CN113458555A

CN113458555A - Intelligent welding device for submerged-arc welding of pile pipe

Info

Publication number: CN113458555A
Application number: CN202110769476.1A
Authority: CN
Inventors: 魏宝丽; 夏显明; 郭纯; 夏轩
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-07-07
Filing date: 2021-07-07
Publication date: 2021-10-01

Abstract

The invention relates to the technical field of welding, in particular to an intelligent welding device for submerged arc welding of a pile pipe. The welding pipe pile comprises a connecting plate; the automatic welding mechanism is arranged on the connecting plate; the traveling mechanism is arranged on the connecting plate; the walking track is arranged on the outer wall of the upper tubular pile, the walking track is parallel to the welding bead, and the walking mechanism can walk on the walking track in a matched mode; the deviation detection mechanism comprises a clamping head, a transmission rod, a sliding block, a sliding rail and a displacement sensor, wherein the clamping head is clamped in a welding bead, the clamping head is connected to the transmission rod, the transmission rod is fixedly connected with the sliding block, the sliding block is connected with the displacement sensor, the sliding block can slide on the sliding rail, and the sliding rail is fixedly installed on the connecting plate. By using the deflection detection mechanism, the invention can realize the function of detecting whether the pile pipe deflects up and down when submerged arc welding is carried out on the pile pipe, and can find out the welding position deflection caused by the deflection of the walking track in time.

Description

Intelligent welding device for submerged-arc welding of pile pipe

Technical Field

The invention relates to the technical field of welding, in particular to an intelligent welding device for submerged arc welding of a pile pipe.

Background

In the construction of an oil platform or a land bridge, the pile driving and the welding of the pile pipe cannot be separated. With the gradual improvement of social productivity and production quality requirements, the traditional manual welding has low efficiency and insufficient quality, and cannot meet the requirements of pile pipe welding, and submerged-arc welding becomes the development focus of pile pipe welding.

For example, chinese patent CN201410645931.7 discloses a submerged arc automatic welding device for pile pipe, which comprises a flexible rail disposed on the upper pile pipe; the bottom plate is provided with an adjusting movable wheel and a supporting travelling wheel; the travelling mechanism is connected with the supporting travelling wheel; the wire disc adjusting mechanism is connected with the bottom plate; the welding wire disc is provided with a welding wire; the wire feeding mechanism is arranged on the bottom plate; the welding gun adjusting mechanism is connected with the bottom plate; the welding gun is connected with the welding gun adjusting mechanism; the solder funnel is connected with the bottom plate; the solder plate is arranged on the lower pile tube; the control mechanism is connected with the traveling mechanism; the control mechanism is connected with the welding gun.

However, because the diameters of the tubular piles are different, the rail cannot be steplessly adapted to the tubular piles with different curvatures, and when the diameter of the tubular pile is too large, the rail is not easily fixed on the tubular pile. Because the device mechanical structure is heavier, drives the orbit offset easily, when slight offset, is difficult to observe, but can cause the welder to shift, and the welding quality of submerged arc welding can all be influenced to the tiny displacement of welder.

Disclosure of Invention

In order to solve the technical problem, an intelligent welding device for submerged arc welding of the pile pipe is provided.

In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:

an intelligent welding device for submerged arc welding of a pile pipe is used for welding an upper pipe pile and a lower pipe pile together, the upper pipe pile and the lower pipe pile are stacked together, a welding bead in a groove shape is formed at the joint of the upper pipe pile and the lower pipe pile, the intelligent welding device comprises,

a connecting plate;

the automatic welding mechanism is fixedly arranged on the connecting plate;

the traveling mechanism is arranged on the connecting plate;

the walking track is fixedly arranged on the outer wall of the upper tubular pile, the walking track is parallel to the welding bead, and the walking mechanism can walk on the walking track in a matched mode;

the clamping head is clamped in the welding bead;

the chuck is connected to the transmission rod;

the transmission rod is fixedly connected with the sliding block;

the sliding rail is fixedly arranged on the connecting plate, the sliding block can slide on the sliding rail in a matching manner, and the direction of the sliding rail is parallel to the axis of the tubular pile;

and the sliding block is fixedly connected with the input end of the displacement sensor, and the displacement sensor is fixedly arranged on the connecting plate.

Preferably, the automatic welding mechanism comprises,

the wire reel is rotatably arranged on the connecting plate, and welding wires are wound on the wire reel;

the wire feeder is fixedly arranged on the connecting plate, and a welding wire on the welding wire disc passes through the wire feeder;

the welding flux box is fixedly arranged on the connecting plate, a feeding pipe is arranged on the welding flux box, and the feeding pipe vertically extends to weld beads;

the welding gun is arranged beside the outlet of the feeding pipe;

the welding gun is fixedly arranged on the output end of the mechanical arm.

Preferably, the robotic arm comprises,

one end of the first mechanical arm is fixedly arranged on the connecting plate, and the first mechanical arm can automatically extend and retract;

the second mechanical arm can rotate around the axis of the first mechanical arm and is arranged on the output end of the first mechanical arm;

universal joint, universal joint fixed mounting keep away from the one end of cylinder at the second arm, and welder fixed mounting is on universal joint.

Preferably, the intelligent welding device further comprises a solder plate, the solder plate is fixedly arranged on the lower tubular pile, the solder plate comprises,

the arc rings are provided with a plurality of arc rings, the arc rings are bent into arc sheets, the upper sides of the arc rings are provided with support edges, the support edges extend towards the oblique upper part of the outer sides of the arc rings, the arc rings are mutually connected into a circular ring through buckles, and the arc rings are sleeved on the lower tubular pile and are close to the welding bead;

the connecting clamping sleeve is of a three-section structure and comprises an upper clamping piece and a lower clamping piece which are parallel to each other, the upper clamping piece and the lower clamping piece are connected through a connecting section, the connecting clamping sleeve is clamped on the supporting edge at the joint of the arc rings, the upper clamping piece abuts against the upper side of the adjacent supporting edge, and the lower clamping piece abuts against the lower side of the adjacent supporting edge;

the inner lining area, the installation of interference fit is taken on last tubular pile to the inner lining, and the downside of welding bead is supported in the inner lining area, and the ring interference fit that the arc circle connects into installs on the inner lining area.

Preferably, the first and second liquid crystal materials are,

the walking track is provided with a chain, the chain is wound on the tubular pile and arranged in parallel to the welding bead, and through holes are uniformly formed in each chain plate of the chain;

running gear is provided with walking wheel, motor, and motor fixed mounting is on the connecting plate, and the walking wheel is installed on the connecting plate, and the output of walking wheel and motor is connected, and the walking wheel is the gear, and the tooth pitch of walking wheel equals the distance between the through-hole, and the tooth of walking wheel can be gone into in the through-hole, and the walking wheel passes through the cooperation setting of tooth and through-hole on the chain.

Preferably, still be provided with a plurality of follow wheels on the running gear, connect on the connecting plate from the driving wheel, also be the gear from the driving wheel, follow the tooth of driving wheel and the tooth specification of walking wheel the same, a plurality of follow wheels through the cooperation setting of tooth and through-hole on the upper and lower side of chain.

Preferably, each section of the chain is provided with a side plate, the side plates are arranged on the side edges of the upper tubular piles facing the chain, and the side plates are fixedly connected with chain plates of the chain;

the lateral plate is fixedly provided with an anti-slip pad, the anti-slip pad is arranged on the side of the lateral plate facing the upper tubular pile, and the anti-slip pad is abutted to the lateral wall of the upper tubular pile.

Preferably, a plurality of side plates are uniformly arranged on the chain, the side plates are arranged on partial sections of the chain, the side plates are arranged on the side edges of the upward tubular piles facing the chain, and the side plates are fixedly connected with chain plates of the chain;

the walking track still includes fixed knot structure, and fixed knot constructs and is provided with the connecting block, connecting block and curb plate fixed connection, and the connecting block is connected with the connecting band, and the connecting band is kept away from the one end and the couple fixed connection of connecting block, and the couple is hung the top port at last tubular pile, and the connecting block is pushed up on the pipe wall of last tubular pile by the jackscrew.

Preferably, the dop includes head and spring telescopic link, and head fixed connection is in the one end of spring telescopic link, and during the welding bead was gone into to the head card, the one end fixed connection that the head was kept away from to the spring telescopic link was on the transfer line.

Preferably, the side wheel is installed to the downside of connecting plate, and the side wheel supports on the outside pipe wall of last tubular pile, and the axis of side wheel is parallel with the axis of tubular pile.

Compared with the prior art, the invention has the beneficial effects that:

1. by using the clamping head and the displacement sensor, the invention can realize the function of checking whether the pile pipe deflects up and down when submerged arc welding is carried out on the pile pipe, and can find out the welding position deviation caused by the deviation of the walking track in time.

2. The automatic submerged-arc welding machine can realize automatic submerged-arc welding of a pile pipe by using the automatic welding mechanism, meanwhile, the multi-section structure of the mechanical arm can adjust the muzzle of the welding gun to adapt to a welding bead, the lifting of the first mechanical arm can adjust the position of the welding gun when the first mechanical arm deviates in the welding direction, and the position of the welding gun away from the welding bead is ensured to be stable.

3. The welding flux tray is used, the support edge is used for supporting the welding flux, the welding flux surface can be ensured to be covered with enough welding flux, the submerged-arc welding effect is ensured, and meanwhile, the connecting clamping sleeve can cover the gap between the support edges, so that the welding flux cannot leak at any position.

4. The invention can adapt to upper tubular piles with different curvatures by using the chain in the walking track, the walking reliability is ensured by the matching of the walking wheel, the driven wheel and the through hole, the chain can be prevented from sliding along the circumferential direction of the tubular pile by using the non-slip mat, and the position of the chain can not easily deviate and slip by adding the fixing structure.

5. The invention can protect the deviation detection mechanism by using the spring telescopic rod of the chuck in the deviation detection mechanism, can adapt to the vibration of the device, protects the deviation detection mechanism and prevents the deviation detection mechanism from being damaged by the vibration.

6. According to the invention, through the use of the upper side wheels of the connecting plate, the phenomenon that the lower side of the connecting plate deviates upwards due to the fact that the structure supported by the connecting plate is too heavy can be prevented, and the side wheels can abut against the connecting plate, so that the device can run more stably.

Drawings

FIG. 1 is a perspective view of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is a perspective view of the web, the structure supported by the web, and the adjacent portion of the travel track of the web of the present invention;

FIG. 4 is a partial enlarged view of FIG. 3 at B;

FIG. 5 is a first perspective view of the link plate, the structure supported by the link plate, and the link plate adjacent portion of the chain of the present invention;

FIG. 6 is a second perspective view of the link plate, the structure supported by the link plate, and the link plate adjacent portion of the chain of the present invention;

FIG. 7 is an enlarged view of a portion of FIG. 6 at C;

FIG. 8 is a perspective view of the road wheel, driven wheel and adjacent chain of the present invention;

FIG. 9 is a perspective view of the deflection sensing mechanism of the present invention;

FIG. 10 is an enlarged view of a portion of FIG. 9 at D;

FIG. 11 is a perspective view of the housing of the deflection sensing mechanism of the present invention;

FIG. 12 is an enlarged view of a portion of FIG. 11 at E;

fig. 13 is a perspective view of a solder pad of the present invention;

fig. 14 is a perspective view of the solder pad of the present invention without a connector ferrule installed;

figure 15 is a perspective view of a coupling ferrule of the present invention;

the reference numbers in the figures are:

1-pipe pile; 1 a-putting the tubular pile; 1 b-putting the tubular pile; 1 c-welding bead;

2-connecting plates;

3-an automatic welding mechanism; 3 a-a wire reel; 3 b-a wire feeder; 3 c-a welding gun; 3 d-solder cartridges; 3d 1-feed tube; 3 e-a robotic arm; 3e 1-first robot arm; 3e 2-cylinder; 3e 3-second mechanical arm; 3e4 — universal joint;

4-solder pads; 4 a-arc circle; 4a 1-cradle; 4 b-connecting the ferrule; 4b 1-upper card; 4b 2-lower card; 4b 3-connecting segment; 4 c-a liner tape;

5-a traveling mechanism; 5 a-road wheels; 5 b-driven wheel; 5 c-a motor;

6-a walking track; 6 a-a chain; 6a 1-vias; 6a 2-side panel; 6a 3-non-slip mat; 6 b-a fixed structure; 6b 1-connecting block; 6b 2-Top thread; 6b 3-connecting strap; 6b 4-hook;

7-a deflection detection mechanism; 7 a-a chuck; 7a 1-header; 7a 2-spring telescopic rod; 7 b-a transmission rod; 7 c-a slide block; 7 d-a slide rail; 7 f-displacement sensor;

8-side wheels;

9-a controller.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.

In order to solve the technical problems of realizing automatic submerged arc welding of the pipe pile 1 and detecting whether the walking direction of a welding machine deviates or not at the same time of automatic submerged arc welding, as shown in figures 1, 2, 9 and 12, the following technical proposal is provided:

an intelligent welding device for submerged arc welding of a pile pipe is used for welding an upper pipe pile 1a and a lower pipe pile 1b of a pipe pile 1 together, the upper pipe pile 1a and the lower pipe pile 1b are stacked together, a welding bead 1c in a groove shape is formed at the joint of the upper pipe pile 1a and the lower pipe pile 1b, the intelligent welding device comprises,

a connecting plate 2;

the automatic welding mechanism 3 is fixedly arranged on the connecting plate 2;

the traveling mechanism 5 is arranged on the connecting plate 2;

the walking rail 6 is fixedly arranged on the outer wall of the upper tubular pile 1a, the walking rail 6 is parallel to the welding bead 1c, and the walking mechanism 5 can walk on the walking rail 6 in a matched mode;

the intelligent welding device also comprises a welding device,

the deviation detection mechanism 7, the deviation detection mechanism 7 includes dop 7a, transfer line 7b, slider 7c, slide rail 7d and displacement sensor 7f, dop 7a blocks in welding bead 1c, dop 7a connects on transfer line 7b, transfer line 7b and slider 7c fixed connection, slider 7c and displacement sensor 7 f's input fixed connection, displacement sensor 7f is fixed to be set up on connecting plate 2, slider 7c can cooperate the slip on slide rail 7d, slide rail 7d fixed mounting is on connecting plate 2, the direction of slide rail 7d is parallel with the axis of tubular pile 1.

Specifically, the submerged arc welding needs to reserve a groove, that is, a weld bead 1c, when welding. The connecting plate 2 is used for placing the whole device, and walks on the walking track 6 through the walking mechanism 5 to drive the connecting plate 2 to move around the tubular pile 1, and the automatic welding mechanism 3 on the connecting plate 2 automatically carries out submerged arc welding on the welding bead 1 c.

The device also comprises a controller 9, and the controller 9 is programmed to weld according to preset feeding speed, feeding speed and the like during welding.

The displacement sensor 7f can be an LVDT resilience type displacement sensor, or the displacement can be monitored by arranging additional circuits such as a slide rheostat and the like. The displacement sensor 7f is connected to the controller 9.

During welding, the device may be not horizontal enough when the device is running or the running rail 6 may slip off, which may cause the upper and lower positions of the connecting plate 2 to shift. In this case, the deviation detecting means 7 can detect whether the direction is deviated. Since the chuck 7a is caught in the middle of the weld bead 1c, the vertical position of the chuck 7a is fixed, the chuck 7a is connected to the driving rod 7b, and the driving rod 7b is fixedly connected to the slider 7c, so that the vertical positions of the driving rod 7b and the slider 7c are fixed. When the upper and lower position of connecting plate 2 takes place the skew, connecting plate 2 can drive slide rail 7d and reciprocate, and slider 7c upper and lower rigidity this moment, so slider 7c can slide from top to bottom for slide rail 7d to drive displacement sensor 7 f's input and produce the displacement, displacement sensor 7f plays the detection effect to the displacement, and will detect signal transmission for controller 9. The controller 9 controls the next welding and movement operations of the device.

The transmission rod 7b is fixedly connected with the sliding block 7c through a detachable bolt, the position of the transmission rod 7b relative to the sliding block 7c is adjusted before the device operates, so that the chuck 7a is clamped in the weld bead 1c, and then the relative position of the transmission rod 7b and the sliding block 7c is fixed.

Further:

in order to solve the technical problem of what the automatic welding mechanism is composed of, as shown in fig. 3, the following technical solutions are provided:

the automatic welding mechanism 3 comprises a welding head which is provided with a welding head,

the wire reel 3a is rotatably arranged on the connecting plate 2, and welding wires are wound on the wire reel 3 a;

the wire feeder 3b is fixedly arranged on the connecting plate 2, and a welding wire on the wire reel 3a penetrates through the wire feeder 3 b;

the solder box 3d is fixedly arranged on the connecting plate 2, a feeding pipe 3d1 is arranged on the solder box 3d, and the feeding pipe 3d1 is vertical to the welding bead 1 c;

the welding gun 3c is arranged beside the outlet of the feeding pipe 3d 1;

arm 3e, arm 3e fixed mounting is on connecting plate 2, and welder 3c fixed mounting is on the output of arm 3 e.

Specifically, the submerged arc welding has a mature prior art, and the principle of the automatic welding mechanism 3 is consistent with the existing submerged arc welding technology.

Submerged arc welding requires combustion of the welding arc between the welding wire and the workpiece, with flux covering the weld surface.

The welding wire coil 3a is used for placing the welding wire, the wire feeder 3b is used for transmitting the welding wire, a straightening device and a wire feeding wheel are arranged inside the wire feeder 3b, the wire feeder 3b pulls the welding wire on the welding wire coil 3a through the wire feeding wheel and sends the welding wire to a welding gun 3c, and the straightening device is used for straightening the welding wire and preventing the welding wire from being clamped in the wire feeder.

The solder box 3d is used for covering the solder flux on the surface of the solder joint, and an electric control switch valve is arranged at the joint of the feed pipe 3d1 and the main body of the solder box 3d and connected with the controller 9 for controlling the flux flowing out and the flux flowing out speed. The welding torch 3c is used for welding.

The position of the robot arm 3e is adjusted before welding, the muzzle of the welding gun 3c is moved to a desired welding position, and the robot arm 3e is fixed.

Further:

in order to solve the technical problems of adjusting the position of the welding gun 3c before welding and automatically adjusting the position of the welding gun when position deviation is detected during welding, as shown in fig. 3 and 5, the following technical scheme is provided:

the robot arm 3e is comprised of,

one end of the first mechanical arm 3e1 and one end of the first mechanical arm 3e1 are fixedly arranged on the connecting plate 2, and the first mechanical arm 3e1 can automatically extend and retract;

a second robot arm 3e3, the second robot arm 3e3 being mounted on the output end of the first robot arm 3e1 so as to be rotatable about the axis of the first robot arm 3e 1;

the universal joint 3e4, the universal joint 3e4 are fixedly arranged at one end of the second mechanical arm 3e3 far away from the cylinder 3e2, and the welding gun 3c is fixedly arranged on the universal joint 3e 4.

Specifically, the cylinder 3e2 is installed in the first arm 3e1, and the first arm 3e1 extends and contracts by the cylinder 3e 2. Other robot arms having a telescopic function may be used as the first robot arm 3e 1. The second mechanical arm 3e3 is hinged at the output end of the first mechanical arm 3e1, a locking structure is arranged at the hinged position of the second mechanical arm 3e3 and the first mechanical arm 3e1, a locking structure is also arranged on the universal joint 3e4, the locking structure uses an elastic bolt structure, and the hinged joint is fastened and locked by using bolts. The locking structure can also use other mechanical structures with the same locking function.

During welding, the position of the welding gun 3c from the welding bead 1c needs to be kept stable, and the welding quality can be ensured.

Before welding, the muzzle of the welding gun 3c is aligned with the desired welding point below the feed tube 3d1 by adjusting and rotating the second robot arm 3e3 and the universal joint 3e4, and locked. During welding, if the controller 9 detects that the displacement sensor 7f sends a position deviation signal, the controller 9 controls the first mechanical arm 3e1 to stretch and contract, and the welding gun 3c moves up and down through the up-and-down movement of the first mechanical arm 3e1, so that the distance from the welding gun 3c to the welding bead 1c is kept unchanged, and the welding stability is ensured.

Further:

in order to solve the technical problem that when the weld bead 1c of the tubular pile 1 is submerged arc welded, the flux cannot be attached to the weld bead 1c and easily leaks downward, as shown in fig. 13, 14 and 15, the following technical proposal is provided:

the intelligent welding device also comprises a solder plate 4, the solder plate 4 is fixedly arranged on the lower tubular pile 1b, the solder plate 4 comprises,

the pipe pile comprises a plurality of arc rings 4a, wherein the arc rings 4a are bent into arc sheets, a supporting edge 4a1 is arranged on the upper side of each arc ring 4a, the supporting edge 4a1 extends towards the oblique upper part of the outer side of each arc ring 4a, the arc rings 4a are mutually connected into a circular ring through buckles, and the arc rings 4a are sleeved on a lower pipe pile 1b and are close to a welding bead 1 c;

the connecting clamping sleeve 4b is of a three-section structure, the connecting clamping sleeve 4b comprises an upper clamping piece 4b1 and a lower clamping piece 4b2 which are parallel to each other, the upper clamping piece 4b1 and the lower clamping piece 4b2 are connected through a connecting section 4b3, the connecting clamping sleeve 4b is clamped on a supporting edge 4a1 at the joint of the arc rings 4a, the upper clamping piece 4b1 abuts against the upper side of the adjacent supporting edge 4a1, and the lower clamping piece 4b2 abuts against the lower side of the adjacent supporting edge 4a 1;

and the lining belt 4c is arranged on the upper tubular pile 1a in an interference fit manner, the lining belt 4c is pressed against the lower side of the welding bead 1c, and a circular ring formed by connecting the arc rings 4a is arranged on the lining belt 4c in an interference fit manner.

Specifically, inside lining area 4c is high temperature resistant insulating tape, has certain elasticity, not only can realize with the interference fit of top tube stake 1a and arc 4a for inside lining area 4c body and arc 4a can not drop, can guarantee moreover that the solder flux can not leak down from between arc 4a and the top tube stake 1a, is close to high temperature and can not melt inside lining area 4c during the welding simultaneously.

When the apparatus is in operation, the flux flowing out of the solder box 3d falls onto the support edge 4a1, and the support edge 4a1 catches the flux to prevent the flux from falling, so that the flux can be accumulated near the weld bead 1c and can provide a sufficient coverage for the weld point.

Because a gap is left at the joint of the supporting edge 4a1 and the supporting edge 4a1, the connecting clamping sleeve 4b is clamped on the gap at the joint of the supporting edge 4a1, the supporting edge 4a1 is clamped by the connecting clamping sleeve 4b, the gap between the supporting edges 4a1 can be covered, and when flux passes through the gap, the flux falls onto the connecting clamping sleeve 4b to prevent the flux from falling.

Further:

in order to solve the technical problems that how the device walks and welds around the pipe wall of the tubular pile 1 and how the walking track 6 can be suitable for pipe walls with different diameters, as shown in fig. 1, 5, 6 and 8, the following technical solutions are provided:

the walking track 6 is provided with a chain 6a, the chain 6a is wound on the tubular pile 1, the chain 6a is arranged in parallel to the weld bead 1c, and through holes 6a1 are uniformly formed in each chain plate of the chain 6 a;

running gear 5 is provided with walking wheel 5a, motor 5c fixed mounting is on connecting plate 2, and walking wheel 5a installs on connecting plate 2, and walking wheel 5a and motor 5 c's output are connected, and walking wheel 5a is the gear, and the tooth pitch of walking wheel 5a equals the distance between through-hole 6a1, and the tooth of walking wheel 5a can be blocked in through-hole 6a1, and walking wheel 5a passes through the cooperation setting of tooth and through-hole 6a1 on chain 6 a.

Specifically, the pitch of the chain 6a is longer while the area of the inner link plate of the chain 6a covered by the outer link plate is smaller, and the inner link plate leaves enough space to expose the through hole 6a 1. Through the laying of chain 6a on upper tubular pile 1a surface, chain 6a can stepless adaptation tubular pile 1 of different diameters. After the chain 6a is laid, the initial end and the tail end of the chain are connected and fixed together through a binding rope or a buckle or other devices, so that the chain 6a clamps the upper tubular pile 1 a.

Drive motor 5c through walking wheel 5a and rotate on chain 6a, through the cooperation between the tooth of walking wheel 5a and through-hole 6a1, realize the walking of walking wheel 5a on chain 6a to make walking wheel 5a drive connecting plate 2 and walk around the rotation of upper tubular pile 1 a.

Further:

in order to solve the technical problems that although the connecting plate 2 can be made to walk on the walking rails 6 by the single walking wheel 5a, the walking is not stable enough and the connecting plate is easy to slip, as shown in fig. 1, 5, 6 and 8, the following technical solutions are provided:

the traveling mechanism 5 is further provided with a plurality of driven wheels 5b, the driven wheels 5b are connected to the connecting plate 2, the driven wheels 5b are gears, the teeth of the driven wheels 5b are the same as the teeth of the traveling wheels 5a in specification, and the driven wheels 5b are arranged on the upper side and the lower side of the chain 6a through the matching of the teeth and the through holes 6a 1.

Specifically, the driven wheel 5b is connected to the connecting plate 2 through an adjustable rotary joint and a telescopic rod, and the rotary joint and the telescopic rod are fixed through bolts capable of being loosened and tightened. After walking track 6 is laid on last tubular pile 1a, because tubular pile 1 surface curvature of different diameters changes differently, so need adjust angle and position from driving wheel 5b for the angle between walking wheel 5a and the follow driving wheel 5b is unanimous with the chain 6a of winding on last tubular pile 1a with the curvature change, guarantees running gear 5's normal operating, and the unanimous orbit that can guarantee running gear 5's walking direction and walking track 6 of curvature is unanimous moreover, can not derail.

The walking wheel 5a and the driven wheel 5b are clamped on the chain 6a from the initial end, and the teeth of the walking wheel 5a and the driven wheel 5b are matched with the through hole 6a1, so that the walking mechanism 5 is installed on the chain 6 a.

Further:

in order to solve the technical problem that the chain 6a is wound on the upper tubular pile 1a, and the chain 6a is easy to slip when the travelling mechanism 5 moves, so that the axial rotation is caused, as shown in fig. 7, the following technical scheme is provided:

each section of the chain 6a is provided with a side plate 6a2, the side plate 6a2 is arranged at the side edge of the chain 6a facing the upper tubular pile 1a, and the side plate 6a2 is fixedly connected with the chain plate of the chain 6 a;

the side plate 6a2 is fixedly provided with a non-slip pad 6a3, the non-slip pad 6a3 is arranged on the side of the side plate 6a2 facing the upper tubular pile 1a, and the non-slip pad 6a3 abuts against the side wall of the upper tubular pile 1 a.

Specifically, the non-slip mat 6a3 may be non-slip rubber. By the fact that the anti-slip pad 6a3 abuts against the side wall of the upper tubular pile 1a, the chain 6a clamps the upper tubular pile 1a tightly, and therefore strong friction force exists between the anti-slip pad 6a3 and the upper tubular pile 1a, and it is guaranteed that the chain 6a cannot rotate around the circumferential direction of the upper tubular pile 1 a.

Meanwhile, the anti-skid pad 6a3 also has a vibration damping function, so that vibration borne by the device is reduced, and the device is protected.

Further:

in order to solve the technical problems that when the chain 6a is wound on the upper tubular pile 1a, the winding is not tight enough, and the chain 6a is easy to fall off, as shown in fig. 1, 3 and 4, the following technical scheme is provided:

a plurality of side plates 6a2 are uniformly arranged on the chain 6a, the side plates 6a2 are arranged on part of the chain 6a, the side plates 6a2 are arranged on the side edge of the chain 6a facing the upper tubular pile 1a, and the side plates 6a2 are fixedly connected with the chain plates of the chain 6 a;

the walking track 6 further comprises a fixing structure 6b, the fixing structure 6b is provided with a connecting block 6b1, the connecting block 6b1 is fixedly connected with the side plate 6a2, the connecting block 6b1 is connected with a connecting belt 6b3, one end, far away from the connecting block 6b1, of the connecting belt 6b3 is fixedly connected with a hook 6b4, the hook 6b4 is hung at the top port of the upper tubular pile 1a, and the connecting block 6b1 is propped against the wall of the upper tubular pile 1a by a jackscrew 6b 2.

Specifically, the structure of the connecting block 6b1, the connecting belt 6b3 and the hook 6b4 enables the chain 6a to be hung on the upper tubular pile 1a, and the chain 6a can be fixed in the axial direction of the upper tubular pile 1a in a hanging manner. And no matter what kind of diameter is selected for use by the upper tubular pile 1a, can not lead to the condition that causes the winding not enough to fasten because of the too big diameter of upper tubular pile 1 a.

The top thread 6b2 is arranged to generate tension between the connecting block 6b1 and the upper tubular pile 1a, and when the top thread 6b2 abuts against the upper tubular pile 1a, the effect of providing friction force along the circumferential direction and the axial direction of the weld bead 1c can be achieved, so that the anti-skid reinforcing effect is achieved.

Further:

in order to solve the technical problem that the whole of the chuck 7a and the deviation detecting mechanism 7 is easily damaged due to the influence of the vibration of the device when the deviation detecting mechanism 7 detects the deviation, as shown in fig. 10, the following technical proposal is provided:

the chuck 7a comprises a head part 7a1 and a spring telescopic rod 7a2, wherein the head part 7a1 is fixedly connected to one end of the spring telescopic rod 7a2, the head part 7a1 is clamped in the weld bead 1c, and one end, far away from the head part 7a1, of the spring telescopic rod 7a2 is fixedly connected to the transmission rod 7 b.

Specifically, when the device is operated, the device generates slight vibration, the weld bead 1c is narrow, the chuck 7a is small, and the deviation detection mechanism 7 is easily damaged by the slight vibration. Due to the slider 7c, the collet 7a can move in the axial direction of the upper pipe pile 1a, whereby the influence of the vibration in the axial direction of the upper pipe pile 1a can be eliminated. And simultaneously, the sensitivity of the displacement sensor 7f and the detection control range of the controller 9 are adjusted, so that the controller 9 can ignore a tiny vibration error.

But the vibration of the upper tubular pile 1a in the radial direction still affects and damages the deviation detection mechanism 7, and the addition of the telescopic spring rod 7a2 can make the chuck 7a extend and contract in the radial direction of the upper tubular pile 1a, so as to eliminate the influence of the vibration of the upper tubular pile 1a in the radial direction.

Meanwhile, the spring of the telescopic spring rod 7a2 should be selected to be a spring with a larger elastic force, because if the elastic force is too small, the head 7a1 of the chuck 7a may fall off from the weld bead 1c, so that the deviation detecting mechanism 7 cannot perform the deviation detecting function.

Further:

in order to solve the technical problem that the lower side of the connecting plate 2 is easily deviated towards the upper tubular pile 1a because the connecting plate 2 and the supporting structure supported by the connecting plate 2 are too heavy, as shown in fig. 6, the following technical scheme is provided:

the side wheel 8 is installed to the downside of connecting plate 2, and the side wheel 8 supports on the outside pipe wall of last tubular pile 1a, and the axis of side wheel 8 is parallel with the axis of tubular pile 1.

Specifically, when the structure that connecting plate 2 area carrier supported moved on last tubular pile 1a along walking track 6, because the structure that connecting plate 2 supported is heavier, tubular pile 1a direction skew can make progress to the downside of connecting plate 2, and the downside of connecting plate 2 is lived to side wheel 8 support this moment, has prevented the skew trend of connecting plate 2, has guaranteed the stability of connecting plate 2 operation.

The automatic submerged-arc welding device drives the automatic welding mechanism 3 to realize automatic submerged-arc welding of the tubular pile 1 by walking on the walking track 6 through the walking mechanism 5, and detects whether the welding direction deviates up and down through the mechanical structure arrangement of the deviation detection mechanism 7. The automatic welding mechanism 3 is a standard submerged arc welding device, and the vertical position of the mechanical arm 3e can be changed when the welding direction deviates up and down by clamping the welding gun 3c through the mechanical arm 3e, so that the muzzle of the mechanical arm 3e keeps a proper distance from the welding bead 1c, and the welding effect is ensured. The use of the solder pad 4 ensures that flux remains on the surface of the weld bead 1c, ensuring proper operation of the submerged arc welding.

Chain 6a can adapt to the tubular pile 1 of different curvature changes, simultaneously through-hole 6a1 and walking wheel 5a on the chain 6a, from the cooperation of driving wheel 5b latch, can realize running gear 5 steady operation on walking track 6, the joining of slipmat 6a3 can prevent that chain 6a from skidding to can play certain cushioning effect, protection equipment steady operation. The fixing structure 6b plays a role in reinforcing the chain 6a, and ensures the position stability of the chain 6 a. The use of the telescopic spring rod 7a2 in the deviation detection mechanism 7 protects the chuck 7a and the whole deviation detection mechanism 7 when the device vibrates during operation, and ensures that the deviation detection mechanism 7 cannot be damaged due to vibration of equipment during operation. The connection plate 2 will deflect towards the upper pipe pile 1a due to the heavy supporting structure of the connection plate 2, and the deflection tendency of the connection plate 2 can be prevented by the side wheels 8 abutting against the connection plate 2.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An intelligent welding device for submerged arc welding of a pile pipe is used for welding an upper pipe pile (1a) and a lower pipe pile (1b) together, the upper pipe pile (1a) and the lower pipe pile (1b) are stacked together, a welding bead (1c) in a groove shape is formed at the joint of the upper pipe pile (1a) and the lower pipe pile (1b), the intelligent welding device comprises,

a connecting plate (2);

the automatic welding mechanism (3), the automatic welding mechanism (3) is fixedly arranged on the connecting plate (2);

the traveling mechanism (5), the traveling mechanism (5) is installed on the connecting plate (2);

the travelling rail (6), the travelling rail (6) is fixedly installed on the outer wall of the upper tubular pile (1a), the travelling rail (6) is parallel to the welding bead (1c), and the travelling mechanism (5) can travel on the travelling rail (6) in a matched mode;

it is characterized in that the intelligent welding device also comprises,

a chuck (7a), wherein the chuck (7a) is clamped in the welding channel (1 c);

the chuck (7a) is connected to the transmission rod (7 b);

the sliding block (7c), the transmission rod (7b) and the sliding block (7c) are fixedly connected;

the sliding rail (7d) is fixedly arranged on the connecting plate (2), the sliding block (7c) can slide on the sliding rail (7d) in a matched manner, and the direction of the sliding rail (7d) is parallel to the axis of the tubular pile (1);

displacement sensor (7f), slider (7c) and displacement sensor (7 f)'s input fixed connection, displacement sensor (7f) are fixed to be set up on connecting plate (2).

2. The intelligent welding device for submerged arc welding of pile pipes according to claim 1, characterized in that the automatic welding mechanism (3) comprises,

the wire reel (3a), the wire reel (3a) is rotatably arranged on the connecting plate (2), and the welding wire is wound on the wire reel (3 a);

the wire feeder (3b), the wire feeder (3b) is fixedly installed on the connecting plate (2), and the welding wire on the wire reel (3a) penetrates through the wire feeder (3 b);

the solder box (3d) is fixedly arranged on the connecting plate (2), a feeding pipe (3d1) is arranged on the solder box (3d), and the feeding pipe (3d1) is vertical to the welding bead (1 c);

the welding gun (3c) is arranged beside the outlet of the feeding pipe (3d 1);

arm (3e), arm (3e) fixed mounting is on connecting plate (2), and welder (3c) fixed mounting is on the output of arm (3 e).

3. The intelligent welding device for submerged arc welding of pile pipes according to claim 2, characterized in that the mechanical arm (3e) comprises,

one end of the first mechanical arm (3e1) is fixedly arranged on the connecting plate (2), and the first mechanical arm (3e1) can automatically extend and retract;

a second robot arm (3e3), the second robot arm (3e3) being mounted on the output end of the first robot arm (3e1) so as to be rotatable about the axis of the first robot arm (3e 1);

the universal joint (3e4), universal joint (3e4) fixed mounting is in the one end that the cylinder (3e2) is kept away from to second arm (3e3), and welder (3c) fixed mounting is on universal joint (3e 4).

4. The intelligent welding device for submerged arc welding of the pile pipe is characterized in that the intelligent welding device further comprises a solder plate (4), the solder plate (4) is fixedly installed on the lower pile (1b), the solder plate (4) comprises,

the device comprises a plurality of arc rings (4a), wherein the arc rings (4a) are bent into an arc sheet shape, a supporting edge (4a1) is arranged on the upper side of each arc ring (4a), the supporting edge (4a1) extends towards the oblique upper side of the outer side of each arc ring (4a), the arc rings (4a) are mutually connected into a circular ring through buckles, and the arc rings (4a) are sleeved on a lower tubular pile (1b) and are close to a welding bead (1 c);

the connecting clamping sleeve (4b), the connecting clamping sleeve (4b) is of a three-section structure, the connecting clamping sleeve (4b) comprises an upper clamping piece (4b1) and a lower clamping piece (4b2) which are parallel to each other, the upper clamping piece (4b1) and the lower clamping piece (4b2) are connected through a connecting section (4b3), the connecting clamping sleeve (4b) is clamped on a supporting edge (4a1) at the joint of the arc rings (4a), the upper clamping piece (4b1) abuts against the upper side of the adjacent supporting edge (4a1), and the lower clamping piece (4b2) abuts against the lower side of the adjacent supporting edge (4a 1);

the inner lining belt (4c) is arranged on the upper tubular pile (1a) in an interference fit mode, the inner lining belt (4c) abuts against the lower side of the welding bead (1c), and the arc rings (4a) are connected into a circular ring which is arranged on the inner lining belt (4c) in an interference fit mode.

5. The intelligent welding device for submerged arc welding of pile pipes of claim 1,

the walking track (6) is provided with a chain (6a), the chain (6a) is wound on the tubular pile (1), the chain (6a) is arranged in parallel to the welding bead (1c), and through holes (6a1) are uniformly formed in each chain plate of the chain (6 a);

running gear (5) are provided with walking wheel (5a), motor (5c) fixed mounting is on connecting plate (2), walking wheel (5a) are installed on connecting plate (2), the output of walking wheel (5a) and motor (5c) is connected, walking wheel (5a) is the gear, the tooth pitch of walking wheel (5a) equals the distance between through-hole (6a1), the tooth of walking wheel (5a) can be blocked in through-hole (6a1), walking wheel (5a) sets up on chain (6a) through the cooperation of tooth and through-hole (6a 1).

6. The intelligent welding device for submerged arc welding of the pile pipe is characterized in that a plurality of driven wheels (5b) are further arranged on the travelling mechanism (5), the driven wheels (5b) are connected to the connecting plate (2), the driven wheels (5b) are gears, the teeth of the driven wheels (5b) are the same as those of the travelling wheels (5a), and the driven wheels (5b) are arranged on the upper side and the lower side of the chain (6a) through matching of the teeth and the through holes (6a 1).

7. The intelligent welding device for submerged arc welding of the pile pipe is characterized in that each section of the chain (6a) is provided with a side plate (6a2), the side plate (6a2) is arranged on the side edge of the chain (6a) facing the upper pipe pile (1a), and the side plates (6a2) are fixedly connected with the chain plates of the chain (6 a);

the side plate (6a2) is fixedly provided with a non-slip mat (6a3), the non-slip mat (6a3) is arranged on the side edge of the side plate (6a2) facing the upper tubular pile (1a), and the non-slip mat (6a3) abuts against the side wall of the upper tubular pile (1 a).

8. The intelligent welding device for submerged arc welding of the pile pipe is characterized in that a plurality of side plates (6a2) are uniformly arranged on the chain (6a), the side plates (6a2) are arranged on part sections of the chain (6a), the side plates (6a2) are arranged on the side edge of the chain (6a) facing the upper pile (1a), and the side plates (6a2) are fixedly connected with the chain plates of the chain (6 a);

walking track (6) still include fixed knot structure (6b), fixed knot constructs (6b) and is provided with connecting block (6b1), connecting block (6b1) and curb plate (6a2) fixed connection, connecting block (6b1) are connected with connecting band (6b3), connecting band (6b3) keep away from the one end and couple (6b4) fixed connection of connecting block (6b1), couple (6b4) hang the top port of last tubular pile (1a), connecting block (6b1) are pushed up on the pipe wall of last tubular pile (1a) by jackscrew (6b 2).

9. The intelligent welding device for submerged arc welding of the pile pipe is characterized in that the chuck (7a) comprises a head part (7a1) and a spring telescopic rod (7a2), the head part (7a1) is fixedly connected to one end of the spring telescopic rod (7a2), the head part (7a1) is clamped in a welding bead (1c), and one end, far away from the head part (7a1), of the spring telescopic rod (7a2) is fixedly connected to the transmission rod (7 b).

10. The intelligent welding device for submerged arc welding of the pile pipe is characterized in that a side wheel (8) is installed on the lower side of the connecting plate (2), the side wheel (8) abuts against the outer pipe wall of the upper pile (1a), and the axis of the side wheel (8) is parallel to the axis of the pile pipe (1).