WO2021114431A1

WO2021114431A1 - Pipeline internal welding machine

Info

Publication number: WO2021114431A1
Application number: PCT/CN2019/129755
Authority: WO
Inventors: 李堂权; 杨志梅; 李荣东; 牟坤
Original assignee: 成都熊谷加世电器有限公司
Priority date: 2019-12-11
Filing date: 2019-12-30
Publication date: 2021-06-17
Also published as: CN110900045B; CN110900045A

Abstract

Disclosed is a pipeline internal welding machine. The main structure of the pipeline internal welding machine involves comprising a braking module (1), an internal welding machine energy module (9), a driving module (2) and a welding machine module (3), which are sequentially connected by means of a flexible connecting mechanism (7), wherein the braking module is connected to a photography module (5), the welding machine module is connected to a control reaching module (4), a self-centering mechanism (8) is respectively arranged on the braking module and the driving module, and a posture adjustment mechanism (31) is arranged on the welding machine module. The pipeline internal welding machine can adapt to the size of the inner diameter of a pipeline, such that the internal welding machine travels stably in the pipeline and also has a good turning capacity.

Description

Pipeline internal welding machine

The present invention requires the priority of the earlier application CN 2019112681694, the application date of December 11, 2019, and all the content in the earlier application should be incorporated by reference.

Technical field

The invention relates to the technical field of pipeline internal welding machine structure, in particular to a pipeline internal welding machine.

Background technique

In recent years, domestic and foreign oil and gas pipelines have rapidly developed in the direction of high steel grade, high pressure, and large diameter. It is inevitable to promote pipeline automatic welding technology to improve pipeline welding quality and construction efficiency. At present, the automatic internal root welding of pipelines mainly depends on the internal pipeline welding machine. Pipeline internal welding machine is also called pipeline internal circumferential seam automatic welding machine. During the pipeline welding process, it mainly completes the task of matching two steel pipes to be welded and internal root welding. It is a key equipment in pipeline welding construction.

However, the future pipeline construction cannot avoid mountain laying. The existing internal welding machine has the following shortcomings when welding and laying pipelines in mountainous areas:

1. The inner diameter of the pipeline is different, and the existing inner welding machine can only choose the smaller size according to the inner diameter of the pipeline. However, the internal welder selected in this way and the pipeline will be in a relatively loose state. Especially when crawling and walking on large slopes, due to gravity and slope, the existing internal welding machine cannot meet the requirements of stable walking on large slopes for the internal welding machine, and welding errors are prone to occur.

2. The pipe bending capability of the mainstream internal welding machine used in the construction of long-distance pipelines is mainly realized by reducing the mechanical structure size of the host. The pipe bending capability is low (>40D), and it is not suitable for pipeline laying. Root welding construction requires a small radius of curvature of the elbow of the equipment.

Therefore, there is an urgent need for an in-pipe welding machine that can solve the above-mentioned defects.

Summary of the invention

The purpose of the present invention is to provide a pipeline internal welding machine, which can adapt to the size of the internal diameter of the pipeline, so that the internal welding machine can walk smoothly in the pipeline, and at the same time, has good bending ability.

In order to achieve the above objective, the present invention provides a pipeline internal welding machine, which includes a brake module, an internal welding machine energy module, a drive module, and a welding machine module that are sequentially connected by a flexible connection mechanism; the brake module is far away from the internal welding machine energy source One end of the module is connected with a photographing module, and the end of the welding machine module far away from the drive module is connected with a control delivery module; both the brake module and the drive module are provided with self-centering that makes them in the position of the axis of the pipe The welding machine module is provided with a posture adjustment mechanism to make it at the position of the axis of the pipeline.

As a further improvement of the present invention, the brake module includes a tubular brake base arranged along the moving direction of the internal welding machine, and a plurality of brakes arranged around its axis are arranged on the outside of the side wall of the brake base. Rubber mounting frame; the brake rubber mounting frame and the brake base are provided with a brake clutch link and a brake centralizing link that can swing along the moving direction of the inner welder and whose ends are hinged with both, so The brake clutch connecting rod and the brake centralizing connecting rod are arranged at an angle on the side close to the brake rubber mounting frame; the brake rubber mounting frame is provided with brake rubber on the side away from the brake base.

As a further improvement of the present invention, the inner wall of the brake base is provided with a brake clutch sleeve that can move along its extension direction, and the end of the brake clutch link passes through the side wall of the brake base and brakes. The clutch sleeve is hinged, and the side wall of the brake base is provided with a brake seat notch for the brake clutch connecting rod to swing.

As a further improvement of the present invention, the inner wall of the brake base is also provided with a brake clutch cylinder for driving the brake clutch sleeve, and the power output end of the brake clutch cylinder is connected to the brake clutch sleeve through the brake cylinder rod. connection.

As a further improvement of the present invention, the drive module includes a tubular drive base arranged along the moving direction of the inner welder, and a plurality of drive wheel mounting frames arranged around its axis are provided on the outside of the side wall of the drive base; Between the drive wheel mounting frame and the drive base is provided a drive clutch link and a drive centralizing link that can swing along the moving direction of the inner welder and whose ends are hinged to the two respectively. The drive clutch link and drive centralizing link The connecting rod is arranged at an angle on the side close to the driving wheel mounting frame; the driving wheel mounting frame is provided with a driving wheel that rotates along the moving direction of the inner welder on the side away from the driving base, and the driving wheel mounting frame is also provided with The drive motor connected to the drive wheel drive.

As a further improvement of the present invention, the inner wall of the drive base is provided with a drive clutch sleeve that can move along its extension direction, and the end of the drive clutch link passes through the side wall of the drive base and is hinged with the drive clutch sleeve, so The side wall of the driving base is provided with a driving seat notch for driving the clutch connecting rod to swing.

As a further improvement of the present invention, the inner wall of the drive base is also provided with a drive clutch cylinder for driving the drive clutch sleeve, and the power output end of the drive clutch cylinder is connected with the drive clutch sleeve through the drive cylinder rod.

As a further improvement of the present invention, the self-centering mechanism includes a plurality of centering wheel mounting frames arranged around the axis of the pipe; between the centering wheel mounting frame and the brake module, the centering wheel mounting frame drive module There is a centering wheel support link and an elastic support assembly that can swing along the moving direction of the inner welder and the ends are hinged to the two respectively; the centering wheel mounting frame is provided with an inner edge on the side away from the axis of the pipeline. A centering wheel that rotates in the direction of movement of the welding machine.

As a further improvement of the present invention, the posture adjustment mechanism includes a plurality of guide wheel mounting frames arranged around the axis of the pipeline and capable of swinging along the moving direction of the inner welder, and the guide wheel mounting frame is provided with a guide wheel that moves along the inner welder. One side of the guide wheel mounting frame is hinged with the welding machine module, and the other side is connected with the welding module through an elastic support.

As a further improvement of the present invention, the flexible connection mechanism includes a mounting plate arranged on the end faces of two adjacent modules, and the two mounting plates are connected by a universal joint; the opposite sides of the two mounting plates A chain mounting ring is arranged on the two chain mounting rings, and the two chain mounting rings are connected by a coupling safety chain link.

Beneficial effect

Compared with the prior art, the advantages of the pipeline internal welding machine of the present invention are:

1. The present invention includes a brake module, an internal welding machine energy module, a driving module and a welding machine module that are sequentially connected by a flexible connection mechanism. The various modules of the inner welder are flexibly connected, so that the entire set of inner welder equipment can be adapted to adjust the posture according to the bending changes of the pipeline when it is walking in the pipeline. The flexible connection of each module enables the inner welder to meet the passing requirements when the radius of curvature of the pipeline is small, thereby improving the adaptability of the inner welder to the pipeline with changing bending, that is, the bending ability.

2. Both the brake module and the drive module are equipped with a self-centering mechanism to make them at the pipe axis position, and the welding machine module is equipped with a posture adjustment mechanism to make it at the pipe axis position. The self-centering mechanism set on the brake module and the drive module can make the internal welder equipment adapt to the size of the pipe inner diameter, meet the safety requirements of the internal welder running in the pipeline, and then meet the requirements of the internal welder's large slope crawling and Stability of walking is required. The posture adjustment mechanism can make the welder module maintain a stable posture when running in the pipeline, and will not rotate when walking in the pipeline.

3. Between the brake rubber mounting frame and the brake base, there are brake clutch connecting rods and brake centralizing connecting rods that can swing along the moving direction of the inner welder and the ends are hinged with both. Brake rubber is provided on the side of the brake rubber mounting frame away from the brake base. Through the swing of the brake clutch connecting rod and the brake righting connecting rod, the brake rubber can be contacted or separated from the inner wall of the pipeline, achieving the purpose of emergency braking and ensuring that the inner welder can walk in the pipeline, especially when climbing a slope Security requirements.

4. The inner wall of the brake base is provided with a brake clutch sleeve that can move along its extension direction. The end of the brake clutch link passes through the side wall of the brake base and is hinged with the brake clutch sleeve. The side wall of the brake base There is a brake seat gap for the brake clutch connecting rod to swing. Through the telescopic movement of the brake clutch sleeve in the brake base, the brake clutch connecting rod is driven to swing, thereby achieving the purpose of controlling the contact or separation of the brake rubber with the inner wall of the pipeline, and the transmission effect is good.

5. The inner wall of the brake base is also provided with a brake clutch cylinder for driving the brake clutch sleeve, and the power output end of the brake clutch cylinder is connected with the brake clutch sleeve through the brake cylinder rod. The brake clutch cylinder can accurately control the movement of the brake clutch sleeve, and then precisely control the extension of the brake rubber, so that the brake module can adapt to the size of the inner diameter of a variety of pipes and improve the scope of application of the whole set of equipment. At the same time, because the brake clutch cylinder is used as the power source, the staff can control the brake module by electrically controlling the dynamic clutch cylinder, which improves the electrical automation of the whole set of equipment and facilitates the control of the operator.

6. Between the drive wheel mounting frame and the drive base, there is a drive clutch link and a drive centralizing link that can swing along the moving direction of the inner welder and the ends are hinged with the two respectively. The drive wheel mounting frame is far away from the drive base. The side is provided with a driving wheel that rotates along the moving direction of the inner welder, and the driving wheel mounting frame is also provided with a driving motor connected with the driving wheel. By driving the swing of the clutch connecting rod and the driving centralizing connecting rod, the driving wheel can be contacted or separated from the inner wall of the pipeline, and in cooperation with the driving motor that drives the driving wheel to rotate, the purpose of driving the entire set of internal welding equipment to move is achieved, and the internal welding machine is guaranteed to be in motion. The power requirements for walking in the pipeline, especially when climbing a slope.

7. The inner wall of the drive base is provided with a drive clutch sleeve that can move along its extension direction. The end of the drive clutch link passes through the side wall of the drive base and is hinged with the drive clutch sleeve. The side wall of the drive base is provided with a drive clutch. Drive seat gap for connecting rod swing. Through the telescopic movement of the driving clutch sleeve in the driving base, the driving clutch connecting rod is driven to swing, thereby achieving the purpose of controlling the contact or separation of the driving wheel with the inner wall of the pipeline, and the transmission effect is good.

8. The inner wall of the driving base is also provided with a driving clutch cylinder for driving the driving clutch sleeve, and the power output end of the driving clutch cylinder is connected with the driving clutch sleeve through the driving cylinder rod. The drive clutch cylinder can precisely control the movement of the drive clutch sleeve, and then precisely control the extension of the drive wheel, so that the drive module can adapt to a variety of pipe inner diameters and improve the scope of application of the entire set of equipment. At the same time, because the drive clutch cylinder is used as the power source, the staff can control the drive module by electronically driving the clutch cylinder, thereby improving the electrical automation of the entire set of equipment and facilitating the control of the operator.

9. Between the centering wheel mounting frame and the brake module, and between the centering wheel mounting frame drive module, there is a centering wheel support connecting rod and a centering wheel that can swing along the moving direction of the inner welder and whose ends are hinged to the two. Elastic support components. A centering wheel that rotates along the moving direction of the inner welder is provided on the side of the centering wheel mounting frame away from the axis of the pipeline. Through the swing of the centering wheel support connecting rod and the expansion and contraction of the elastic support component, the centering wheel can be in elastic contact with the inner wall of the pipeline, so that the brake module and the drive module can adapt to the size of the inner diameter of the pipeline to meet the requirements of the internal welding machine in all kinds of pipelines. The safety requirements of the operation can meet the requirements of large-slope crawling of the internal welding machine and the requirements of walking stability.

10. The posture adjustment mechanism includes a plurality of guide wheel mounting frames arranged around the axis of the pipeline and capable of swinging along the moving direction of the inner welder. The guide wheel mounting frame is provided with a supporting guide wheel that rotates along the moving direction of the inner welder. One side of the guide wheel mounting frame is hinged with the welding machine module, and the other side is connected with the welding module through an elastic support. Through the swing of the guide wheel mounting frame and the expansion and contraction of the elastic support, the supporting guide wheel can be brought into elastic contact with the inner wall of the pipe, so that the welder module can adapt to the size of the inner diameter of the pipe, so that the welder module maintains a stable posture when running in the pipe. No rotation occurs when walking in the pipeline.

11. The two mounting plates are connected by universal joints. The opposite surfaces of the two mounting plates are provided with chain mounting rings, and the two chain mounting rings are connected by a coupling safety chain link. The setting of the universal joint enables the flexible connection between the modules of the whole set of equipment, so that the internal welding machine can meet the requirements of passing when the radius of curvature of the pipeline is small, and it improves the adaptability of the internal welding machine to the pipeline with changes in bending, that is, the bending ability. . At the same time, the safety link of the coupling can prevent the modules from falling off directly when there is a problem with the universal joint, which plays a role of further insurance.

The present invention will become clearer through the following description in conjunction with the accompanying drawings, which are used to explain the embodiments of the present invention.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Figure 1 is a schematic diagram of the structure of the present invention;

Figure 2 is a perspective view of the brake module of the present invention;

Figure 3 is a cross-sectional view of the brake module shown in Figure 2;

Figure 4 is a right side view of the brake module shown in Figure 2;

Figure 5 is a perspective view of the drive module of the present invention;

FIG. 6 is a cross-sectional view of the driving module shown in FIG. 5;

Fig. 7 is a left side view of the driving module shown in Fig. 5;

Figure 8 is a perspective view of the welding machine module of the present invention;

Figure 9 is a schematic diagram of the structure of the posture adjustment mechanism of the present invention;

Figure 10 is a schematic view of the structure of the elastic support assembly of the present invention;

Figure 11 is a schematic diagram of the structure of the flexible connection mechanism of the present invention;

Fig. 12 is a perspective view of the control delivery module of the present invention.

Among them: 1-brake module; 11-brake base; 111-brake clutch cylinder; 112-brake cylinder rod; 113-brake clutch sleeve; 114-brake seat gap; 12-brake clutch connecting rod 13-Brake centralizing connecting rod; 14-Brake rubber mounting frame; 15-Brake rubber; 2-Drive module; 21-Drive base; 211-Drive clutch cylinder; 212-Drive cylinder rod; 213-Drive clutch Cover; 214-drive seat gap; 22-drive clutch connecting rod; 23-drive centralizing connecting rod; 24-drive wheel mounting frame; 25-drive wheel; 26-drive motor; 27-reducer; 3-welder module; 31-posture adjustment mechanism; 311-support guide wheel; 312-guide wheel mounting frame; 32-delivery device connecting plate; 4-control delivery module; 41-connect pallet; 42-delivery rod; 421-coupler ; 43- bellows spring; 44- auxiliary support wheel; 45- signal amplifier; 46- control box; 5- shooting module; 6-connecting flange; 7- flexible connecting mechanism; 71- mounting plate; 72- universal joint ; 73-chain mounting ring; 74-coupling safety link; 8-self-centering mechanism; 81-centering wheel; 82-centering wheel mounting frame; 83-centering wheel support connecting rod; 84-elastic support Components; 9-internal welding machine energy module.

Detailed ways

The embodiments of the present invention will now be described with reference to the drawings.

Example

The specific implementation of the present invention is shown in Figures 1-11. A pipeline internal welding machine includes a brake module 1, an internal welding machine energy module 9, a driving module 2 and a welding machine module 3 which are sequentially connected by a flexible connection mechanism 7. . Wherein, the end surface of each module is provided with a connecting flange 6 for installing the flexible connecting mechanism 7. By flexibly connecting the various modules of the internal welding machine, the whole set of internal welding equipment can be adapted to adjust the posture according to the bending changes of the pipeline when it is walking in the pipeline. At the same time, the flexible connection of each module enables the inner welder to meet the passing requirements when the radius of curvature of the pipeline is small, thereby improving the adaptability of the inner welder to pipes with varying bends, that is, the bending ability.

In this embodiment, a photographing module 5 is connected to one end of the braking module 1 away from the energy source module 1 of the internal welding machine. The photographing module 5 is fixedly installed on the end surface of the brake module 1 through the connecting flange 6 and the situation of the inner wall of the pipeline is photographed by a camera arranged on the photographing module 5. Then, the captured video data is transmitted to the external display in real time, so that the operator can understand the situation of the inner wall of the pipeline in real time.

At the same time, as shown in FIG. 12, a control delivery module 4 is connected to the end of the welding machine module 3 away from the driving module 2. Regarding the installation of the control delivery module 4, the welding machine module 3 and the control delivery module 4 are respectively provided with a delivery device connection plate 32 and a connection pallet 41 at the connection between the two. The connecting plate 32 and the connecting support plate 41 are overlapped and connected, and are hinged and combined together by bolts. In this embodiment, the control delivery module 4 includes a plurality of delivery rods 42 arranged coaxially and connected in sequence. The delivery rod 42 at one end of one side is connected to the connecting pallet 41, and the delivery rod 42 at the other end is connected to the control box 46. The adjacent delivery rods 42 are connected to the bellows spring 43 through a coupler 421. The delivery rod 42 is provided with an auxiliary support wheel 44, and the delivery rod 42 connected with the control box 46 is also provided with a signal amplifier 45.

In addition, both the brake module 1 and the drive module 9 are provided with a self-centering mechanism 8 that makes them at the position of the axis of the pipe. The welding machine module 3 is provided with a posture adjustment mechanism 31 to position it at the position of the pipe axis. The self-centering mechanism 8 arranged on the brake module 1 and the drive module 9 can make the internal welder equipment adapt to the size of the inner diameter of the pipeline, meet the safety requirements of the internal welder running in the pipeline, and then meet the large slope of the internal welder Crawling requirements and walking stability requirements. The posture adjustment mechanism 31 can keep the posture of the welding machine module stable when running in the pipeline, and does not rotate when walking in the pipeline.

In this embodiment, as shown in FIGS. 2-4, the brake module 1 includes a tubular brake base 11 arranged along the moving direction of the inner welder. A plurality of brake rubber mounting brackets 14 arranged around the axis of the brake base 11 are provided on the outer side of the side wall of the brake base 11. The brake rubber mounting frame 14 and the brake base 11 are provided with a brake clutch link 12 and a brake centralizing link 13 which can swing along the moving direction of the inner welder and whose ends are hinged to the two respectively. The brake clutch link 12 and the brake centralization link 13 are arranged at an angle on the side close to the brake rubber mounting frame 14. The brake rubber mounting frame 14 is provided with a brake rubber 15 on the side away from the brake base 11. Through the swing of the brake clutch connecting rod 12 and the brake centralizing connecting rod 13, the brake rubber 15 can be contacted or separated from the inner wall of the pipeline, so as to achieve the purpose of emergency braking and ensure that the inner welder can walk in the pipeline, especially in the pipeline. Safety requirements when climbing.

Moreover, the inner wall of the brake base 11 is provided with a brake clutch sleeve 113 that can move along its extending direction. The end of the brake clutch link 12 passes through the side wall of the brake base 11 and is hinged to the brake clutch sleeve 113. The side wall of the brake base 11 is provided with a brake seat notch 114 for the brake clutch link 12 to swing. . The brake seat notch 114 is a long strip arranged along the extension direction of the brake base 11. Through the telescopic movement of the brake clutch sleeve 113 in the brake base 11, the brake clutch link 12 is driven to swing, thereby achieving the purpose of controlling the contact or separation of the brake rubber 15 with the inner wall of the pipeline, and the transmission effect is good.

The inner wall of the brake base 11 is also provided with a brake clutch cylinder 111 for driving the brake clutch sleeve 113. The power output end of the brake clutch cylinder 111 is connected to the brake clutch sleeve 113 through a brake cylinder rod 112. The brake clutch cylinder 111 can precisely control the movement of the brake clutch sleeve 113, and then precisely control the extension of the brake rubber 15, so that the brake module 1 can adapt to a variety of pipe inner diameters and improve the application scope of the entire equipment. At the same time, since the brake clutch cylinder 111 is used as the power source, the staff can control the brake module 1 by electrically controlling the dynamic clutch cylinder 111, thereby improving the electrical automation degree of the whole set of equipment and facilitating the control of the operator.

In this embodiment, as shown in FIGS. 5-7, the driving module 2 includes a tubular driving base 21 arranged along the moving direction of the internal welding machine. On the outer side of the side wall of the driving base 21, a plurality of driving wheel mounting frames 24 arranged around its axis are provided. Between the driving wheel mounting frame 24 and the driving base 21 are provided a driving clutch link 22 and a driving centralizing link 23 which can swing along the moving direction of the inner welder and whose ends are hinged to the two respectively. The driving clutch link 22 and the driving centralizing link 23 are arranged at an angle on the side close to the driving wheel mounting frame 24. The driving wheel mounting frame 24 is provided with a driving wheel 25 that rotates along the moving direction of the inner welder on the side away from the driving base 21. The drive wheel mounting frame 24 is also provided with a drive motor 26 which is in transmission connection with the drive wheel 25. Through the swing of the driving clutch connecting rod 22 and the driving centralizing connecting rod 23, the driving wheel 25 can be contacted or separated from the inner wall of the pipeline, and the driving motor 26 and the reducer 27 that drive the driving wheel 25 to rotate can be used to drive the whole set of internal welding equipment to move. The purpose of this is to ensure the power requirements of the internal welder walking in the pipeline, especially when climbing a slope.

Moreover, the inner wall of the driving base 21 is provided with a driving clutch sleeve 213 that can move along the extending direction thereof. The end of the driving clutch link 22 passes through the side wall of the driving base 21 and is hinged to the driving clutch sleeve 213. A drive seat notch 214 for driving the clutch link 22 to swing is provided on the side wall of the drive base 21. The driving base notch 214 is a long strip arranged along the extending direction of the driving base 21. Through the telescopic movement of the driving clutch sleeve 213 in the driving base 21, the driving clutch link 22 is driven to swing, thereby achieving the purpose of controlling the contact or separation of the driving wheel 25 with the inner wall of the pipe, and the transmission effect is good.

The inner wall of the driving base 21 is also provided with a driving clutch cylinder 211 for driving the driving clutch sleeve 213. The power output end of the driving clutch cylinder 211 is connected to the driving clutch sleeve 213 through the driving cylinder rod 212. The drive clutch cylinder 211 can precisely control the movement of the drive clutch sleeve 213, and then precisely control the extension of the drive wheel 25, so that the drive module 2 can adapt to a variety of pipe inner diameters and improve the application scope of the entire equipment. At the same time, since the driving clutch cylinder 211 is used as the power source, the staff can control the driving module 2 by electronically controlling the driving clutch cylinder 211, thereby improving the electrical automation degree of the whole set of equipment and facilitating the control of the operator.

In addition, as shown in FIGS. 3 and 6, the self-centering mechanism 8 includes a plurality of centering wheel mounting brackets 82 arranged around the axis of the pipe. Between the centering wheel mounting frame 24 and the brake module 1, and between the centering wheel mounting frame 24 and the driving module 2 are provided with a centering wheel support connection that can swing in the moving direction of the inner welder and the ends are respectively hinged with the two. Rod 83 and elastic support assembly 84. The centering wheel mounting frame 82 is provided with a centering wheel 81 that rotates along the moving direction of the inner welder on the side away from the pipe axis.

Through the swing of the centering wheel support connecting rod 83 and the expansion and contraction of the elastic support assembly 84, the centering wheel 84 can be brought into elastic contact with the inner wall of the pipeline, so that the brake module 1 and the drive module 2 can adapt to the size of the inner diameter of the pipeline to meet the requirements of the internal welding machine. The safety requirements of running in various pipelines, and then meet the requirements of large slope crawling and walking stability of the internal welding machine.

have to be aware of is:

Regarding the posture adjustment mechanism 31, as shown in FIGS. 8-9, the posture adjustment mechanism 31 includes a plurality of guide wheel mounting brackets 312 arranged around the axis of the pipe and capable of swinging in the moving direction of the internal welder. The guide wheel mounting frame 312 is provided with a supporting guide wheel 311 that rotates along the moving direction of the inner welder. One side of the guide wheel mounting frame 312 is hinged with the welding machine module 3, and the other side is connected with the welding module 3 through an elastic support 84.

Through the swing of the guide wheel mounting frame 312 and the expansion and contraction of the elastic support 84, the supporting guide wheel 311 can be brought into elastic contact with the inner wall of the pipeline, so that the welder module can adapt to the size of the inner diameter of the pipeline, so that the welder module 3 is running in the pipeline. Keep the posture stable and do not rotate when walking in the pipeline.

In this embodiment, as shown in FIG. 10, the elastic support assembly 84 includes two spring mounting seats 841 arranged opposite to each other in the expansion and contraction direction. The opposite surfaces of the two spring mounting seats 841 are provided with sleeve connecting parts 842 that are sleeved with each other; the opposite surfaces of the two spring mounting seats 841 are respectively provided with connecting rods 843. The end of the connecting rod 843 is provided with a hinge ring. In addition, a plurality of bolts arranged around the axis of the spring mounting seat 841 are arranged between the two spring mounting seats 841. The bolts are movably connected to the spring mounting seat 841 and are fixed on the spring mounting seat 841 by nuts. A telescopic spring 844 is sleeved on the bolt.

Regarding the flexible connection mechanism 7, as shown in FIG. 11, the flexible connection mechanism 7 includes a mounting plate 71 provided on the end faces of two adjacent modules. The two mounting plates 71 are connected by a universal joint 72. A chain mounting ring 73 is provided on the opposite surfaces of the two mounting plates 71. The two chain mounting rings 73 are connected by a coupling safety link 74.

The setting of the universal joint 72 enables the flexible connection between the various modules of the whole set of equipment, so that the internal welder meets the passing requirements when the radius of curvature of the pipeline is small, and improves the adaptability of the internal welder to the pipeline with changes in bending, that is, over-bending. ability. At the same time, the coupling safety link 74 can prevent the modules from falling off directly when there is a problem with the universal joint 72, which plays a role of further insurance.

The present invention has been described above in conjunction with the best embodiments, but the present invention is not limited to the embodiments disclosed above, but should cover various modifications and equivalent combinations based on the essence of the present invention.

Claims

A pipeline internal welding machine, which is characterized by comprising a brake module (1), an internal welding machine energy module (9), a drive module (2) and a welding machine module (3) which are sequentially connected by a flexible connection mechanism (7) The end of the brake module (1) far away from the internal welding machine energy module (1) is connected to the photographing module (5), and the end of the welding machine module (3) away from the drive module (2) is connected to the control delivery module (4); The brake module (1) and the drive module (9) are both provided with a self-centering mechanism (8) that makes the two in the pipe axis position, and the welding machine module (3) is provided with a self-centering mechanism (8) There is a posture adjustment mechanism (31) to make it at the position of the pipe axis.
The pipe internal welding machine according to claim 1, wherein the braking module (1) comprises a tubular braking base (11) arranged along the moving direction of the internal welding machine, and the braking base The outer side of the side wall of the seat (11) is provided with a plurality of brake rubber mounting frames (14) arranged around its axis; the brake rubber mounting frame (14) and the brake base (11) are provided with an energy edge The inner welder's movement direction swings and the ends are respectively hinged with the brake clutch link (12) and brake centralizing link (13), the brake clutch link (12) and brake centralizing link ( 13) The side close to the brake rubber mounting frame (14) is arranged at an angle; the brake rubber mounting frame (14) is provided with a brake rubber (15) on the side away from the brake base (11).
The pipe internal welding machine according to claim 2, characterized in that the inner wall of the brake base (11) is provided with a brake clutch sleeve (113) that can move along its extension direction, and the brake clutch The end of the connecting rod (12) passes through the side wall of the brake base (11) and is hinged to the brake clutch sleeve (113). The side wall of the brake base (11) is provided with a brake clutch connecting rod ( 12) The swinging brake seat gap (114).
The pipe internal welding machine according to claim 3, characterized in that the inner wall of the brake base (11) is also provided with a brake clutch cylinder (111) for driving the brake clutch sleeve (113), so The power output end of the brake clutch cylinder (111) is connected with the brake clutch sleeve (113) through the brake cylinder rod (112).
The pipe internal welding machine according to claim 1, wherein the driving module (2) comprises a tubular driving base (21) arranged along the moving direction of the internal welding machine, and the driving base (21) ) The outer side of the side wall is provided with a plurality of driving wheel mounting frames (24) arranged around its axis; between the driving wheel mounting frame (24) and the driving base (21) is provided that can swing along the moving direction of the inner welder And the ends of the driving clutch link (22) and the drive centralizing link (23) respectively hinged to the two, the drive clutch link (22) and the drive centralizing link (23) are close to the drive wheel mounting frame (24) One side is arranged in an angle; the driving wheel mounting frame (24) is far away from the driving base (21), and a driving wheel (25) that rotates along the moving direction of the inner welder is provided on the side of the driving wheel mounting frame (24). A driving motor (26) connected with the driving wheel (25) is also provided on the ).
The pipe internal welding machine according to claim 5, characterized in that the inner wall of the driving base (21) is provided with a driving clutch sleeve (213) that can move along its extension direction, and the driving clutch connecting rod ( The end of 22) passes through the side wall of the drive base (21) and is hinged to the drive clutch sleeve (213). The side wall of the drive base (21) is provided with a drive seat notch for the drive clutch link (22) to swing. (214).
The pipeline internal welding machine according to claim 6, wherein the inner wall of the driving base (21) is further provided with a driving clutch cylinder (211) for driving a driving clutch sleeve (213), and the driving clutch The power output end of the cylinder (211) is connected with the drive clutch sleeve (213) through the drive cylinder rod (212).
The pipe internal welding machine according to claim 1, wherein the self-centering mechanism (8) comprises a plurality of centering wheel mounting brackets (82) arranged around the axis of the pipe; the centering wheel Between the mounting frame (24) and the brake module (1), and between the centering wheel mounting frame (24) and the driving module (2), there are all set up which can swing along the moving direction of the inner welder and the ends are hinged to the two respectively. The centering wheel supports the connecting rod (83) and the elastic support assembly (84); the centering wheel mounting frame (82) is provided with a centering wheel (81) that rotates along the moving direction of the inner welder on the side away from the pipe axis.
The pipe internal welding machine according to claim 8, characterized in that the posture adjustment mechanism (31) comprises a plurality of guide wheel mounting frames (312) arranged around the pipe axis and capable of swinging along the moving direction of the internal welding machine. ), the guide wheel mounting frame (312) is provided with a supporting guide wheel (311) that rotates along the moving direction of the inner welder; one side of the guide wheel mounting frame (312) is hinged with the welding machine module (3), and the other The side is connected with the welding module (3) through an elastic support (84).
The pipe internal welding machine according to claim 1, characterized in that the flexible connection mechanism (7) comprises a mounting plate (71) arranged on the end faces of two adjacent modules, and two mounting plates ( 71) are connected by a universal joint (72); the opposite surfaces of the two mounting plates (71) are provided with chain mounting rings (73), and the two chain mounting rings (73) are connected through The shaft safety chain link (74) is connected.