CN115008077A - Pipeline internal welding machine - Google Patents

Abstract

The invention belongs to the technical field of pipeline welding, and particularly relates to an in-pipeline welding machine. The in-pipeline welding machine comprises a driving device, and a machine head, an attitude adjusting device and a rack which are sequentially connected along the axial direction of the in-pipeline welding machine, wherein the driving device is arranged in the rack. The driving device comprises driving wheel assemblies positioned at two radial sides of the welding machine in the pipeline, the posture adjusting device comprises a posture adjusting mechanism and a flexible adjusting mechanism positioned between the posture adjusting mechanism and the rack, the posture adjusting mechanism comprises front wheels which can be attached to the inner wall of the pipeline and are symmetrically arranged below two sides of the vertical axial plane of the welding machine in the pipeline, and the flexible adjusting mechanism is used for enabling the rack and the machine head to adjust the relative position. And in the process of over-bending of the pipeline internal welding machine, the rotating speed of the driving wheel assembly close to the steering center is lower than that of the driving wheel assembly far away from the steering center. The pipeline internal welding machine provided by the invention has good bending performance.

Description

Pipeline internal welding machine

Technical Field

The invention belongs to the technical field of pipeline welding, and particularly relates to an in-pipeline welding machine.

Background

The laying of the long-distance pipeline in the mountainous area has the particularity that: the number of the bent pipes for pipeline laying is large along with the terrain, and the radius of the bent pipes is small. At present, the welding of the long-distance pipeline in the mountainous area mainly adopts manual welding external welding and semi-automatic welding external welding methods, the forming controllable difficulty in the welding seam is high, the probability of welding defects such as welding beading and different welding seam residual height difference in the pipeline is extremely high, the later detection and maintenance of the pipeline are seriously influenced, the welding efficiency is extremely low, and the labor intensity is extremely high.

The existing automatic welding equipment for long pipelines at home and abroad is not suitable for large-scale adoption of automatic welding of long pipelines in mountain areas and is mainly limited by the insufficient pipe bending passing capacity of an inner welding machine for realizing automatic welding of inner circular seams of pipelines.

Disclosure of Invention

In view of the above-mentioned drawbacks and deficiencies of the prior art, the present invention provides an in-pipe welder with good overbending performance.

In order to achieve the above object, the present invention provides an in-pipe welder, which comprises a driving device, a machine head, an attitude adjusting device and a rack, wherein the machine head, the attitude adjusting device and the rack are sequentially connected along an axial direction of the in-pipe welder, and the driving device is arranged in the rack;

the driving device comprises driving wheel assemblies positioned at two radial sides of the welding machine in the pipeline, the posture adjusting device comprises a posture adjusting mechanism and a flexible adjusting mechanism positioned between the posture adjusting mechanism and the rack, the posture adjusting mechanism comprises front wheels which can be attached to the inner wall of the pipeline and are symmetrically arranged below two sides of a vertical axial plane of the welding machine in the pipeline, and the flexible adjusting mechanism is used for enabling the rack and the machine head to adjust the relative position;

and in the process of over-bending of the pipeline internal welding machine, the rotating speed of the driving wheel assembly close to the steering center is lower than that of the driving wheel assembly far away from the steering center.

Optionally, the posture adjustment device further comprises a posture adjustment plate, and the posture adjustment mechanism and the flexible adjustment mechanism are arranged on the front side and the rear side of the posture adjustment plate.

Optionally, the last perpendicular first erection column that stretches out of gesture adjusting plate, gesture adjustment mechanism still includes:

the adjusting brackets are symmetrically arranged on two sides of a vertical axial plane of the welding machine in the pipeline, one axial end of each adjusting bracket is pivotally connected with the attitude adjusting plate, and the other axial end of each adjusting bracket is connected with the front wheel; and

and the adjusting power rod group comprises an adjusting power component and an adjusting telescopic rod piece, wherein two ends of the adjusting telescopic rod piece are hinged to the first mounting column and the adjusting support respectively, and the adjusting power component is in driving connection with the adjusting telescopic rod piece so as to drive the adjusting telescopic rod piece to stretch and retract in a reciprocating manner so as to adjust the adjusting support.

Optionally, a second mounting column extends perpendicularly from the posture adjusting plate, the second mounting column and the first mounting column are located on the same side, the posture adjusting mechanism further comprises a damping assembly, and the damping assembly is hinged to the adjusting support and the second mounting column respectively.

Optionally, the flexibility adjustment mechanism comprises:

the two ends of the universal joint are respectively arranged on the attitude adjusting plate and the front end part of the rack; and

and the elastic components are arranged around the circumference of the universal joint and connected between the attitude adjusting plate and the front end part of the rack.

Optionally, the drive device further comprises an electric differential mechanism comprising:

a differential mechanism;

the driving motor is in driving connection with an input shaft of the differential mechanism;

the steering gear is in driving connection with output half shafts on two radial sides of the differential, and an output shaft of the steering gear is perpendicular to the output half shafts;

and the driving wheels are arranged on the output shaft of the steering gear and positioned on the two radial sides of the welding machine in the pipeline, and the driving wheels on the same side are in driving connection with the driving wheel assembly.

Optionally, the driving device further comprises a walking and jacking mechanism located above the electric differential mechanism, and the walking and jacking mechanism comprises:

the top support power rod group comprises a fixed end part which is pivotally connected with the front end part of the rack and a movable end part which extends out towards the rear end part of the rack, and the movable end part of the top support power rod group can linearly extend and retract in a reciprocating manner along the axial direction of the pipeline internal welding machine;

the rocker arms are symmetrically arranged on two sides of a vertical axial plane of the in-pipeline welding machine, one end of each rocker arm is pivotally connected with the front end part of the rack, and the other end of each rocker arm is provided with a driving wheel assembly; and

the rocker arm connecting rods are symmetrically arranged on two sides of a vertical axial plane of the welding machine in the pipeline, one end of each rocker arm connecting rod is in pivot connection with the rocker arm, and the other end of each rocker arm connecting rod is in pivot connection with the movable end of the top support power rod group.

Optionally, drive arrangement still includes the brake mechanism who is located the tight mechanism rear in walking top, and brake mechanism includes:

the brake power rod group is arranged in the rack along the radial direction of the welding machine in the pipeline, and at least one end of the brake power rod group can stretch and retract along the radial direction in a reciprocating manner; and

the movable brake components are arranged on two ends of the brake power rod group;

wherein, the activity brake subassembly that brake power pole group can drive both ends is along radially outwards expanding of welding machine in the pipeline in order to laminate the pipeline inner wall.

Optionally, the movable brake assembly comprises:

the ejection seat is connected with the end part of the brake power rod group;

the two ends of the ejection seat connecting rod are respectively pivoted with the ejection seat and the rack; and

and the brake pad is arranged on the outer side of the ejection seat.

Optionally, the minimum overbending radius of the in-pipe welder is 6 times the outer diameter of the pipe that the in-pipe welder can pass through.

In the invention, the posture stability of the machine head during over-bending is ensured through the posture adjusting mechanism, the posture stability of the machine frame during over-bending is ensured by controlling the rotating speed of the driving wheel component on the inner side to be less than that of the driving wheel component on the outer side, and the deformation of the pipeline during over-bending is ensured through the flexible adjusting mechanism between the machine head and the machine frame so as to adapt to a bent pipe section. Therefore, the pipeline internal welding machine has good bending performance, ensures the posture stability of the pipeline internal welding machine during bending, and ensures the welding precision.

Additional features and advantages of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic illustration of an in-pipe welder provided in accordance with an embodiment of the present invention;

FIG. 2 is a schematic view of an attitude adjustment arrangement in the in-pipe welder of FIG. 1;

FIG. 3 is a schematic view of another perspective of the attitude adjustment apparatus in the in-pipe weld of FIG. 2;

FIG. 4 is a schematic view of a flexible adjustment mechanism in the attitude adjustment device of FIG. 2;

FIG. 5 is an enlarged view of a portion of the attitude adjustment apparatus of FIG. 2;

FIG. 6 is a schematic view of the adjustment power lever set of FIG. 2;

FIG. 7 is a partial cross-sectional view of the adjustment power lever set of FIG. 6;

FIG. 8 is a schematic view of the shock assembly of FIG. 2;

FIG. 9 is a schematic view of a frame with a drive mounted therein in the in-pipe welder of FIG. 1;

FIG. 10 is a schematic view from another perspective of the frame of FIG. 9 with the drive assembly mounted thereto;

FIG. 11 is a schematic view of the electric differential mechanism of FIG. 9;

FIG. 12 is a schematic view of the walking and jacking mechanism of FIG. 9;

FIG. 13 is a schematic view of the set of top brace power bars of FIG. 12;

FIG. 14 is a schematic view of the braking mechanism of FIG. 9;

fig. 15 is a schematic view of the drive wheel assembly of fig. 9.

Description of reference numerals: 1. a machine head; 2. an attitude adjusting device; 3. a frame; 31. a front mounting plate of the frame; 4. a drive device;

11. a bit assembly; 12. an axial positioning pawl; 13. aligning, centering and expanding heads; 14. welding a head;

15. mounting an expansion head;

21. a posture adjusting plate; 211. a first mounting post; 212. a second mounting post;

22. an attitude adjusting mechanism; 221. adjusting the bracket; 222. adjusting the power rod group; 2221. adjusting the power component; 2222. adjusting the telescopic rod piece; 22221. a base; 22222. a first bushing; 22223. a second shaft sleeve; 22224. a movable rod; 22225. a driven gear; 22226. a first fisheye bearing; 22227. a second fisheye bearing; 223. a front wheel; 224. a shock absorbing assembly; 2241. an end cap; 2242. a shock-absorbing member; 2243. a third fisheye bearing;

23. a flexible adjustment mechanism; 231. a universal joint; 232. an elastic member;

41. an electric differential mechanism; 411. a driving wheel; 412. a diverter; 413. a drive motor; 414. a speed reducer; 415. a coupling; 416. a differential mechanism;

42. a drive wheel assembly; 421. a drive wheel; 422. a driven wheel; 423. a pivotal shaft; 424. a rolling bearing;

43. a walking and jacking mechanism; 431. a power rod group is supported; 4311. a first cylinder; 4312. a first stay bar; 4313. a connecting rod connecting plate; 4314. a cylinder mounting seat; 432. a rocker arm; 433. a rocker arm connecting rod; 434. a drive chain;

44. a brake mechanism; 441. a brake power lever set; 4411. a second cylinder; 4412. a second stay bar; 442. an ejection seat; 443. a brake pad; 444. a connecting rod of the ejection seat;

5. a battery; 6. a bump-wheel assembly; 7. a hoisting device; 8. a rear wheel assembly; 9. a gas storage tank; 10. and (4) protecting the gas cylinder.

Detailed Description

The following describes in detail embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In embodiments of the invention, where the context requires otherwise, the use of directional terms such as "upper, lower, top and bottom" is generally intended in the orientation shown in the drawings or the positional relationship of the various components in a vertical, vertical or gravitational orientation.

The invention will be described in detail below with reference to exemplary embodiments and with reference to the accompanying drawings.

As shown in fig. 1, an exemplary embodiment of the present invention provides an in-pipe welder, which includes a driving device 4, a head 1, an attitude adjusting device 2, and a frame 3 connected in sequence along an axial direction of the in-pipe welder, the driving device 4 being disposed in the frame 3;

the driving device 4 comprises driving wheel assemblies 42 positioned at two radial sides of the in-pipeline welding machine, the posture adjusting device 2 comprises a posture adjusting mechanism 22 and a flexible adjusting mechanism 23 positioned between the posture adjusting mechanism 22 and the machine frame 3, the posture adjusting mechanism 22 comprises front wheels 223 which can be attached to the inner wall of the pipeline and are symmetrically arranged below two sides of a vertical axial plane of the in-pipeline welding machine, and the flexible adjusting mechanism 23 is used for enabling the machine frame 3 and the machine head 1 to adjust relative positions;

wherein, during the process of over-bending of the in-pipe welding machine, the rotating speed of the driving wheel assembly 42 close to the steering center is lower than that of the driving wheel assembly 42 far away from the steering center.

Specifically, the driving wheel assembly 42 in the driving device 4 runs along the inner wall of the pipeline, so that the in-pipeline welding machine moves in the pipeline, and the front wheel 223 is used for assisting in running. It should be noted that during an over-bending of the in-line pipe welding machine, the angular velocity of the inner (near the center of rotation) drive wheel assembly 42 and the angular velocity of the outer (far from the center of rotation) drive wheel assembly 42 are the same relative to the center of rotation, but since the turning radius of the inner drive wheel assembly 42 is smaller than the turning radius of the outer drive wheel assembly 42, the linear velocity of the inner drive wheel assembly 42 is smaller than the linear velocity of the outer drive wheel assembly 42, resulting in the rotational velocity of the inner drive wheel assembly 42 being smaller than the rotational velocity of the outer drive wheel assembly 42. It can be seen that the rotation speed of the driving wheel assembly 42 near the steering center is lower than that of the driving wheel assembly 42 far from the steering center, so that the posture stability of the frame 3 during the overbending can be ensured.

The posture adjusting device 2 is positioned between the machine head 1 and the machine frame 3 and comprises a posture adjusting mechanism 22 and a flexible adjusting mechanism 23, the flexible adjusting mechanism 22 is arranged close to the machine head 1, and the posture adjusting mechanism 23 is arranged close to the machine frame 3. The posture adjusting mechanism 22 includes a front wheel 223 capable of always fitting the inner wall of the pipe to ensure the posture stability when the head 1 is excessively bent. In the process of welding and bending in the pipeline, the head 1 and the frame 3 can be relatively bent to adapt to the pipe bending section due to the action of the flexible adjusting mechanism.

Therefore, the posture stability of the machine head 1 during bending is ensured through the posture adjusting mechanism 22, the posture stability of the machine frame 3 during bending is ensured by controlling the rotating speed of the driving wheel assembly 42 on the inner side to be lower than that of the driving wheel assembly 42 on the outer side, and the flexible adjusting mechanism 23 between the machine head 1 and the machine frame 3 ensures that the pipeline can deform during bending to adapt to a bent pipe section. Therefore, the pipeline internal welding machine has good bending performance, ensures the posture stability of the pipeline internal welding machine during bending, and ensures the welding precision.

As shown in fig. 2 to 4, further, the posture adjustment device 2 further includes a posture adjustment plate 21, and posture adjustment mechanisms 22 and flexible adjustment mechanisms 23 are disposed on front and rear sides of the posture adjustment plate 21.

It should be noted that the head 1 is in front and the frame 3 is in back. In the present embodiment, the posture adjustment mechanism 22 and the flexible adjustment mechanism 23 are both mounted on the posture adjustment plate 21, so that the structure is more compact.

Further, a first mounting column 211 vertically extends from the posture adjustment plate 21, and the posture adjustment mechanism 22 further includes an adjustment bracket 221 and an adjustment power lever set 222. The adjusting brackets 221 are symmetrically arranged on two sides of a vertical axial plane of the in-pipe welding machine, one axial end of each adjusting bracket is pivotally connected with the attitude adjusting plate 21, and the other axial end of each adjusting bracket is connected with the front wheel 223.

The adjusting power rod set 222 includes an adjusting power component 2221 and an adjusting telescopic rod 2222, two ends of the adjusting telescopic rod 2222 are hinged to the first mounting column 211 and the adjusting bracket 221, and the adjusting power component 2221 is in driving connection with the adjusting telescopic rod 2222 to drive the adjusting telescopic rod 2222 to extend and retract back and forth to expand and retract the adjusting bracket 221.

Specifically, be equipped with first erection column 211 on attitude adjusting plate 21 in order to be used for articulated one end of adjusting flexible member 2222, the other end of adjusting flexible member 2222 is articulated with adjusting support 221, adjusts flexible member 2222 through adjusting the drive of power part 2221 and stretches out and draws back to the support 221 is adjusted in exhibition receipts and let install and laminate the pipeline inner wall all the time at the front wheel 223 of adjusting support 221 tip, so guarantee the attitude stability of aircraft nose 1 when in the intraductal removal.

As shown in fig. 6 and 7, in order to enable the adjusting power part 2221 to drive the adjusting telescopic rod 2222 to move, in the illustrated embodiment, the adjusting telescopic rod 2222 further includes a base 22221, a driven gear 22225, a movable rod 22224, and a first boss 22222 and a second boss 22223 disposed at two sides of the base 22221, the driven gear 22225 is disposed in the base 22221, an inner end of the movable rod 22224 passes through the second boss 22223 and is in threaded connection with the driven gear 22225, and the adjusting power part 2221 is mounted on the base 22221 and is used for driving the driven gear 22225 to rotate.

Specifically, the adjustment power part 2221 drives the driven gear 22225 to rotate, and since the inner end of the movable rod 22224 is threadedly connected with the driven gear 22225, the driven gear 22225 drives the movable rod 22224 to spirally extend during the rotation, thus performing the telescopic action.

In the illustrated embodiment, the two ends of the telescopic bar 2222 are respectively provided with a first fisheye bearing 22226 and a second fisheye bearing 22227, and of course, the first fisheye bearing 22226 is mounted in the first sleeve 22222, and the second fisheye bearing 22227 is threadedly connected to the movable bar 22224. As mentioned above, the movable rod 22224 is extended spirally, so that the second fisheye bearing 22227 and the movable rod 22224 need to be connected by screw threads, so as to ensure that the second fisheye bearing 22227 is extended in a translational manner. In other words, the adjusting telescopic rod 2222 is hinged to the first mounting column 211 and the adjusting bracket 221 through the fisheye bearing. In addition, in the illustrated embodiment, the power adjustment component 2221 is a motor.

Of course, the adjusting power rod set 222 is not limited to the illustrated embodiment, and the adjusting power rod set 222 may also include, for example, an electric push rod, which is not illustrated herein.

As shown in fig. 3, 5 and 8, in the embodiment of the present invention, the posture adjustment plate 21 has a second mounting column 212 vertically extending therefrom, the second mounting column 212 is located on the same side as the first mounting column 211, and the posture adjustment mechanism 22 further includes shock-absorbing members 224, and the shock-absorbing members 224 are respectively hinged to the second mounting column 212 and the adjustment bracket 221.

Specifically, the shock absorbing assembly 224 is used for buffering and absorbing the front wheel 223, so as to ensure the stable posture of the in-pipeline welding machine when the front wheel 223 passes through the pipe section (such as a welding seam) with uneven inner wall of the pipeline. It will be appreciated that the adjustment bracket 221 changes attitude during jumping and therefore the shock absorbing assembly 224 also fine-tunes attitude, and therefore the shock absorbing assembly 224 is preferably mounted by means of articulation.

As shown in fig. 8, in the illustrated embodiment, the shock absorbing assembly 224 includes two end covers 2241 arranged at intervals, a shock absorbing member 2242 interposed between the two end covers 2241, and a third fisheye bearing 2243 provided on the two end covers 2241. And is hinged with the second mounting column 212 and the adjusting bracket 221 through a third fisheye bearing 2243. In the illustrated embodiment, the shock absorbing member 2242 is a compression spring, but is not limited thereto, and may be an elastic rubber or the like.

As shown in fig. 2 and 4, in the embodiment of the present invention, the flexible adjusting mechanism 23 includes a universal joint 231 and a plurality of elastic members 232. Both ends of the universal joint 231 are attached to the attitude adjusting plate 21 and the front end of the frame 3, respectively. A plurality of elastic members 232 are arranged around the circumference of the universal joint 231 and connected between the posture adjustment plate 21 and the front end portion of the frame 3.

Specifically, the universal joint 231 is used for realizing the hinging of the posture adjusting plate 21 and the frame 3, and the frame 3 and the posture adjusting plate 21 can swing relatively, that is, the frame 3 and the machine head 1 can swing relatively to be suitable for a pipe bending section. Of course, the elastic member 232 can relatively reset the frame 3 and the posture adjustment plate 21. Therefore, the flexible adjusting mechanism 23 has the functions of connecting and supporting the machine head 1 and the machine frame 3, and can increase the movement stability of the machine head 1 and the machine frame 3 during bending. Preferably, the elastic member 232 is a compression spring.

As shown in fig. 2 and 4, in the illustrated embodiment, the front end portion of the frame 3 includes a frame front mounting plate 31, and the universal joint 231 and the elastic member 232 are connected between the frame front mounting plate 31 and the attitude adjustment plate 21. The elastic members 232 are compression springs and are 8 in number, and the number of the elastic members 232 near the bottom of the posture adjustment plate 21 is much larger than the number of the elastic members 232 near the top of the posture adjustment plate 21. As mentioned earlier, the front wheel 223 is disposed below the in-pipe welding machine, and the front wheel 223 below bears a large friction force, so that the number of the elastic components 232 below is greater than that of the elastic components 232 above, and the machine head 1 and the machine frame 3 are more easily swung and reset relatively.

As shown in fig. 11, in the embodiment of the present invention, the driving device 4 further includes an electric differential mechanism 41, and the electric differential mechanism 41 includes a differential 416, a driving motor 413, a steering gear 412, and a drive pulley 411. The drive motor 413 is drivingly connected to the input shaft of the differential 416. The steering gear 412 is drivingly connected to the output half shafts on both radial sides of the differential 416, and the output shaft of the steering gear 412 is perpendicular to the output half shafts. The driving wheels 411 are mounted on the output shaft of the steering gear 412 and located at two radial sides of the pipe internal welding machine, and the driving wheels 411 at the same side are in driving connection with the driving wheel assembly 42.

Specifically, the electric differential mechanism 41 adjusts the rotation speed of the driving wheels 411 on both sides through the differential 416. It should be noted that the differential 416 includes an input shaft and output half shafts on both sides, the differential 416 is capable of adjusting the rotational speed of the output half shafts on both sides according to the load, and the steering gear 412 is used to change the direction of force transmission.

In this embodiment, the driving motor 413 is a power source, and is output by an output half shaft after passing through the differential 416 and connected to the steering gear 412, the steering gear 412 changes the output direction of the output half shaft and drives the driving wheel 411, and the driving wheel 411 drives the driving wheel assembly 42 to rotate, so as to realize walking in the pipeline. The driving wheel 411 is connected with an output half shaft of a differential 416 through a steering gear 412, and the differential 416 can adjust the rotating speed of the output half shaft according to load, so that the driving wheel 411 can also output different rotating speeds, and the driving wheel assemblies 42 on two sides can be driven to rotate at different rotating speeds.

As shown in fig. 15, in the illustrated embodiment, the driving wheel assembly 42 includes a pivot shaft 423 and two driving wheels 421 and driven wheels 422 coaxially disposed at intervals and pivotally connected to the pivot shaft 423, the driven wheels 422 are sandwiched between the two driving wheels 421, and the two driving wheels 421 can rotate synchronously with the driven wheels 422. In the illustrated embodiment, a rolling bearing 424 is also provided between the drive wheel 421 and the pivot shaft 423 to reduce friction and ensure smooth rotation. In the illustrated embodiment, the driven pulley 422 and the driving pulley 411 are drivingly connected by a drive chain 434, which in an alternative embodiment is a sprocket and chain drive. Of course, not limited to the illustrated embodiment, for example, the two are belt pulley synchronous drives, and particularly, the two are driven by a toothed belt.

As shown in fig. 9 and 12, in the embodiment of the present invention, the driving device 4 further includes a traveling jacking mechanism 43 located above the electric differential mechanism 41, and the traveling jacking mechanism 43 includes a jacking power lever group 431, a rocker arm 432, and a rocker arm link 433. The top-support power rod group 431 comprises a fixed end part which is pivotally connected with the front end part of the machine frame 3 and a movable end part which extends towards the rear end part of the machine frame 3, and the movable end part of the top-support power rod group 431 can linearly stretch and retract in a reciprocating manner along the axial direction of the in-pipe welding machine. The rocker arms 432 are symmetrically arranged on both sides of the vertical axial plane of the in-pipe welder and have one end pivotally connected to the front end of the frame 3 and the other end mounting the drive wheel assembly 42. The rocker arm connecting rods 433 are symmetrically arranged on two sides of a vertical axial plane of the in-pipe welding machine, one end of each rocker arm connecting rod is pivotally connected with the rocker arm 432, and the other end of each rocker arm connecting rod is pivotally connected with the movable end of the top bracing power rod group 431.

Specifically, the inner diameter of the pipeline that can be passed through by the welding machine in this pipeline is decided to the interval between two drive wheel assemblies 42, and the tight mechanism in top is used for strutting the drive wheel assembly 42 of both sides for drive wheel assembly 42 hugs closely the inner wall of pipeline, and it can only to guarantee can form certain pre-pressure between drive wheel assembly 42 and the pipeline inner wall, makes have sufficient frictional force between drive wheel assembly 42 and the pipeline inner wall, avoids skidding, possesses certain damping brake function promptly. In this embodiment, the movable end of the top prop power rod set 431 extends out from the driving rocker link 433 to drive the rocker 432 to unfold, so that the driving wheel assembly 42 located on the end of the rocker 432 is attached to the inner wall of the pipeline.

As shown in fig. 13, in the illustrated embodiment, the top-supported power rod set 431 includes a first cylinder 4311, first support rods 4312 symmetrically arranged at both radial sides of the first cylinder 4311, a connecting rod connection plate 4313, and a cylinder mount 4314. The first cylinder 4311 is mounted on a cylinder mounting seat 4314, the cylinder mounting seat 4314 can be pivotally connected to the front end of the frame 3, a connecting rod connecting plate 4313 is mounted on the outer end of the piston rod of the first cylinder 4311, and two ends of the first stay 4312 are respectively connected to the cylinder mounting seat 4314 and the connecting rod connecting plate 4313.

Wherein the first cylinder 4311 provides a primary pre-pressure to the drive wheel assembly 42 and the first strut 4312 assists in providing the pre-pressure. The connecting rod connection plate 4313 is a movable end portion of the top-supported power rod group 431, and the cylinder mounting seat 4314 is a fixed end portion of the top-supported power rod group 431. In the event of failure of the first cylinder 4311, the first strut 4312 can also provide pre-pressure to prevent the drive wheel assemblies 42 on both sides from recovering. The first brace 4312 can be a gas spring. Of course, it should be noted that the top bracing power rod group 431 is not limited to the above embodiment, and may also include, for example, a combination of a cylinder and a hydraulic brace, which is not exemplified herein.

In this embodiment, the electric differential mechanism 41 is disposed below the walking and jacking mechanism 43, so that the center of gravity of the in-pipeline welding machine can be lowered, and the operation stability of the in-pipeline welding machine in the pipeline is improved. In addition, can know from the foregoing, this welding machine is the rear-guard overall arrangement in the pipeline, because the pipeline of arranging in the hillock area possesses more climbing district, sets up this welding machine in the pipeline into the rear-guard overall arrangement and more does benefit to this welding machine in the pipeline and climbs the slope.

Next, in the embodiment of the present invention, the electric differential mechanism 41 further includes a speed reducer 414 and a coupling 415, an input end of the speed reducer 414 is connected to an output shaft of the driving motor 413, and an output shaft of the speed reducer 414 is connected to an input shaft of the differential 416 through the coupling 415.

As described above, as shown in fig. 11, the electric differential mechanism 41 is used as a power mechanism of the driving device, and the whole in-pipe welding machine has a large mass, and needs a certain driving force to drive the whole in-pipe welding machine to move, so that the driving torque is increased by adopting a structure that the driving motor 413 is matched with the speed reducer 414, and the climbing capability of the in-pipe welding machine is improved. Of course, the coupling 415 is used to connect the two shafts, that is, the output shaft of the speed reducer 414 is connected to the input shaft of the differential 416, so that the speed reducer 414 and the differential 416 rotate synchronously.

As shown in fig. 14, in the embodiment of the present invention, the driving device 4 further includes a brake mechanism 44 located behind the walking and jacking mechanism 43, and the brake mechanism 44 includes a brake power rod set 441 and a movable brake assembly. And the brake power rod group 441 is arranged in the machine frame 3 along the radial direction of the in-pipe welding machine, and at least one end of the brake power rod group can extend and retract back and forth along the radial direction. The movable brake assemblies are mounted on both ends of the brake power lever group 441. The brake power rod group 441 can drive the movable brake components at two ends to be unfolded outwards along the radial direction of the pipeline inner welding machine so as to be attached to the inner wall of the pipeline.

Specifically, the movable brake components at the two ends are driven to be unfolded through the brake power rod group 441, so that the movable brake components are attached to the inner wall of the pipeline, and damping friction is formed between the movable brake components and the inner wall of the pipeline to realize a braking function.

In the illustrated embodiment, the brake power rod group 441 includes a second cylinder 4411 and second stays 4412 symmetrically disposed at both radial sides of the second cylinder 4411. The second support rod 4412 is a gas spring, but the brake power rod group 441 is not limited to the illustrated embodiment and may include a combination of a cylinder and a hydraulic support rod, for example.

Additionally, in the illustrated embodiment, the moveable brake assembly includes an ejector 442, an ejector link 444, and a brake pad 443. The ejector 442 is connected to an end of the brake power rod group 441. The two ends of the ejecting seat connecting rod 444 are pivotally connected to the ejecting seat 442 and the frame 3, respectively. The brake pad 443 is disposed outside the ejector 442.

Specifically, the brake mechanism 44 is movably mounted on the frame 3 through the ejector connecting rod 444, and when the second cylinder 4411 is in an unventilated state, the second stay 4412 drives the ejector 442 at both ends to expand, so that the brake pad 443 is attached to the inner wall of the pipe to form a braking friction force. When the second cylinder 4411 is in a ventilation state, the piston rod of the second cylinder 4411 is retracted, so that the brake pad 443 is retracted, and the welding in the pipeline can normally run. In other words, the air is not braked, the welding machine in the pipeline normally walks, the air is cut off to brake, and the welding machine in the pipeline stops.

Of course, the brake mechanism 44 is not limited to the illustrated embodiment, and may be, for example, two cylinders disposed opposite to each other in the radial direction, and the outer ends of the piston rods of the two cylinders are respectively connected with the movable brake assemblies, and the two cylinders can be synchronously extended and retracted to drive the movable brake assemblies to extend and retract in the radial direction.

In an embodiment of the invention, the minimum overbending radius of the in-pipe welder is 6 times the outside diameter of the pipe through which the in-pipe welder can pass. That is, the over-bending performance of the welding energy in the pipeline is 6 times of the outer diameter of the pipeline with the minimum over-bending radius.

In the embodiment of the invention, as shown in fig. 1, the head 1 comprises a conical head assembly 11, three sets of axial positioning claws 12, a centering expansion head 13, a plurality of sets of welding heads 14 and an expansion head mounting plate 15. Three sets of axial positioning claws 12 can prevent the machine head 1 from generating axial movement, and a plurality of groups of welding heads 14 are used for automatic welding.

In an embodiment of the present invention, as shown in fig. 1, the in-pipe welder may further include a battery 5, a bump wheel assembly 6, a lifting device 7, a rear wheel assembly 8, an air storage tank 9, and a protective cylinder 10. The battery 5 can adopt a high-power battery and can supply power for all electric parts of the internal welding machine, and the lifting device 7 is movably connected between the expansion head mounting plate 15 and the rack front mounting plate 31. The gas storage tank 9 provides a gas source for the pneumatic execution component, and the protective gas bottle 10 provides protective gas for welding operation, so that the welding quality is ensured.

In conclusion, the invention aims to provide a pipeline internal welding machine, a three-electrical system of 'battery + electric control + motor' is adopted as a walking power system of the internal welding machine, the overall dimension of the pipeline internal welding machine is reduced, the self-adaptive adjustment of the rotating speed of a driving wheel assembly 42 is realized through a differential 416 so as to ensure the stability of bending, the posture adjusting mechanism 22 is used for ensuring that a front wheel 223 is always attached to the inner wall of a pipeline so as to ensure the stability of bending, thus the initial welding position of each welding head is ensured, the quality of each welding line is ensured, and the flexible adjusting mechanism 23 is additionally arranged between a machine head 1 and a machine frame 3 so as to meet the requirement that the internal welding machine is suitable for the bent pipe 6D of a long-distance pipeline in a mountainous area. The driving wheel assemblies 42 of the pipeline internal welding machine are always in contact with the inner wall of the pipeline in a normal state through the walking and jacking mechanism 43, and each driving wheel assembly and the inner wall of the pipeline keep proper pre-pressure, so that the walking power mechanism of the internal welding machine has a damping and braking function, and the running safety of the internal welding machine is improved.

Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and these simple modifications all belong to the protection scope of the embodiments of the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It should be noted that, in the foregoing embodiments, various features described in the foregoing embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described in further detail in the embodiments of the present invention.

In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.

Claims (10)

1. The pipeline internal welding machine is characterized by comprising a driving device (4), a machine head (1), an attitude adjusting device (2) and a rack (3), wherein the machine head (1), the attitude adjusting device (2) and the rack (3) are sequentially connected along the axial direction of the pipeline internal welding machine, and the driving device (4) is arranged in the rack (3);

the driving device (4) comprises driving wheel assemblies (42) positioned on two radial sides of the pipeline internal welding machine, the posture adjusting device (2) comprises a posture adjusting mechanism (22) and a flexible adjusting mechanism (23) positioned between the posture adjusting mechanism (22) and the rack (3), the posture adjusting mechanism (22) comprises front wheels (223) which can be attached to the inner wall of the pipeline and are symmetrically arranged below two sides of a vertical axial plane of the pipeline internal welding machine, and the flexible adjusting mechanism (23) is used for enabling the rack (3) and the machine head (1) to adjust the relative position;

wherein, during the process of overbending, the rotating speed of the driving wheel component (42) close to the steering center is lower than that of the driving wheel component (42) far away from the steering center.

2. The in-pipe welder according to claim 1, wherein the posture adjustment device (2) further comprises a posture adjustment plate (21), and the posture adjustment mechanism (22) and the flexible adjustment mechanism (23) are disposed on front and rear sides of the posture adjustment plate (21).

3. The in-pipe welder according to claim 2, wherein the posture adjusting plate (21) has a first mounting post (211) vertically protruded thereon, and the posture adjusting mechanism (22) further comprises:

the adjusting brackets (221) are symmetrically arranged on two sides of a vertical axial plane of the pipeline internal welding machine, one axial end of each adjusting bracket is pivotally connected with the attitude adjusting plate (21), and the other axial end of each adjusting bracket is connected with the front wheel (223); and

adjust power pole group (222), including adjusting power part (2221) and adjusting flexible member spare (2222), the both ends of adjusting flexible member spare (2222) respectively with first erection column (211) and adjust support (221) articulated, adjust power part (2221) with adjust flexible member spare (2222) drive connection in order to be used for the drive adjust flexible member spare (2222) reciprocal flexible in order to expand and contract adjust support (221).

4. The in-pipe welder according to claim 3, wherein a second mounting column (212) vertically extends from the attitude adjustment plate (21), the second mounting column (212) is located on the same side as the first mounting column (211), and the attitude adjustment mechanism (22) further comprises a shock absorption assembly (224), and the shock absorption assembly (224) is respectively hinged to the second mounting column (212) and the adjustment bracket (221).

5. The in-pipe welder according to claim 2, characterized in that said flexible adjustment mechanism (23) comprises:

a universal joint (231) having both ends mounted to the attitude adjustment plate (21) and the front end of the frame (3), respectively; and

a plurality of elastic members (232) arranged around the circumferential direction of the universal joint (231) and connected between the attitude adjustment plate (21) and the front end portion of the frame (3).

6. The in-pipe welder according to claim 1, characterized in that said drive means (4) further comprises an electric differential mechanism (41), said electric differential mechanism (41) comprising:

a differential (416);

a drive motor (413) in driving connection with an input shaft of the differential (416);

a steering gear (412) in driving connection with output half shafts on two radial sides of the differential (416), wherein an output shaft of the steering gear (120) is perpendicular to the output half shafts;

and the driving wheel (411) is arranged on an output shaft of the steering gear (412) and positioned at two radial sides of the pipeline internal welding machine, and the driving wheel (411) at the same side is in driving connection with the driving wheel assembly (42).

7. The in-pipe welder according to claim 6, characterized in that said driving device (4) further comprises a walking puller mechanism (43) located above said electric differential mechanism (41), said walking puller mechanism (43) comprising:

the top-support power rod group (431) comprises a fixed end part which is pivotally connected with the front end part of the rack (3) and a movable end part which extends out towards the rear end part of the rack (3), and the movable end part of the top-support power rod group (431) can linearly stretch and retract in a reciprocating manner along the axial direction of the in-pipe welding machine;

the rocker arms (432) are symmetrically arranged on two sides of a vertical axial plane of the in-pipe welding machine, one end of each rocker arm is pivotally connected with the front end part of the rack (3), and the other end of each rocker arm is provided with the driving wheel assembly (42); and

the rocker arm connecting rods (433) are symmetrically arranged on two sides of a vertical axial plane of the pipeline internal welding machine, one end of each rocker arm connecting rod is pivotally connected with the rocker arm (432), and the other end of each rocker arm connecting rod is pivotally connected with the movable end of the top bracing power rod group (431).

8. The in-pipe welder according to claim 7, characterized in that said driving device (4) further comprises a braking mechanism (44) located behind said walking puller mechanism (43), said braking mechanism (44) comprising:

the brake power rod group (441) is arranged in the frame (3) along the radial direction of the in-pipe welding machine, and at least one end of the brake power rod group can stretch and retract back and forth along the radial direction; and

the movable brake components are arranged on two ends of the brake power rod group (441);

the brake power rod group (441) can drive the movable brake components at two ends to be unfolded outwards along the radial direction of the pipeline internal welding machine so as to be attached to the inner wall of the pipeline.

9. The in-pipe welder according to claim 8, characterized in that the movable brake assembly comprises:

the ejection seat (442) is connected with the end part of the brake power rod group (441);

the two ends of the ejection seat connecting rod (444) are respectively pivoted with the ejection seat (442) and the machine frame (3); and

and a brake pad (443) disposed outside the ejector base (442).

10. The in-pipe welder according to any of claims 1 to 9, characterized in that the minimum overbending radius of the in-pipe welder is 6 times the outer diameter of the pipe, which is the outer diameter of the pipe through which the in-pipe welder can pass.

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