality of guide tripods 611, the bottoms of the guide tripods 611 are the wider ends of the guide tripods 611 after the guide tripods 611 are arranged on the operating rod 605, and after the guide tripods 611 are positioned in the welded pipeline, the guide wheels 612 are matched with the inner wall of the welded pipeline, so that the friction between the guide tripods 611 and the inner wall of the welded pipeline is smaller and the inner wall of the welded pipeline is prevented from being scratched by the guide tripods 611 in the pushing and pulling process of the operating rod 605.

The front expansion device 602 and the rear expansion device 604 are at least provided with a group of walking wheels 60301, each group of walking wheels 60301 is composed of walking wheels 60301 which are uniformly arranged at intervals along the circumference of the center of the front expansion device 602 or the center of the rear expansion device 604, the walking wheels 60301 can be specifically installed on the outer wall of an expansion cylinder 60201 in the front expansion device 602 or the rear expansion device 604, in order to ensure that the movement of the butt-joint device 6 in the pipeline gasket is more stable, the walking wheels 60301 can be provided with three groups, the three groups of walking wheels 60301 can be respectively located at the two ends and the middle part of the butt-joint device 6 in the pipeline gasket, when one end of the butt-joint device 6 in the pipeline gasket is stretched out and hung outside the welded pipeline, the walking wheels 60301 on the front expansion device 602 or the rear expansion device 604 can still play a role in supporting and walking, so that the installation or the taking-out of the butt-joint device 6 in the front pipeline gasket is more convenient. Here, although the multiple groups of traveling wheels 60301 are not tensioned with the welded pipeline, one or more traveling wheels 60301 on the front expansion device 602 and the rear expansion device 604 are always matched with the welded pipeline in the installation or taking-out process of the front pipeline liner internal aligner 6, so that the traveling wheels 60301 can still play a role.

The outer end of the front expansion device 602 or the rear expansion device 604 is also provided with an inspection device 607, the inspection device 607 is preferably arranged at the outer end of the rear expansion device 604, and a welding seam formed after welding can be inspected by the inspection device 607 in the process that the mouth-piece 6 in the pipeline gasket is pulled out after the pipeline welding is finished; the inspection device 607 comprises a speed reduction motor 60709, a coupling disc 60708 and a camera 60706, wherein the speed reduction motor 60709 is used for driving the camera 60706 to scan and shoot the whole circumference of the weld, the camera 60706 is used for shooting the weld image and transmitting the image information to external terminal equipment, the speed reduction motor 60709 is arranged on an end cover 60207 or a tensioning cylinder 60201 of the front tensioning device 602 or the rear tensioning device 604, the coupling disc 60708 is arranged at the output end of the speed reduction motor 60709, the camera 60706 is arranged on the coupling disc 60708, the coupling disc 60708 is driven to rotate by the speed reduction motor 60709, the camera 60706 arranged on the coupling disc 60708 rotates synchronously, and the camera 60706 detects the annular weld formed after welding is completed.

As shown in fig. 15 and 16, the inspection apparatus 607 further includes a connection cylinder 60704 installed at an outer end of the front-expansion apparatus 602 or the rear-expansion apparatus 604, a lower end of the connection cylinder 60704 covers the speed reduction motor 60709, the connection cylinder 60704 can be directly installed on a housing of the speed reduction motor 60709, the shaft coupling disc 60708 is further provided with a rotation shaft sleeve 60703, the rotation shaft sleeve 60703 and the connection cylinder 60704 are concentrically arranged, a planar thrust bearing 60707 is further provided between the rotation shaft sleeve 60703 and the connection cylinder 60704, so that the rotation shaft sleeve 60703 can sufficiently rotate relative to the connection cylinder 60704, the camera 60706 is located in the rotation shaft sleeve 60703, the rotation of the camera 60706 and the rotation shaft sleeve 60703 is synchronous rotation, the rotation shaft sleeve 60703 is further provided with a camera shooting rotation drum, the camera shooting drum 60701 rotates synchronously with the camera 60706 and the rotation shaft sleeve 60703, the camera shooting drum 701 is internally provided with a reflective flat mirror 60705 arranged obliquely, the reflective drum 705 is inclined at 45 degrees relative to the central axis of the camera shooting drum 60701, and the side wall of the camera drum 60701 is also provided with a camera window lens 60702 corresponding to the reflecting plane mirror 60705, so that in the process of image acquisition by the camera 60706, a weld can be reflected to the camera 60706 through the reflecting plane mirror 60705 after passing through the camera window lens 60702, and the camera 60706 can acquire the weld.

When the pipe lining internal aligning device 6 needs to be used, one end of the pipe lining internal aligning device 6 is manually inserted into a welded pipe respectively, and the position of the pipe lining internal aligning device 6 is adjusted, so that the lining 60101 is basically aligned with the end to be welded of the welded pipe.

The air pressure of the rear end of the rising cylinder 60201 in the rear rising device 604 in the welded pipeline is supplied by the pneumatic device 606, so that the air pressure of the rear end of the rising cylinder 60201 is greater than the air pressure of the front end of the rising cylinder 60201, the piston 60206 moves forwards and simultaneously drives the piston 60206 to move forwards, the piston 60206 moves forwards and simultaneously drives the rising claw push rod 60205 to move forwards, the rising claw push rod 60205 drives the rising claw connecting rod 60204, the rising claw connecting rod 60204 pushes the rising claw push rod 60203 to expand outwards, the rising claw 60202 on the rising claw push rod 60203 gradually pushes against the inner wall of the welded pipeline and finally pushes against and positions the inner wall of the welded pipeline, then the operating rod 605 penetrates through the other welded pipeline, the other welded pipeline gradually moves forwards along the operating rod 605, the welded pipeline is abutted against the previous welded pipeline according to the guidance of an operator, and after the position is adjusted, the pneumatic device 606 supplies air to the rear end of the rising cylinder 60201 in the front rising device 602 in the welded pipeline, the air pressure at the rear end of the rising cylinder 60201 is larger than the air pressure at the front end of the rising cylinder 60201, the piston 60206 moves forwards and simultaneously drives the piston 60206 to move forwards, the piston 60206 moves forwards and simultaneously drives the rising claw push rod 60205 to move forwards, the rising claw push rod 60205 moves forwards and simultaneously drives the rising claw connecting rod 60204, the rising claw connecting rod 60204 pushes the rising claw push rod 60203 to expand outwards, so that the rising claws 60202 on the rising claw push rod 60203 gradually push against the inner wall of the welded pipeline and finally push against and position the inner wall of the welded pipeline.

When an expansion claw push rod 60205 in a front expansion device 602 moves forwards, as a gasket push rod 60107 is connected with an expansion claw push rod 60205 in the front expansion device 602, when a piston 60206 in the front expansion device 602 moves forwards, the expansion claw push rod 60205 drives a gasket push rod 60107 to move forwards synchronously, and the gasket push rod 60107 drives a gasket connecting rod 60105 to move synchronously, so that the thrust of the gasket connecting rod 60105 to a gasket 60101 ejector rod is continuously increased and expanded outwards, a plurality of gaskets 60101 are pressed against each other, and a plurality of gaskets 60101 are expanded outwards together.

Because the sealing rings 608 are installed on the front expansion device 602 and the rear expansion device 604, the front expansion device 602 and the rear expansion device 604 are respectively inserted behind two welded pipelines, a sealed protective gas chamber is formed between the two sealing rings, and protective gas is filled into the cover protective gas chamber through the pneumatic device 606 and the protective gas pipe, so that a relatively sealed protective gas space is formed at a welding seam formed by butting the two welded pipelines.

After the two welded pipelines are welded, air is supplied to the front end of an expansion cylinder 60201 in a forward expansion device 602 and a rear expansion device 604 through a pneumatic device 606, so that the air pressure at the front end of the expansion cylinder 60201 is greater than the air pressure at the rear end of the expansion cylinder 60201, a piston 60206 moves backwards to reset, an expansion claw push rod 60205 is driven to reset, a liner push rod 60107 is driven to reset while the expansion claw push rod 60205 resets, an expansion claw connecting rod 60204 drives an expansion claw push rod 60203 and an expansion claw 60202 to reset, the liner push rod 60107 drives a liner 60101 push rod and a liner 60101 to reset, the pipeline liner inner aligner 6 is in a non-positioning state, and at the moment, a worker pulls the pipeline liner inner aligner 6 outwards.

When a worker pulls the pipeline liner inner aligner 6 outwards, the welding seam corresponds to the camera window lens 60702, the pipeline liner inner aligner 6 stops pulling outwards, air is supplied to the rear end of the rising cylinder 60201 in the rising device 604 through the pneumatic device 606, the rising claw 60202 on the rising device 604 rises from the inner wall of a new pipeline to be welded, the speed reduction motor 60709 drives the coupling disc 60708 to rotate, so that the camera 60706, the rotating shaft sleeve 60703, the camera drum 60701, the camera window lens 60702 and the reflecting plane mirror 60705 synchronously rotate, the welding bead image is projected onto the reflecting plane mirror 60705 through the camera 60706 window lens and then projected onto the axial camera 60706 through the plane mirror reflection 60705, radial-axial shooting is realized, and the whole circumferential shooting action is realized through the rotation of the speed reduction motor 60709.

When the camera 60706 detects that the weld joint does not need maintenance, the pneumatic device 606 supplies air to the front end of the expansion cylinder 60201 in the rear expansion device 604, so that the expansion claw 60202 on the rear expansion device 604 loses tension with the inner wall of the welded pipeline, and at this time, the worker pulls the mouth piece 6 in the pipeline gasket outwards to the tail end of the welded pipeline and continues to repeat the above process to weld the next welded pipeline.

As shown in fig. 17 and 18, the welding system further includes a protective gas cylinder 2 and an operation remote controller 4, wherein a control valve is installed at the output end of the protective gas cylinder 2, and the control valve is connected with the operation remote controller 4, so that the output end of the protective gas cylinder 2 is connected with the operation remote controller 4; meanwhile, the welding control module is in two-way communication connection with the operation remote controller 4, the operation remote controller 4 is provided with process bars which can be selected and edited, different process methods are selected for welding through the process bars, the welding control module can also transmit received signals to the operation remote controller 4, and the operation remote controller 4 can also directly send related instructions to the driving motor 50907, the dry stretching motor 50106, the horizontal swinging motor 50112, the wire feeding device 507 and the welding gun 503 through the welding control module.

The welding system also comprises a welding power supply 1, wherein the welding power supply 1 is electrically connected with the welding control module and provides welding electric energy and corresponding gas-electricity control for the welding system; the welding power supply 1 is also provided with a grounding clamp 3, which provides a grounding wire connection function for a welding system and forms a welding current loop in the welding process.

When two welded pipelines need to be welded, one end of the pipeline liner internal aligner 6 is manually inserted into the welded pipelines, and the position of the pipeline liner internal aligner 6 is adjusted to enable the liner 60101 to be basically aligned with the ends to be welded of the welded pipelines.

The gas reversing valve and the pneumatic device 606 act after receiving the instruction, the rear end of the expanding cylinder 60201 in the rear expanding device 604 is inflated to make the air pressure at the rear end of the expanding cylinder 60201 larger than that at the front end of the expanding cylinder 60201, the piston 60206 moves forward and drives the piston 60206 to move forward, the piston 60206 moves forward and drives the expanding claw push rod 60205 to move forward synchronously, the expanding claw push rod 60205 moves forward and drives the expanding claw connecting rod 60204, the expanding claw connecting rod 60204 pushes the expanding claw push rod 60203 to expand outward, and the expanding claw 60202 on the expanding claw push rod 60203 pushes the inner wall of the welded pipe to be positioned finally with the inner wall of the welded pipe.

Then, after the welded pipe is butted with the last welded pipe and the position of the welded pipe is adjusted, the contra-aperture device control module sends a command to a gas reversing valve on a rising cylinder 60201 in a pneumatic device 606 and a front rising device 602, the gas reversing valve and the pneumatic device 606 act after receiving the command, the rear end of the rising cylinder 60201 in the front rising device 602 is inflated, the gas pressure at the rear end of the rising cylinder 60201 is greater than the gas pressure at the front end of the rising cylinder 60201, a piston 60206 moves forwards, the piston 60206 moves forwards and simultaneously drives a piston 60206 to move forwards, the piston 60206 moves forwards and simultaneously drives a rising claw push rod 60205 to move forwards, the rising claw push rod 60205 drives a rising claw connecting rod 60204, the claw connecting rod 60204 pushes a rising claw push rod 60203 to expand outwards, and the rising claw 60202 on the rising claw push rod 60203 gradually pushes the inner wall of the welded pipe and finally pushes the inner wall of the welded pipe to be positioned.

Because the liner push rod 60107 is connected with the expanding claw push rod 60205 in the front expanding device 602, when the piston 60206 in the front expanding device 602 moves forward, the expanding claw push rod 60205 drives the liner push rod 60107 to move forward synchronously, the liner push rod 60107 drives the liner connecting rod 60105 to move synchronously at the same time of moving forward, so that the thrust of the liner connecting rod 60105 to the liner 60101 ejector rod is continuously increased and continuously expanded outward, the plurality of liners 60101 are pressed against each other, and the plurality of liners 60101 are expanded outward together.

Because the sealing rings 608 are installed on the front expansion device 602 and the rear expansion device 604, the front expansion device 602 and the rear expansion device 604 are respectively inserted into two welded pipelines, a sealed protective gas chamber is formed between the two sealing rings 608, a driving instruction is sent to the pneumatic device 606 through the mouthguard control module, the pneumatic device 606 operates, protective gas is filled into the cover protective gas chamber through the protective gas pipe, and a relatively sealed protective gas space is formed at a welding seam formed by butting the two welded pipelines.

The welding trolley 5 is clamped and installed on a welded pipeline, the welding control module sends a Y-axis driving instruction to the horizontal swing motor 50112 through the feeding amount of the welding gun 503 in the Y-axis direction, the Y-axis driving instruction comprises the rotating direction of the horizontal swing motor 50112 and the rotating amount of the horizontal swing motor 50112, the horizontal swing motor 50112 starts to rotate after receiving the Y-axis driving instruction, the horizontal swing motor 50112 drives the horizontal swing lead screw 50101 to rotate, the horizontal swing lead screw 50101 is matched with the horizontal swing slide block 50104 to enable the horizontal swing slide block 50104 to move on the horizontal swing lead screw 50101, and therefore the welding gun 503 corresponds to the welding opening of the welded pipeline.

The welding control module sends a Z-axis driving instruction to the dry-stretching motor 50106 through the feeding amount of the welding gun 503 in the Z-axis direction, the Z-axis driving instruction comprises the rotating direction of the dry-stretching motor 50106 and the rotating amount of the dry-stretching motor 50106, the dry-stretching motor 50106 starts to rotate after receiving the Z-axis driving instruction, the dry-stretching motor 50106 drives the dry-stretching lead screw 50108 to rotate, and the dry-stretching lead screw 50108 is matched with the dry-stretching slide block 50107 to enable the dry-stretching slide block 50107 to do linear reciprocating motion on the dry-stretching lead screw 50108, so that the dry-stretching slide plate 50109, the horizontal swing frame 50105, the horizontal swing motor 50112, the horizontal swing slide block 50104 and the welding gun 503 move, and the welding gun 503 is enabled to be in a corresponding manner with the welding mouth of the welded pipeline.

The welding control module sends a driving command to the welding gun 503 and the wire feeder 507, after the welding gun 503 receives the command sent by the welding control module, the welding gun 503 adjusts the swing width, the swing frequency, the motion mode, the switch of the shielding gas and the like of the welding gun 503 according to the received command, and the wire feeder 507 starts to act after receiving the command sent by the welding control module and adjusts the wire feeding speed of the wire feeder 507 according to the command sent by the welding control module.

The welding control module sends a rotation driving command to a driving motor 50907, the rotation driving command comprises starting, rotating speed and rotating direction of the driving motor 50907, the driving motor 50907 starts to operate after receiving the rotation driving command, the driving motor 50907 rotates at a certain speed, the driving motor 50907 drives a transmission gear 50901 to rotate at the same time through meshing among a duplex transmission gear 50902, a large gear 50903, a small gear 50904 and the transmission gear 50901, so that a rotating disk 506 and a protective plate 510 mounted on the transmission gear 50901 synchronously rotate, the angle sensor monitors the rotating angle of the rotating disk 506 while the driving motor 50907 rotates, the angle sensor sends the rotating angle of the rotating disk 506 to the welding control module in real time, and the welding control module controls the driving motor 50907 according to the received rotating angle parameters; meanwhile, during the rotation of the rotating disk 506, when the limit switch 50401 on the rotating disk 506 corresponds to the protrusion on the supporting body 502, the limit switch 50401 is closed, and when the welding control module detects that the limit switch 50401 is closed, the rotating disk 506 realizes the check of the limit position.

When the two welded pipelines are welded, the mouth aligner control module sends instructions to the pneumatic device 606, the gas reversing valve on the expanding cylinder 60201 in the front expanding device 602 and the gas reversing valve on the expanding cylinder 60201 in the rear expanding device 604, the pneumatic device 606 and the two gas reversing valves act after receiving the instructions, the front ends of the expanding cylinder 60201 in the front expanding device 602 and the rear expanding device 604 are inflated, the air pressure at the front end of the expanding cylinder 60201 is greater than that at the rear end of the expanding cylinder 60201, the piston 60206 moves backwards and resets, the expanding claw push rod 60205 is driven to reset, the lining push rod 60107 is driven to reset while the expanding claw push rod 60205 resets, the expanding claw connecting rod 60204 drives the expanding claw push rod 60203 and the expanding claw 60202 to reset, the lining push rod 07 drives the lining 60101 push rod and the lining 60101 to reset, the lining internal mouth aligner 6 of the pipeline is in a non-positioning state, and at the moment, a worker pulls the lining internal mouth aligner 6 of the pipeline outwards.

When a worker pulls the inner mouth aligner 6 of the pipeline liner outwards, the mouth aligner control module sends a command to the camera 60706, the camera 60706 starts image acquisition, when the camera 60706 acquires an image of a weld joint, the pulling of the inner mouth aligner 6 of the pipeline liner is stopped, the mouth aligner control module sends commands to the reversing valves and the pneumatic devices 606 on the front expanding device 602 and the rear expanding device 604, so that the expanding claws 60202 in the front expanding device 602 and the rear expanding device 604 are pressed against the inner wall of the welded pipeline again, the liner 60101 on the tensioning bushing device is pressed against the inner wall of the welded pipeline, the mouth aligner control module sends a driving command to the speed reduction motor 60709, the speed reduction motor 60709 rotates after receiving the driving command, the distance between the camera 60706 and the weld joint is kept constant when the speed reduction motor 60709 rotates due to the fact that the camera 60706 is positioned at the center of the welded pipeline, and the camera 60706 finishes the acquisition of the whole weld joint through the rotation of the speed reduction motor 60709, and the camera 60706 transmits to the mouthpart control module in real time in the acquisition process, thereby realizing the inspection of the welding seam.

When the camera 60706 detects that the weld does not need maintenance, the aligner control module sends instructions to the pneumatic device 606, the gas reversing valve on the rising cylinder 60201 in the front rising device 602, and the gas reversing valve on the rising cylinder 60201 in the rear rising device 604, and the pneumatic device 606 and the two gas reversing valves act after receiving the instructions, so that the rising claw 60202 on the rear rising device 604 loses tension with the inner wall of the welded pipeline, and at this time, the worker pulls the aligner 6 in the pipeline gasket outwards to the tail end position of the welded pipeline and continues to repeat the above process to weld the next welded pipeline.

The welding system for the all-position automatic welding of the small-diameter pipeline further comprises a protective gas cylinder 2 and an operation remote controller 4, the protective gas cylinder 2 is connected with the output end of the operation remote controller 4, a welding control module and a butt joint device control module are in two-way communication connection with the operation remote controller 4, a control valve is mounted at the output end of the protective gas cylinder 2 and connected with the operation remote controller 4, and the output end of the protective gas cylinder 2 is connected with the operation remote controller 4; meanwhile, the welding control module and the butt joint device control module are in two-way communication connection with the operation remote controller 4, the operation remote controller 4 is provided with process bars which can be selected and edited, different process methods are selected for welding through the process bars, the welding control module can also transmit received signals to the operation remote controller 4, the butt joint device control module can transmit images acquired by the camera 60706 to the operation remote controller 4, the operation remote controller 4 can also directly transmit related instructions to the driving motor 50907, the dry stretching motor 50106, the horizontal swinging motor 50112, the wire feeding device 507 and the welding gun 503 through the welding control module, and the operation remote controller 4 can also directly transmit related instructions to the reversing valve and the pneumatic device 606 on the forward expansion device 602 and the backward expansion device 604 through the butt joint device control module.

The welding system also comprises a welding power supply 1, wherein the welding power supply 1 is electrically connected with the welding control module and the aligner control module, and the welding power supply 1 provides welding electric energy and corresponding gas-electricity control for the welding system; the welding power supply 1 is also provided with a grounding clamp 3, which provides a grounding wire connection function for a welding system and forms a welding current loop in the welding process.

In the actual working process of the welding system, as shown in fig. 19, after the angle data collected by the angle sensor is sent to the central control through can communication, the central control program reads the walking speed of the rotating disk 506, the wire feeding speed of the wire feeder 507, and the parameters (swing width, swing frequency, left stay, right stay) related to the swing of the horizontal swing dry-extension movement device 501 from the database process bar part, corresponding to the angle, of the rotating disk 506, and then controls the output energy (current and voltage) through can communication configuration driving, thereby completing the control process.

Introduction of remote control keys:

FUNCTION 2: and switching a remote control interface and checking system information.

SCAN scanning two-dimensional code

UP: stem extends upwards

DOWN: dry stretch DOWN

LEFT: swing to the left

RIGHT: swing to the right

CYCLE: double strike start welding

STOP: stop all actions

OSC: trial swing

PASS: switching the welding parameters of the next layer when not welding and increasing the wire speed when welding

FUNCTON: increasing wire speed during welding

And (3) GAS: test gas

TVL/ADD: trial walking when not welding, widening the pendulum when swinging, and widening the pendulum when welding

WIRE/DEL: trial wire feeding during non-welding, pendulum width reduction during swinging and pendulum width reduction during welding

STOP + CYCLE: trial welding (swinging, walking trial action)

STOP + GAS: establishing no-load (welding machine welding switch is on, other parts do not act)

FUNCTION + TVL: switching the direction of travel

FUNCTION + WIRE: when not welded, the wire is fed for 10 seconds according to the wire feeding speed corresponding to the current angle

FUNCTION + OSC: and switching LEFT and RIGHT corresponding relations when the LEFT and the RIGHT regulate swing.

As shown in fig. 20, different system operation modes can be selected from the process bars on the central control, and various welding requirements can be met by adjusting and combining different parameters, wherein the welding modes include MIG, pulse, argon arc welding, pulsed argon arc welding and the like, and the motion modes include normal (normal walking, wire feeding, swinging), drag welding (only walking action) and the like. As shown in fig. 21, arc tracking formed according to current and voltage is realized by pid parameters and an algorithm, the pid parameters include various configuration parameters like a tracking switch, and tracking can be adapted to switching and adjustment of different welding processes, while in the actual use process of arc tracking, different tracking is started under different conditions according to parameter configuration on a process bar, in combination with actual conditions, and one or more types of tracking are used, or tracking is not used.

In the welding process, according to the relation between the welding gun, the molten pool and the gravity, the welding system provides more suitable welding parameters such as swing width, swing frequency, left stay, right stay, wire feeding speed and the like according to the welding position, and the tracking of width, level (welding center) and vertical (dry extension) brought by an arc tracking algorithm can improve the welding qualification rate, improve the welding efficiency and reduce the workload of welding personnel.

As shown in fig. 22, 23 and 24, the invention also provides a welding method for the all-position automatic welding of the small-diameter pipeline, which comprises the steps of pipeline butt joint, welding trolley (5) installation, argon arc root welding, MIG gas shielded welding filling and MIG gas shielded welding cover surface.

The pipeline is aligned: one end of the pipe liner internal aligner 6 is manually inserted into the pipe to be welded, and the position of the pipe liner internal aligner 6 is adjusted so that the liner 60101 is substantially aligned with the end of the pipe to be welded.

The counter controller module sends an instruction to the pneumatic device 606 and the gas reversing valve on the expansion cylinder 60201 in the rear expansion device 604, the gas reversing valve and the pneumatic device 606 act after receiving the instruction, the rear end of the expansion cylinder 60201 in the rear expansion device 604 is inflated, the air pressure at the rear end of the expansion cylinder 60201 is larger than the air pressure at the front end of the expansion cylinder 60201, the piston 60206 moves forward and drives the piston 60206 to move forward, the piston 60206 moves forward and drives the expansion claw push rod 60205 to move forward synchronously, the expansion claw push rod 60205 moves forward and drives the expansion claw connecting rod 60204, the expansion claw connecting rod 60204 pushes the expansion claw push rod 60203 to expand outward, and the expansion claw 60202 on the expansion claw push rod 60203 pushes the inner wall of the welded pipe way tightly and finally pushes the inner wall 3502 of the welded pipe way to be positioned.

Then, after the welded pipe is butted with the last welded pipe and the position of the welded pipe is adjusted, the counter controller module sends a command to the pneumatic device 606 and the gas reversing valve on the expansion cylinder 60201 in the front expansion device 602, the gas reversing valve and the pneumatic device 606 act after receiving the instruction, the rear end of the rising cylinder 60201 in the front rising device 602 is inflated, the air pressure at the rear end of the rising cylinder 60201 is greater than the air pressure at the front end of the rising cylinder 60201, the piston 60206 moves forwards and simultaneously drives the piston 60206 to move forwards, the piston 60206 drives the rising claw push rod 60205 to move forwards synchronously, the rising claw push rod 60205 moves forwards and simultaneously drives the rising claw connecting rod 60204, the rising claw connecting rod 60204 pushes the rising claw push rod 60203 to expand outwards, so that the rising claw 60202 on the rising claw push rod 60203 pushes the inner wall of the welded pipeline gradually, and finally, the welding head is tightly propped against the inner wall of the welded pipeline for positioning, so that the butt joint of the two welded pipelines is completed, and a welding seam is formed between the two butted welded pipelines.

Because the sealing rings 608 are arranged on the front expansion device 602 and the rear expansion device 604, the front expansion device 602 and the rear expansion device 604 are respectively inserted into two welded pipelines, a sealed protective gas chamber is formed between the two sealing rings 608, a driving instruction is sent to the pneumatic device 606 through the mouthguard control module, the pneumatic device 606 acts, protective gas is filled into the cover protective gas chamber through the protective gas pipe, a relatively sealed protective gas space is formed at a welding seam formed by butting the two welded pipelines, and the periphery of the welding seam is protected through the protective gas.

Installing a welding trolley: the argon arc welding gun is arranged on the welding trolley 5, the locking nut 50813 is firstly loosened to unlock the clamping and positioning corner block 50808, the position of the clamping and positioning angle block 50808 is adjusted according to the pipe diameters of different pipes, the locking nut 50813 is screwed after the position of the clamping and positioning angle block 50808 is determined, the welding trolley 5 is placed on the welded pipe, the clamping surface of the clamping and positioning angle block 50808 is contacted with the welded pipe, the clamping cylinder 50803 is controlled through manual reversing, the clamping cylinder drives the swing arm 50804 to swing under the pressure action of a welding shielding gas source, the fixing pin 50806 slides along the guide groove while the swing arm 50804 swings, the positioning pin drives the link arm 50802 to swing synchronously while sliding, the link arm 50802 drives the adjusting clamping rotary block 50807 to move synchronously while swinging, and the clamping rotary block 50807 is in contact and clamping with the pipeline along with continuous pushing of the clamping cylinder 50803, so that the welding trolley 5 is clamped and installed on the welded pipeline.

The welding control module sends a Y-axis driving instruction to the horizontal swing motor 50112 through the feeding amount of the welding gun 503 in the Y-axis direction, the Y-axis driving instruction comprises the rotating direction of the horizontal swing motor 50112 and the rotating amount of the horizontal swing motor 50112, the horizontal swing motor 50112 starts to rotate after receiving the Y-axis driving instruction, the horizontal swing motor 50112 drives the horizontal swing lead screw 50101 to rotate, the horizontal swing lead screw 50101 is matched with the horizontal swing slider 50104 to enable the horizontal swing slider 50104 to move on the horizontal swing lead screw 50101, and therefore the welding gun 503 corresponds to the welding opening of a welded pipeline.

The welding control module sends a Z-axis driving instruction to the dry-stretching motor 50106 through the feeding amount of the argon arc welding gun in the Z-axis direction, the Z-axis driving instruction comprises the rotating direction of the dry-stretching motor 50106 and the rotating amount of the dry-stretching motor 50106, the dry-stretching motor 50106 starts to rotate after receiving the Z-axis driving instruction, the dry-stretching motor 50106 drives the dry-stretching lead screw 50108 to rotate, the dry-stretching lead screw 50108 is matched with the dry-stretching slider 50107, the dry-stretching slider 50107 is made to linearly reciprocate on the dry-stretching lead screw 50108, and therefore the dry-stretching sliding plate 50109, the horizontal swing frame 50105, the horizontal swing motor 50112, the horizontal swing slider 50104 and the argon arc welding gun move, and the argon arc welding gun is made to correspond to the welding port of the welded pipeline in an abutting mode.

Argon arc root welding: the welding control module sends a rotation driving command to a driving motor 50907, the rotation driving command comprises the starting, the rotating speed and the rotating direction of a driving motor 50907, the driving motor 50907 starts to operate after receiving the rotation driving command, the driving motor 50907 rotates at a certain speed, the driving motor 50907 drives a transmission gear 50901 to rotate while rotating through the meshing among a duplex transmission gear 50902, a large gear 50903, a small gear 50904 and a transmission gear 50901, so that a rotating disc 506 and a protection plate 510 which are installed on the transmission gear 50901 synchronously rotate, an angle sensor monitors the rotating angle of the rotating disc 506 while the driving motor 50907 rotates, the angle sensor sends the rotating angle of the rotating disc 506 to the welding control module in real time, and the welding control module controls the driving motor 50907 according to the received rotating angle parameters; meanwhile, a driving instruction is sent to the argon arc welding gun and the wire feeding device 507 through the welding control module, after the argon arc welding gun receives the instruction sent by the welding control module, the argon arc welding gun adjusts the swing width, the swing frequency, the motion mode, a protective gas switch and the like of the argon arc welding gun according to the received instruction, the wire feeding device 507 starts to act after receiving the instruction sent by the welding control module, the wire feeding speed of the wire feeding device 507 is adjusted according to the instruction sent by the welding control module, and the rotating disc 506 enables the argon arc welding gun to perform root welding on the bottom of the welding seam while rotating.

MIG gas shielded welding filling: when the argon arc welding gun finishes root welding on the bottom of the welding seam, the driving motor 50907 stops operating, a worker detaches the argon arc welding gun from the welding trolley and installs the MIG welding gun on the welding trolley, the welding control module sends a rotation driving instruction to the driving motor 50907 to enable the driving motor 50907 to continuously drive the rotating disk 506 to rotate, and the welding control module sends a driving instruction to the MIG welding gun and the wire feeding device 507 to enable the MIG welding gun to fill the welding seam while the rotating disk 506 rotates.

MIG gas shielded welding facing: after the weld is filled, the driving motor 50907 continues to drive the rotating disc 506 to rotate, the welding control module continuously works to the MIG welding gun and the wire feeder 507, and the MIG welding gun covers the weld.

The invention also provides a welding method for the all-position automatic welding of the small-diameter pipeline, which comprises the steps of pipeline butt joint, welding trolley (5) installation, argon arc root welding, MIG gas shielded welding filling and MIG gas shielded welding cover surface.

Then, after the welded pipeline is butted with the last welded pipeline and the position of the welded pipeline is adjusted, the counter controller module sends a command to a gas reversing valve on an expansion cylinder 60201 in the pneumatic device 606 and the front expansion device 602, the gas reversing valve and the pneumatic device 606 act after receiving the instruction, the rear end of the rising cylinder 60201 in the front rising device 602 is inflated, the air pressure at the rear end of the rising cylinder 60201 is greater than the air pressure at the front end of the rising cylinder 60201, the piston 60206 moves forwards and simultaneously drives the piston 60206 to move forwards, the piston 60206 drives the rising claw push rod 60205 to move forwards synchronously, the rising claw push rod 60205 moves forwards and simultaneously drives the rising claw connecting rod 60204, the rising claw connecting rod 60204 pushes the rising claw push rod 60203 to expand outwards, so that the rising claw 60202 on the rising claw push rod 60203 pushes the inner wall of the welded pipeline gradually, and finally, the welding head is tightly propped against the inner wall of the welded pipeline for positioning, so that the butt joint of the two welded pipelines is completed, and a welding seam is formed between the two butted welded pipelines.

Because the liner push rod 60107 is connected with the expansion claw push rod 60205 in the front expansion device 602, when the piston 60206 in the front expansion device 602 moves forward, the expansion claw push rod 60205 drives the liner push rod 60107 to move forward synchronously, the liner push rod 60107 drives the liner connecting rod 60105 to move synchronously while moving forward, so that the thrust of the liner connecting rod 60105 to the liner 60101 ejector rod is continuously increased and continuously expanded outwards, the plurality of liners 60101 are squeezed mutually, the plurality of liners 60101 are expanded outwards jointly, and because the plurality of liners 60101 are arranged in a staggered manner and the end surfaces of two adjacent liners 60101 are matched through an inclined surface, when one or more liners 60101 are squeezed, the plurality of liners 60101 are kept close together, until the liners 60101 contact the inside of a welded pipeline, and the bottom of a welding line is closed.

Installing a welding trolley: the argon arc welding gun is arranged on the welding trolley 5, the locking nut 50813 is loosened to unlock the clamping and positioning corner block 50808, the position of the clamping and positioning angle block 50808 is adjusted according to the pipe diameters of different pipes, the locking nut 50813 is screwed after the position of the clamping and positioning angle block 50808 is determined, the welding trolley 5 is placed on the welded pipe, the clamping surface of the clamping and positioning angle block 50808 is contacted with the welded pipe, the clamping cylinder 50803 is controlled through manual reversing, the clamping cylinder drives the swing arm 50804 to swing under the pressure action of a welding shielding gas source, the fixing pin 50806 slides along the guide groove while the swing arm 50804 swings, the positioning pin drives the link arm 50802 to swing synchronously while sliding, the link arm 50802 drives the adjusting clamping rotary block 50807 to move synchronously while swinging, and the clamping rotary block 50807 is in contact and clamping with the pipeline along with continuous pushing of the clamping cylinder 50803, so that the welding trolley 5 is clamped and installed on the welded pipeline.

Argon arc root welding: the welding control module sends a rotation driving command to a driving motor 50907, the rotation driving command comprises starting, rotating speed and rotating direction of the driving motor 50907, the driving motor 50907 starts to operate after receiving the rotation driving command, the driving motor 50907 rotates at a certain speed, the driving motor 50907 drives a transmission gear 50901 to rotate while rotating through meshing among a duplex transmission gear 50902, a large gear 50903, a small gear 50904 and the transmission gear 50901, so that a rotating disk 506 and a protective plate 510 mounted on the transmission gear 50901 synchronously rotate, the angle sensor monitors the rotating angle of the rotating disk 506 while the driving motor 50907 rotates, the angle sensor sends the rotating angle of the rotating disk 506 to the welding control module in real time, and the welding control module controls the driving motor 50907 according to the received rotating angle parameters; meanwhile, a driving instruction is sent to the argon arc welding gun and the wire feeding device 507 through the welding control module, after the argon arc welding gun receives the instruction sent by the welding control module, the swing width, the swing frequency, the motion mode, a protective gas switch and the like of the argon arc welding gun are adjusted by the argon arc welding gun according to the received instruction, the wire feeding device 507 starts to act after receiving the instruction sent by the welding control module, the wire feeding speed of the wire feeding device 507 is adjusted according to the instruction sent by the welding control module, and the rotating disc 506 rotates and meanwhile the argon arc welding gun performs root welding on the bottom of the welding seam.

MIG gas shielded welding filling: when the argon arc welding gun finishes root welding on the bottom of the welding seam, the driving motor 50907 stops operating, a worker detaches the argon arc welding gun from the welding trolley and installs the MIG welding gun on the welding trolley, the welding control module sends a rotation driving command to the driving motor 50907, the driving motor 50907 continuously drives the rotating disc 506 to rotate, and the welding control module sends a driving command to the MIG welding gun and the wire feeding device 507 while the rotating disc 506 rotates, so that the MIG welding gun fills the welding seam.

MIG gas shielded welding facing: after the weld is filled, the driving motor 50907 continues to drive the rotating disk 506 to rotate, the welding control module continues to work for the MIG welding gun and the wire feeder 507, and the MIG welding gun covers the weld.

In the two welding methods, the welding seams of the pipelines are polished and derusted before the pipelines are butted, the welding seams of the welded pipelines after polishing and derusting are in a conical surface shape, the pipeline butting is mainly used for butting the two welded pipelines, and the two welded pipelines are butted to form a V-shaped annular groove at the butting position of the two welded pipelines after the two welded pipelines are butted because the welding seams of the two welded pipelines are in the conical surface shape.

The two welding methods further comprise checking, repairing and polishing the welding bead formed by welding, wherein the checking of the welding bead is mainly performed in the process of pulling the pipe liner inner aligner 6 outwards after the welding of the welding bead is completed, specifically, when a worker pulls the pipe liner inner aligner 6 outwards, the aligner control module sends an instruction to the camera 60706, the camera 60706 starts image acquisition, when the camera 60706 acquires an image of the welding bead, the pulling of the pipe liner inner aligner 6 is stopped, the aligner control module sends instructions to the reversing valves and the pneumatic device 606 on the forward expansion device 602 and the backward expansion device 604, so that the expansion claws 60202 in the forward expansion device 602 and the backward expansion device 604 are tightly pressed against the inner wall of the welded pipe again, the liner 60101 on the tensioning bush device is tightly pressed against the inner wall of the welded pipe, and the aligner control module sends a driving instruction to the speed reduction motor 60709, gear motor 60709 receives and rotates after the drive instruction, because camera 60706 is located the center by the welded pipe, make gear motor 60709 keep the interval between camera 60706 and the welding seam when rotating invariable all the time, the rotation through gear motor 60709 makes camera 60706 accomplish the collection to whole welding seam, and camera 60706 transmits in real time in the collection process and gives mouthpart control module to realize the inspection to the welding seam.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A welding system for all-position automatic welding of small-diameter pipelines comprises a welding trolley (5) and a pipeline liner inner aligner (6), wherein the welding trolley (5) is provided with a welding control module, a welding gun (503) and a quick clamping device (508), the welding gun (503) can rotate on the welding trolley (5), the input ends of the welding gun (503) and the quick clamping device (508) are connected with the welding control module, the pipeline liner inner aligner (6) is provided with the aligner control module, a protection gas pipe, a front expansion device (602) and a rear expansion device (604) which are respectively connected with two welded pipelines, the front expansion device (602) and the rear expansion device (604) are relatively connected through a connecting shaft, the gas outlet end of the protection gas pipe is positioned between the front expansion device (602) and the rear expansion device (604), the gas inlet end of the protection gas pipe extends outwards, and the inner side of the front expansion device (602) or the rear expansion device (604) is further provided with a tensioning bushing device (601), the output ends of the front expansion device (602), the rear expansion device (604) and the expansion bushing device (601) are connected with the aligner control module; the welding trolley (5) comprises a supporting main body (502) with an opening, a rotating disc (506) and a clamp holder base (505) are arranged on the supporting main body (502), and the rotating disc (506) can rotate on the supporting main body (502); the welding gun (503) is arranged on the rotating disk (506), the quick clamping device (508) is arranged on the clamp holder base (505), the quick clamping device (508) comprises a clamping and positioning corner block (50808) and a clamping rotating block (50807) which are oppositely arranged by the rotating circle center of the rotating disk (506), and the clamping and positioning corner block (50808) and the clamping rotating block (50807) can move relatively; the rotating disc (506) is further provided with a horizontal pendulum dry-stretching movement device (501), the welding gun (503) is installed on the horizontal pendulum dry-stretching movement device (501), and the horizontal pendulum dry-stretching movement device (501) can drive the welding gun (503) to move along the direction Y, Z; the horizontal pendulum dry-stretching movement device (501) comprises a sliding plate base (50110) installed on a rotating plate (506), a sliding plate (50111) fed along the Z-axis direction is installed on the sliding plate base (50110), a dry-stretching sliding plate (50109) capable of being fed along the Z-axis direction is installed on the sliding plate (50111), a horizontal pendulum sliding block (50104) fed along the Y-axis direction is installed on the dry-stretching sliding plate (50109), and the welding gun (503) is installed on the horizontal pendulum sliding block (50104).

2. The welding system for the all-position automatic welding of the small-caliber pipes as claimed in claim 1, wherein the holder base (505) is further provided with a sliding groove (50801) extending in the moving direction of the holding rotating block (50807), the holding positioning corner block (50808) is slidably mounted in the sliding groove (50801), a locking pin (50812) is mounted in the sliding groove (50801), a fixing hole (50814) extending in the moving direction of the holding rotating block (50807) is formed in the holding positioning corner block (50808), and a locking nut (50813) for locking the holding positioning corner block (50808) is further mounted on the locking pin (50812).

3. The welding system for the all-position automatic welding of the small-caliber pipelines according to the claim 1, characterized in that the quick clamping device (508) further comprises a clamping cylinder (50803) and a transmission linkage, the clamping cylinder (50803) is hinged in a clamp base (505), the transmission linkage can swing in the clamp base (505), the output end of the clamping cylinder (50803) is hinged with the transmission linkage, and a clamping rotating block (50807) is installed at the output end of the transmission linkage.

4. The welding system for the all-position automatic welding of the small-caliber pipes as claimed in claim 3, wherein the transmission linkage comprises a link arm (50802) and a swing arm (50804), one end of the link arm (50802) far away from the clamping cylinder (50803) and the middle of the link arm (50802) are hinged on the clamp base (505), a guide block (50805) with a guide groove is further installed in the clamp base (505), a fixing pin (50806) is arranged in the middle of the swing arm (50804), the fixing pin (50806) is slidably inserted on the guide block (50805), and one end of the link arm (50802) far away from the clamping rotating block (50807) is hinged on the fixing pin (50806).

5. The welding system for all-position automatic welding of small-diameter pipes according to claim 3 or 4, characterized in that the clamping cylinder (50803) and the welding gun (503) are jointly connected to the same gas source.

6. The welding system for the all-position automatic welding of the small-diameter pipelines according to the claim 3 or 4, characterized in that a tension spring (50809) is further installed in the holder base (505), and the other end of the tension spring (50809) is connected with one end of a transmission linkage group installation holding rotating block (50807).

7. The welding system for all-position automatic welding of small-caliber pipes as claimed in claim 1, wherein the clamping surface of the clamping and positioning corner block (50808) is provided with a V-shaped opening, and the clamping surface of the clamping rotating block (50807) is arc-shaped.

8. The welding system for all-position automatic welding of small-caliber pipes according to claim 1, wherein a rotary driving structure for driving a rotary disk (506) to rotate is further installed in the supporting body (502).

9. The welding system for all-position automatic welding of small-caliber pipes according to claim 8, wherein the rotary driving structure comprises a driving ring gear (50901) rotatable on the supporting body (502), the rotary disk (506) is mounted on the driving ring gear (50901), the driving ring gear (50901) is arc-shaped, and the length of the arc of the driving ring gear (50901) is greater than one-half of the length of the circumference of the driving ring gear (50901), the rotary driving structure further comprises a driving motor (50907) and two pinions (50904), the length of the arc between the two pinions (50904) is less than the length of the arc of the driving ring gear (50901), and the two pinions (50904) are both meshed with the driving ring gear (50901), and the two pinions are jointly in transmission connection with the output end of the driving motor (50907).

10. The welding system for the all-position automatic welding of the small-diameter pipelines according to claim 9, wherein a protection plate (510) synchronously rotating with the rotating disk (506) is further installed on the supporting main body (502), the transmission gear ring (50901) and the protection plate (510) are respectively located on the front side and the rear side of the supporting main body (502), and the inner edge of the protection plate (510) is fixed to the inner edge of the transmission gear ring (50901).

11. The welding system for the all-position automatic welding of the small-diameter pipeline is characterized in that a dry extension screw rod (50108) and a dry extension motor (50106) for driving the dry extension screw rod (50108) to rotate are further mounted on the sliding plate (50111), a matched dry extension sliding block (50107) is further mounted on the dry extension screw rod (50108), and the dry extension sliding block (50107) is fixed with the dry extension sliding plate (50109); the dry-extension sliding plate (50109) is also provided with a horizontal swing screw (50101) and a horizontal swing motor (50112) for driving the horizontal swing screw (50101) to rotate, and the horizontal swing sliding block (50104) is arranged on the horizontal swing screw (50101) in a matching manner.

12. The welding system for all-position automatic welding of small-diameter pipelines according to claim 11, wherein a horizontal swing spline shaft (50102) parallel to a horizontal swing lead screw (50101) is further mounted on the dry-stretching sliding plate (50109), and a horizontal swing sliding block (50104) is in sliding fit with the horizontal swing spline shaft (50102); the horizontal pendulum spline shaft (50102) and the dry extension screw (50108) are jointly covered with a horizontal pendulum protective cover (50103), and the top of the horizontal pendulum sliding block (50104) is in sliding fit with the horizontal pendulum protective cover (50103).

13. The welding system for the all-position automatic welding of the small-caliber pipelines according to the claim 1, characterized in that a wire feeding device (507) and a limiting device (504) are further installed on the rotating disc (506).

14. The welding system for all-position automatic welding of small-caliber pipes according to claim 13, wherein the limiting device (504) comprises a housing (50402) mounted on the rotating disc (506), the inner side of the housing (50402) is open, and a limiting switch (50401) is further mounted in the housing (50402).

15. The welding system for the all-position automatic welding of the small-diameter pipelines according to claim 1, wherein at least one walking device (603) is arranged on each of the front expansion device (602) and the rear expansion device (604), the outer ends of the front expansion device (602) and the rear expansion device (604) are provided with sealing rings (608), and the air outlet end of the protective air pipe is positioned between the two sealing rings (608).

16. The welding system for the all-position automatic welding of the small-caliber pipes according to claim 1 or 15, wherein each of the front-expanding device (602) and the rear-expanding device (604) comprises an expanding cylinder (60201), expanding claws (60202), expanding claw push rods (60203), connecting rods (60204) and a supporting frame (60208), the supporting frame (60208) is installed at the inner end of the expanding cylinder (60201), the expanding claws (60202), the expanding claw push rods (60203) and the connecting rods (60204) are multiple, the expanding claw push rods (60203) are hinged to the supporting frame (60208) in a circumferentially spaced manner, the expanding claws (60202) are installed at the output end of the expanding claw push rod (60203) one by one, the connecting rods (60204) are hinged to the middle of each expanding claw push rod (60203) one by one, and a linear driving element is installed at the other end of each connecting rod (60204).

17. The welding system for the all-position automatic welding of the small-diameter pipes according to the claim 16 is characterized in that the linear driving element comprises a piston (60206) and an expansion claw push rod (60205), the piston (60206) is installed in an expansion cylinder (60201) in a sealing and sliding mode, the expansion claw push rod (60205) is installed on the piston (60206), and a plurality of connecting rods (60204) are jointly hinged at the output end of the expansion claw push rod (60205).

18. The welding system for all-position automatic welding of small-diameter pipelines according to claim 1 or 15, wherein the outer ends of the front-rising device (602) and the rear-rising device (604) are provided with end covers (60207).

19. The welding system for all-position automatic welding of small-caliber pipelines according to claim 17, wherein the tensioning bushing device (601) comprises a lining connecting rod flower disc (60106), a lining push rod (60107), a plurality of lining connecting rods (60105) and a plurality of linings (60101), the lining connecting rod flower disc (60106) is installed on a tensioning cylinder (60201) on a front tensioning device (602) or a rear tensioning device (604), the lining connecting rod flower disc (60106) is hollow, a plurality of guide grooves (60108) are formed in the circumferential surface of the lining connecting rod flower disc (60106), the lining push rod (60107) is installed in the center of the lining connecting rod flower disc (60106), the inner ends of the plurality of lining connecting rods (60105) penetrate through the plurality of guide grooves (08) to be hinged to the lining push rod (60107) together, and the plurality of linings (60101) are installed at the outer ends of the plurality of lining connecting rods (60105) one by one.

20. The welding system for all-position automatic welding of small-diameter pipes according to claim 19, wherein the gasket push rod (60107) is connected with a claw push rod (60205) on a front-expanding device (602) or a rear-expanding device (604).

21. The welding system for the all-position automatic welding of the small-caliber pipelines according to claim 19, wherein a gasket ejector rod (60104) is further installed at the outer end of the gasket connecting rod (60105), the gasket ejector rod (60104) is U-shaped, the gasket (60101) is clamped in an opening of the gasket ejector rod (60104), a gasket spring (60102) is installed between one side of the gasket (60101) and the gasket ejector rod (60104), the gasket (60101) is arc-shaped, two adjacent gaskets (60101) are matched through an inclined surface, and the inner ends of a plurality of gasket connecting rods (60105) are located at different heights of the gasket ejector rod (60107).

22. The welding system for all-position automatic welding of small-diameter pipes according to claim 21, characterized in that gasket springs (60102) on two adjacent gasket push rods (60104) are located on different sides of a gasket push rod (60104).

23. The welding system for the all-position automatic welding of the small-diameter pipelines is characterized in that an operating rod (605) is further connected to the outer end of the front expansion device (602) or the rear expansion device (604), the protective gas pipe extends along the operating rod (605), an operating bracket (609) is mounted at the outer end of the operating rod (605), the inner end of the operating rod (605) is connected with the front expansion device (602) or the rear expansion device (604) through a universal joint (610), and a guide tripod (611) is further mounted on the operating rod (605).

24. The welding system for the all-position automatic welding of the small-diameter pipes according to the claim 23 is characterized in that the guide tripods (611) are multiple, the multiple guide tripods (611) are arranged at intervals along the circumferential direction of the operating rod (605), the multiple guide tripods (611) form a conical shape together, and guide wheels (612) are installed on the outer sides of the bottoms of the multiple guide tripods (611).

25. The welding system for the all-position automatic welding of the small-diameter pipelines according to claim 1, wherein at least one set of road wheels (60301) is installed on each of the front expanding device (602) and the rear expanding device (604).

26. The welding system for the all-position automatic welding of the small-caliber pipelines is characterized in that an inspection device (607) is further installed at the outer end of the front expansion device (602) or the rear expansion device (604), the inspection device (607) comprises a speed reduction motor (60709), a coupling disc (60708) and a camera (60706), the coupling disc (60708) is installed at the output end of the speed reduction motor (60709), and the camera (60706) is fixedly installed on the coupling disc (60708).

27. The welding system for the all-position automatic welding of the small-diameter pipelines according to claim 26, wherein the inspection device (607) further comprises a connecting cylinder (60704) installed on an outer end of a speed reduction motor (60709) shell or a front-rising device (602) or a rear-rising device (604), a rotating shaft sleeve (60703) is further arranged on the connecting shaft disk (60708), the camera (60706) is located in the rotating shaft sleeve (60703), a camera drum (60701) is further installed on the rotating shaft sleeve (60703), a reflecting plane mirror (60705) corresponding to the camera (60706) is installed in the camera drum (60701), and a camera lens (60702) corresponding to the reflecting plane mirror (60705) is further installed on a side wall of the camera drum (60701).

28. The welding system for the all-position automatic welding of the small-diameter pipelines according to any one of claims 1-4, 7-15 and 23-27, further comprising a protective gas cylinder (2) and an operation remote controller (4), wherein the output end of the protective gas cylinder (2) is connected with the operation remote controller (4), and the welding control module and the aligner control module are in bidirectional communication connection with the operation remote controller (4).

29. A welding method for full-position automatic welding of small-diameter pipelines, which is implemented according to the system of claim 1, and comprises the following specific steps: the method comprises the following steps of pipeline butt joint, welding trolley (5) installation, argon arc root welding, MIG gas shielded welding filling and MIG gas shielded welding cover surface;

the pipeline is aligned: manually inserting one end of a butt-joint device (6) in a pipeline gasket into a welded pipeline, sending a driving instruction to a rear expansion device (604) by a butt-joint device control module, and tightly jacking and positioning the rear expansion device (604) and the inner wall of the welded pipeline; another welded pipeline is inserted into the other end of the butt-joint device (6) in the pipeline liner, the two welded pipelines are in butt joint, the butt-joint device control module sends a driving instruction to the front expansion device (602), the front expansion device (602) is tightly propped against the inner wall of the other welded pipeline for positioning, and a welding seam is formed at the butt joint position of the two adjacent welded pipelines;

the front expansion device (602) is tightly jacked and positioned with the inner wall of the other welded pipeline, meanwhile, the front expansion device (602) drives the tension bushing device (601) to act, and the tension bushing device (601) is closed to the bottom of the welding seam;

installing a welding trolley: the welding trolley (5) is clamped on one welded pipeline, a driving instruction is sent to the quick clamping device (508) through the welding control module, and the welding trolley (5) is quickly clamped and fixed through the quick clamping device (508);

argon arc root welding: installing an argon arc welding gun on a welding trolley (5), driving the argon arc welding gun to rotate by a welding control module, and carrying out root welding on the bottom of a welding seam by the argon arc welding gun;

the protective gas is filled into the welding line through the protective gas pipe under the control of the mouthpart control module;

30. A welding method for full-position automatic welding of small-diameter pipelines, which is implemented according to the system of claim 1, and comprises the following specific steps: the method comprises the following steps of pipeline butt joint, welding trolley (5) installation, MIG gas shielded welding root welding, MIG gas shielded welding filling and MIG gas shielded welding cover surface;

the front expansion device (602) is tightly propped against the inner wall of the other welded pipeline for positioning, the front expansion device (602) drives the tension bushing device (601) to act, and the tension bushing device (601) is closed to the bottom of the welding seam;

MIG gas shielded root welding: installing an MIG welding gun on a welding trolley (5), driving an argon arc welding gun to rotate by a welding control module, and carrying out root welding on the bottom of a welding seam by the MIG welding gun;

31. A welding method as claimed in claim 29 or 30 for all-position automatic welding of small-diameter pipes, wherein before butt-jointing the pipes, the welded joints of the pipes are polished to remove rust so that the welded joints of the pipes are in a conical surface shape.

32. A welding method for full position automatic welding of small diameter pipes according to claim 29 or 30 further comprising bead inspection, bead repair and bead grinding.