CN113798761B - Snakelike inner supporting device for circular seam welding of large-diameter storage box barrel section - Google Patents
Snakelike inner supporting device for circular seam welding of large-diameter storage box barrel section Download PDFInfo
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- CN113798761B CN113798761B CN202111215242.9A CN202111215242A CN113798761B CN 113798761 B CN113798761 B CN 113798761B CN 202111215242 A CN202111215242 A CN 202111215242A CN 113798761 B CN113798761 B CN 113798761B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
Abstract
The invention discloses a snakelike inner support device for girth welding of a large-diameter storage box barrel section, and relates to the field of inner support devices for girth welding of large thin-wall barrel members. When the middle connecting module and the head-tail self-locking module are in a self-locking state, all the units are circumferentially arranged along the inner wall of the storage tank cylinder section, so that high-rigidity internal support is provided, and the function of internal support during circular seam welding of the storage tank cylinder section is realized; when the middle connecting module and the head-tail self-locking module are in a moving or disconnecting state, the device is in a super-redundancy free state and can automatically exit from a manhole of the storage tank. The invention has simple structure, provides high-strength support for the circular seam welding of the cylinder section of the storage tank, does not need an auxiliary dismounting device and can be conveniently withdrawn from the storage tank.
Description
Technical Field
The invention relates to the technical field of inner support for girth welding of large thin-wall cylindrical components, in particular to a snake-shaped inner support device for girth welding of a large-diameter storage tank barrel section.
Background
The high-precision welding of the large-diameter storage tank is a key technology and a difficult problem in the assembly and manufacture of heavy carrier rockets. At present, the storage tank is formed by splicing two tank bottoms and a plurality of cylinder sections in a welding mode, and a friction stir welding mode is usually adopted. The huge upset force of the stirring head acts on the wall of the welding storage tank, which causes serious deformation of the wall and non-negligible error. Therefore, in the welding process, the supporting and shape correcting mechanism is arranged in the welding process, so that the shape and position accuracy of the whole storage box in the welding process is ensured to have important significance.
In the prior art, a circular seam internal supporting device of a storage box barrel section mostly adopts the forms of a rod system supporting device, a mandrel and a transition support, an adjusting internal supporting structure is arranged on the transition support, and the position of the rod system supporting device on the mandrel is adjusted to adapt to different barrel sections. However, for the tank welding process of the heavy rocket, the required internal support upsetting force is greatly improved, and the automatic internal support function cannot be realized by manufacturing the annular seam internal support mechanism according to the existing configuration.
After welding is completed, the inner supporting mechanism needs to be withdrawn from the manhole from the interior of the storage box, the existing inner supporting mechanism is heavy and complex in structure and difficult to withdraw independently, the inner supporting mechanism is mostly disassembled by manual assistance, however, for manufacturing large rocket storage boxes, particularly for heavy rockets of 10m level, manual work enters from the manhole by means of a sling mechanism, great danger is caused, the mechanism is difficult to disassemble, and the efficiency is low.
Patent CN108080877A discloses a storage tank section circumferential weld automatic weld internal stay device among the prior art, includes: a main shaft, a faceplate; the face plate is fixedly connected with the main shaft through a bush, and the surface of the face plate is provided with a plurality of linear guide rails which are radially arranged; the guide rail is connected with the arc-shaped inner supporting block to form a complete circumference. However, the equipment cannot realize integral autonomous movement, and after welding is completed, the equipment needs to be withdrawn from a manhole of the storage tank through an auxiliary disassembling device.
Accordingly, those skilled in the art have endeavored to develop a serpentine inner support device for girth welding of large diameter tank barrel sections.
Disclosure of Invention
In view of the above-mentioned defects in the prior art, the technical problem to be solved by the present invention is to provide an inner support device for welding a large rocket tank barrel, which can provide high-strength support for the whole barrel section when the barrel section is subjected to girth welding, and has flexible movement performance after the welding is completed, and can be automatically withdrawn from the interior of the tank.
In order to achieve the purpose, the invention provides the snakelike inner supporting device for girth welding of the large-diameter storage box barrel section, which adopts a modular design method, and has the advantages of simple structure and convenience in maintenance.
The invention is realized by the following technical scheme: a snakelike inner supporting device for girth welding of a large-diameter storage box barrel section comprises a middle unit, a head section unit, a tail section unit, a middle connecting module and a head-tail self-locking module; each unit is of a shell structure, and the middle connecting module is positioned in each unit shell and sequentially connects the first section unit, the plurality of middle units and the tail section unit; the head-tail self-locking module is positioned between the head section unit and the tail section unit; the end part of one side of the tail section unit, which is adjacent to the head section unit, is of a structure with a notch;
the intermediate connection module respectively controls the close-contact locking and free movement of the intermediate unit through the conversion of a self-locking state and a movement state; the head-tail self-locking module respectively controls the close-fitting self-locking and the movable opening of the head section unit and the tail section unit through the conversion of a self-locking state and a disconnection state, so as to control the whole circumferential ring state and the free movement state of the snake-shaped inner support device;
when the middle connecting module and the head-tail self-locking module are in the self-locking state, the peripheries of the units are mutually attached along the circumferential direction to form a continuous closed inner supporting ring, and the inner supporting ring is circumferentially distributed along the inner wall of the cylinder section of the storage box and is in contact with the inner wall of the cylinder section of the storage box to provide a high-rigidity inner support so as to realize the function of inner support of girth welding of the cylinder section of the storage box;
when the head-tail self-locking module is in the disconnected state, the snakelike inner supporting device is in a super-redundancy degree of freedom state, has flexible movement performance, and can autonomously withdraw from the interior of the storage box through a manhole of the storage box.
Furthermore, the middle unit, the first section unit and the tail section unit are all of fan-shaped structures, and fan-shaped inner arc radius values and outer arc radius values are designed according to the specification and the size of the storage box barrel section.
Furthermore, the intermediate connection module adopts two kinematic pairs, one of the two kinematic pairs realizes the conversion between the self-locking state and the motion state of the intermediate connection module, and the other kinematic pair realizes the pose adjustment of the two intermediate units when the intermediate connection module is in the motion state.
Further, in a preferred embodiment of the present invention, the two kinematic pairs are P-U pairs, where the P pair is a linear kinematic pair, and the U pair is two rotational pairs with mutually perpendicular directions.
Furthermore, the P-U pair comprises a first steering engine support, a first steering engine U-shaped connecting piece, a first driving steering engine, a first steering engine U-shaped arm, a second driving steering engine, a second steering engine U-shaped connecting piece, a sliding block, a ball screw, a third driving steering engine and a guide rail.
Furthermore, the guide rail is fixed on the middle units, the sliding block drives the sliding block connecting piece to do linear motion along the guide rail through the rotation of the third driving steering engine, so that the two middle units are mutually contacted and converted into a certain gap, and the middle units are converted into free movement from close contact and locking; meanwhile, the first driving steering engine and the second driving steering engine respectively drive the U-shaped arm of the first steering engine and the U-shaped arm of the second steering engine to rotate around a steering engine shaft, so that relative pose adjustment between the two intermediate units is realized.
Further, in another preferred embodiment of the present invention, the two kinematic pairs take the form of, but not limited to, an R pair (rotational kinematic pair) and an S pair (ball pair).
Further, the head-tail self-locking module is realized through a linear motion mechanism.
Further, in a preferred embodiment of the present invention, the head-to-tail self-locking module employs a parallel mechanism of two branched chains, and the two branched chains are vertically arranged and are both in the form of RRR, that is, 2-RRR.
Furthermore, the head-to-tail self-locking module comprises a self-locking mechanism base, a parallel branched chain rod piece, a self-locking mechanism drive, a self-locking mechanism moving platform, a self-locking mechanism connecting arm and a self-locking block.
Further, the head-tail self-locking module presses the self-locking module into a gap of the tail section unit through linear motion along the vertical direction to enter the self-locking state; when the head-tail self-locking module needs to be disconnected, the self-locking module is moved reversely.
Further, in another preferred embodiment of the present invention, the head-to-tail self-locking module takes the form of including, but not limited to, a slider-crank mechanism and a lead screw guide linear motion mechanism.
The beneficial effects of the invention are: the snakelike inner supporting device for girth welding of the cylinder section of the large-diameter storage tank has flexible movement capacity, can enter and exit from manholes of a main storage tank and a slave storage tank, and avoids the complicated step of disassembling the inner supporting device of the storage tank; and the snakelike inner support device is arranged along the circumferential direction of the storage box in the welding work, the head unit and the tail unit are self-locked, the middle units are mutually attached to form a whole circumferential ring, enough structural strength and rigidity inner support can be provided, and the clamping and positioning requirements of the storage box barrel section girth welding process can be met.
The conception, specific structure and technical effects of the present invention will be further described in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a preferred embodiment of the present invention mounted in a tank in a continuous full circumferential ring configuration;
FIG. 3 is a schematic diagram of a P-U type intermediate connection module self-locking state according to a preferred embodiment of the present invention;
FIG. 4 is a schematic diagram of the motion of a P-U type intermediate link module in accordance with a preferred embodiment of the present invention;
FIG. 5 is a schematic diagram of a preferred embodiment of the invention 2-RRR form end-to-end disengagement from a mode-locked module;
FIG. 6 is a schematic diagram of a preferred embodiment of the invention 2-RRR form end-to-end self-locking module locking;
FIG. 7 is a partial schematic diagram of a preferred embodiment 2-RRR form of the invention.
In the drawings: 1-middle unit, 2-head unit, 3-tail unit, 4-manhole, 5-first steering engine support, 6-first steering engine U-shaped connecting piece, 7-first driving steering engine, 8-first steering engine U-shaped arm, 9-second steering engine U-shaped arm, 10-second driving steering engine, 11-second steering engine U-shaped connecting piece, 12-slider connecting piece, 13-slider, 14-ball screw, 15-third driving steering engine, 16-guide rail, 17-self-locking mechanism base, 18-parallel branched chain rod piece, 19-self-locking mechanism drive, 20-self-locking mechanism movable platform, 21-self-locking mechanism connecting arm, 22-self-locking block, 121-middle connecting module and 223-head-tail self-locking module.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in FIG. 1, the invention provides a snakelike inner support device for girth welding of a large-diameter storage tank barrel section, which comprises a middle unit 1, a first section unit 2, a tail section unit 3, a middle connecting module 121 and a head-tail self-locking module 223; the middle unit 1, the first section unit 2 and the tail section unit 3 are all of fan-shaped shell structures, the inner arc radius value and the outer arc radius value of each fan-shaped shell are designed according to the specification and the size of the storage box barrel section, and the end part (the side adjacent to the first section unit 2) of the tail section unit 3 is of a structure with a notch. The middle connecting module 121 is positioned in each unit shell and sequentially connects the first section unit 2, the plurality of middle units 1 and the tail section unit 3; the head-to-tail self-locking module 223 is located between the head section unit 2 and the tail section unit 3.
The number of the intermediate units 1 is N, and the number of the intermediate connection modules 121 is N +1, where N >1, and the specific values are related to the structural type of the storage tank section and the dimensional specification of the intermediate units 1.
The intermediate connection module 121 can perform conversion between a self-locking state and a motion state, and respectively control the close-contact locking and free movement of the intermediate unit 1; the head-tail self-locking module 223 can perform conversion between a self-locking state and a disconnection state, and respectively controls the close-fitting self-locking and movable opening of the head section unit 2 and the tail section unit 3, so as to control the whole circumferential ring state and the free movement state of the snake-shaped inner support device.
When the head-tail self-locking module 223 is in a disconnected state, the snakelike inner supporting device is in a super-redundancy degree of freedom state, has flexible movement performance, and can autonomously withdraw from the interior of the storage tank through the storage tank manhole 4.
As shown in fig. 2, when the intermediate connection module 121 and the head-to-tail self-locking module 223 are in a self-locking state, the peripheries of the units are attached to each other along the circumferential direction to form a continuous and closed inner supporting ring, and the inner supporting ring is circumferentially arranged along the inner wall of the storage tank cylinder section and contacts with the inner wall of the storage tank cylinder section to provide a high-rigidity inner support, so that the function of inner support in circumferential welding of the storage tank cylinder section is realized.
As shown in fig. 3 and 4, the intermediate connection module 121 is fixed on the lower plane inside the housing of the intermediate unit 1, and adopts a P-U type kinematic pair, wherein the P pair is a linear kinematic pair, so as to realize the conversion between the self-locking state and the kinematic state of the intermediate connection module 121; the U pair is two rotation pairs with mutually perpendicular directions, and posture adjustment of the two intermediate units 1 is realized when the intermediate connection module 121 is in a motion state. The device comprises a first steering engine support 5, a first steering engine U-shaped connecting piece 6, a first driving steering engine 7, a first steering engine U-shaped arm 8, a second steering engine U-shaped arm 9, a second driving steering engine 10, a second steering engine U-shaped connecting piece 11, a sliding block connecting piece 12, a sliding block 13, a ball screw 14, a third driving steering engine 15 and a guide rail 16. The guide rail 16 is fixed on the middle units 1, the sliding block 13 drives the sliding block connecting piece 12 to do linear motion through the third driving steering engine 15, and the two middle units 1 are mutually contacted and converted into a certain gap, so that the middle units 1 are converted into free motion from close contact locking; meanwhile, a first driving steering engine 7 and a second driving steering engine 10 respectively drive a first steering engine U-shaped arm 8 and a second steering engine U-shaped arm 9 to rotate around a steering engine shaft, so that relative pose adjustment between the two intermediate units 1 is realized.
In addition, the two kinematic pairs in the intermediate connection module 121 also take the form of, but not limited to, an R pair (rotational kinematic pair) and an S pair (ball pair).
As shown in fig. 5, 6 and 7, the head-to-tail self-locking module 223 is implemented by a linear motion mechanism, and adopts a parallel mechanism of two branched chains, wherein the two branched chains are vertically arranged and are both in the form of RRR, i.e. 2-RRR. The self-locking mechanism comprises a self-locking mechanism base 17, a parallel branched chain rod piece 18, a self-locking mechanism drive 19, a self-locking mechanism movable platform 20, a self-locking mechanism connecting arm 21 and a self-locking block 22. The head-tail self-locking module 223 presses the self-locking block 22 into the gap of the tail section unit 3 through linear motion along the vertical direction, and the self-locking process can be completed; when the head-tail self-locking module 223 needs to be disconnected, the self-locking block 22 is moved reversely.
In addition, the head-to-tail self-locking module 223 also includes, but is not limited to, a slider-crank mechanism and a lead screw guide linear motion mechanism.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. A snakelike inner supporting device for girth welding of a large-diameter storage box barrel section is characterized by comprising a middle unit (1), a first section unit (2), a tail section unit (3), a middle connecting module (121) and a head-tail self-locking module (223); each unit is of a shell structure, and the middle connecting module (121) is positioned inside each unit shell and sequentially connects the first section unit (2), the plurality of middle units (1) and the tail section unit (3); the head and tail self-locking module (223) is positioned between the head section unit (2) and the tail section unit (3); the end part of one side of the tail section unit (3) adjacent to the head section unit (2) is of a structure with a notch;
the middle connecting module (121) respectively controls the close-contact locking and free movement of the middle unit (1) through the conversion of a self-locking state and a movement state; the head-tail self-locking module (223) respectively controls the close-contact self-locking and movable opening of the head section unit (2) and the tail section unit (3) through the conversion of a self-locking state and a disconnection state, so as to control the whole circumference ring state and free movement state of the snake-shaped inner support device;
when the middle connecting module (121) and the head-tail self-locking module (223) are in the self-locking state, the peripheries of the units are mutually attached along the circumferential direction to form a continuous closed inner supporting ring, the inner supporting ring is circumferentially distributed along the inner wall of the storage box cylinder section and is in contact with the inner wall of the storage box cylinder section, a high-rigidity inner support is provided, and the function of inner support of circular seam welding of the storage box cylinder section is realized;
when the head-tail self-locking module (223) is in the disconnection state, the snakelike inner support device is in a super-redundancy degree-of-freedom state, has flexible movement performance and can automatically withdraw from the interior of the storage box through a manhole (4) of the storage box;
the middle connecting module (121) comprises a kinematic pair, and the kinematic pair comprises a first driving steering engine (7), a first steering engine U-shaped arm (8), a second steering engine U-shaped arm (9), a second driving steering engine (10), a sliding block connecting piece (12), a sliding block (13), a third driving steering engine (15) and a guide rail (16); the guide rail (16) is fixed on the middle units (1), the sliding block (13) drives the sliding block connecting piece (12) to do linear motion along the guide rail (16) through the rotation of the third driving steering engine (15), and the two middle units (1) are converted into free motion from the close-contact locking; meanwhile, the first driving steering engine (7) and the second driving steering engine (10) respectively drive the first steering engine U-shaped arm (8) and the second steering engine U-shaped arm (9) to rotate around a steering engine shaft, so that relative pose adjustment between the two intermediate units (1) is realized.
2. The serpentine inner support device for girth welding of large-diameter cylinder sections of storage tanks according to claim 1, characterized in that the intermediate unit (1), the first section unit (2) and the last section unit (3) are all of sector structure, the sector inner and outer arc radius values being designed according to the specification and size of the cylinder sections.
3. The serpentine inner support device for girth welding of large diameter tank barrel sections according to claim 1, wherein said intermediate connection module (121) employs two of said kinematic pairs, one of said kinematic pairs effecting a transition of said intermediate connection module (121) between said self-locking state and said kinematic state; the other kinematic pair realizes the posture adjustment of the two intermediate units (1) when the intermediate connecting module (121) is in the motion state.
4. A serpentine inner support device for girth welding of a large-diameter tank barrel section according to claim 3, wherein the two kinematic pairs are P-U pairs, wherein the P pairs are linear kinematic pairs, and the U pairs are two rotational pairs with mutually perpendicular directions.
5. A snakelike inner support device for girth welding of a large-diameter storage box barrel section as claimed in claim 4, wherein the P-U pair further comprises a first steering engine bracket (5), a first steering engine U-shaped connecting piece (6), a second steering engine U-shaped connecting piece (11) and a ball screw (14).
6. The serpentine inner support device for girth welding of large diameter tank barrel sections according to claim 1 wherein said head-to-tail self-locking modules (223) are implemented by linear motion mechanisms.
7. The serpentine inner support device for girth welding of large diameter tank barrel sections according to claim 6, wherein said self-locking modules (223) employ a parallel arrangement of two branches, both of which are vertically arranged and are in the form of RRR, 2-RRR.
8. A snakelike internal support device for girth welding of large-diameter storage box barrel sections according to claim 7, wherein the head-to-tail self-locking module (223) comprises a self-locking mechanism base (17), a parallel branched rod piece (18), a self-locking mechanism drive (19), a self-locking mechanism moving platform (20), a self-locking mechanism connecting arm (21) and a self-locking block (22).
9. The serpentine inner support device for girth welding of large-diameter tank barrel sections according to claim 8, characterized in that the head-to-tail self-locking module (223) presses the self-locking block (22) into the gap of the tail section unit (3) by a linear movement in a vertical direction into the self-locking state; when the head-tail self-locking module (223) needs to be disconnected, the self-locking block (22) is reversely moved.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111215242.9A CN113798761B (en) | 2021-10-19 | 2021-10-19 | Snakelike inner supporting device for circular seam welding of large-diameter storage box barrel section |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111215242.9A CN113798761B (en) | 2021-10-19 | 2021-10-19 | Snakelike inner supporting device for circular seam welding of large-diameter storage box barrel section |
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| CN113798761B true CN113798761B (en) | 2022-06-17 |
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|---|---|---|---|---|
| JP2005131689A (en) * | 2003-10-31 | 2005-05-26 | Memco Daiden Kk | Welding jig for bent pipe |
| JP2012091182A (en) * | 2010-10-25 | 2012-05-17 | Amada Co Ltd | Cylindrical workpiece holding device and cylindrical work piece holding method |
| CN203003410U (en) * | 2012-11-15 | 2013-06-19 | 大连船舶重工集团装备制造有限公司 | Ellipse deformation prevention device of cylindrical vessel ring weld unit |
| CN205587905U (en) * | 2016-05-11 | 2016-09-21 | 山西阳煤化工机械（集团）有限公司 | Thin -walled pressure vessel internal stay device |
| CN109956373A (en) * | 2017-12-14 | 2019-07-02 | 广州金发碳纤维新材料发展有限公司 | A kind of self-locking winding internal diameter conversion expansion set |
-
2021
- 2021-10-19 CN CN202111215242.9A patent/CN113798761B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005131689A (en) * | 2003-10-31 | 2005-05-26 | Memco Daiden Kk | Welding jig for bent pipe |
| JP2012091182A (en) * | 2010-10-25 | 2012-05-17 | Amada Co Ltd | Cylindrical workpiece holding device and cylindrical work piece holding method |
| CN203003410U (en) * | 2012-11-15 | 2013-06-19 | 大连船舶重工集团装备制造有限公司 | Ellipse deformation prevention device of cylindrical vessel ring weld unit |
| CN205587905U (en) * | 2016-05-11 | 2016-09-21 | 山西阳煤化工机械（集团）有限公司 | Thin -walled pressure vessel internal stay device |
| CN109956373A (en) * | 2017-12-14 | 2019-07-02 | 广州金发碳纤维新材料发展有限公司 | A kind of self-locking winding internal diameter conversion expansion set |
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| CN113798761A (en) | 2021-12-17 |
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