Open type all-position multi-layer rotation stroke amplification mechanism

Abstract

The invention discloses an open type all-position multi-layer rotation stroke amplification mechanism, and relates to the field of field pipeline welding. Comprising an input layer, 0 to a plurality of derived intermediate layers, an intermediate layer and an output layer which are arranged in sequence; the device is formed by connecting a plurality of rotary layers in series, the rotary layers are provided with overlapped notches at the initial phase, and the device can be mounted or dismounted on a to-be-welded pipeline when the notches are overlapped; the stroke of each layer is symmetrical relative to the initial phase and is gradually amplified along with the increase of the number of layers, the sum of the positive stroke and the negative stroke can reach more than 360 degrees after the stroke is subjected to multi-stage rotation amplification, and a plane welding table can be driven to complete a pipeline girth welding task; the open-type all-position multi-layer rotation stroke amplification mechanism is compact in structure, high in precision, capable of using a high-rigidity and low-damping guide rail and suitable for field pipeline girth welding tasks with high welding quality requirements in a narrow space.

Description

Technical Field

[0001] The invention relates to the field of on-site pipeline welding, and in particular to an open all-position multi-layer rotary stroke amplification mechanism. Background Art

[0002] With the development of industries such as petroleum, chemical industry, and nuclear power, pipelines are moving towards high pressure and large diameter, and the requirements for welding quality are getting higher and higher. At the same time, the on-site construction environment is becoming more and more complex. The quality of traditional manual welding is unstable and the efficiency is low, which can no longer meet the needs of on-site pipeline welding.

[0003] In the on-site pipeline full-position circumferential seam welding, the rotary mechanism needs to meet the following requirements:

[0004] 1. During installation before welding and disassembly after welding, the slewing mechanism needs to be open, and an opening needs to be left in the slewing mechanism to place the pipe axis at a position where it coincides with the slewing mechanism axis, or to remove it from it.

[0005] 2. It is necessary to achieve a continuous closed motion range of more than 360 degrees in all positions.

[0006] According to the above conditions, there are two existing rotary mechanisms, one is the arc track splicing type, and the other is the guide rail slider clutch type. Both of the above schemes can achieve continuous and unlimited continuous rotation stroke after installation and alignment, but the full-position pipeline circumferential welding only requires a continuous rotation stroke of about 360+20=380 degrees. The 360-degree stroke is one circle, and the 20-degree stroke is used as redundancy for each link.

[0007] The Chinese patent with publication number CN205032873U provides a pipeline all-position welding machine, which adopts a track splicing scheme. Its rotary mechanism consists of two semi-circular arc tracks and a fixed rod. When welding, the two semi-circular arc tracks are spliced ​​on the periphery of the pipeline. However, this method is inconvenient to install and disassemble, the mechanism is bulky, and the guide rails need to be spliced ​​and disassembled on site every time they are welded. Due to the existence of two guide rail joints formed by temporary splicing, it is difficult to use high-precision guide rails, and the alignment of the guide rails at the temporary splicing joints will also affect the welding quality.

[0008] The Chinese patent with publication number CN221454613U provides a closed small pipe welding device, which is composed of a notched gear, a flat welding table, a large-span gear system, and a sliding arc guide rail. The rotary mechanism adopts a guide rail slider clutch scheme, and the large-span gear system drives the notched gear to rotate continuously in a relay manner to cross the open notch of the mechanism, which can achieve unlimited full-position rotary stroke. However, the opening of this mechanism is difficult to make larger, and it is especially not suitable for full-position circumferential seam welding of large-diameter pipes. At the same time, this device must have a clutch of the guide rail and the slider every 360-degree rotation. The jitter, creeping and other problems caused by the clutch process will affect the welding quality, and it is impossible to use a high-precision, high-rigidity, low-damping four-row ball guide rail. Summary of the invention

[0009] 1. Technical problem to be solved by the invention

[0010] In view of the above problems, the present invention provides an open all-position multi-layer rotary stroke amplification mechanism to solve the problems of bulky welding mechanism, inconvenient installation and disassembly, difficulty in enlarging the opening, affected welding quality, difficulty in using high-precision guide rails, etc. The open all-position multi-layer rotary stroke amplification mechanism provided by the present invention cannot achieve an infinite rotary stroke, but the continuous stroke can reach more than 380 degrees, which is sufficient to meet the needs of all-position circumferential seam welding of pipelines.

[0011] 2. Technical solution

[0012] The solution to the above problem is that the pipeline installation fixture is installed on the pipeline to be welded, and the connection and disassembly with an open all-position multi-layer rotary stroke amplification mechanism is achieved through a switch-type magnetic seat.

[0013] The inner diameter of the pipeline installation fixture is the same as the outer diameter of the pipeline to be welded, and a positioning installation groove is opened on it, which can be used for limiting the position when an open-type full-position multi-layer rotary stroke amplification mechanism is magnetically installed as a whole.

[0014] The open all-position multi-layer rotary stroke amplification mechanism is composed of 3 or more rotary layers connected in series, which can be divided into an input layer, 0 to several layers of derived intermediate layers with the same structure, an intermediate layer, and an output layer, which are arranged from front to back, and the adjacent two layers are connected in the form of an arc guide rail + four rows of ball sliders. All rotary layers have a common rotary axis.

[0015] It is worth noting that the rotary motion pair connection method of arc guide rail + four-row ball slider has the advantages of high precision, high rigidity and low damping, but the four-row ball slider does not allow the clutch of the guide rail. Therefore, this guide rail scheme cannot be adopted by the notch gear mechanism scheme with publication number CN221454613U.

[0016] The motor gear input unit of the input layer is meshedly connected with the input arc gear ring of the next layer; the double-range arc gear ring of the input layer is meshedly connected with the double-range gear (a planetary gear system) of the next layer.

[0017] After that: each layer of double-range arc gear ring (inner gear ring) is meshed with the next layer of double-range gear (planetary gear system). Each layer of double-range gear (planetary gear system) is meshed with the next layer of input arc gear ring (outer gear ring).

[0018] The output layer does not need a double-range gear (a planetary gear system), and accordingly, the middle layer before the output layer does not need a double-range arc gear ring (an internal gear ring).

[0019] In order to facilitate the explanation of the present invention and processing and manufacturing, the multiple-range gears (for planetary gear systems) of all rotating layers are exactly the same, the multiple-range arc gear rings (for internal gear rings) of all rotating layers are exactly the same, and the input arc gear rings (for external gear rings) of all rotating layers are exactly the same.

[0020] The input layer is marked as layer 0, the next layer is marked as layer 1, and so on until the output layer at the end is marked as layer N. Each layer has a notch of the same size. When installing, align the notches of all rotating layers. At this time, the phase of the motor is recorded as phase 0. The phase of all rotating layers is recorded as phase 0.

[0021] The above connection mode actually forms a travel amplification mechanism between any two adjacent rotary layers. Since planetary gears are used, it can also be understood that a planetary gear speed change mechanism is formed between any three adjacent rotary layers.

[0022] The effect achieved by the above mechanism is that the 0th layer is fixed relative to the pipe to be welded. When the motor rotates, driving the gear system to rotate the 1st layer to θ relative to the 0 phase, the phase of the 2nd layer is approximately 2θ (relative to the initial 0 phase of the 2nd layer, the same below)... The phase of the nth layer is approximately nθ. The phase of the output layer is approximately Nθ. N is the total number of layers - 1.

[0023] Since the planetary gears are used to form the travel amplification mechanism, the phase of the nth layer is slightly different from Nθ, which can be specifically expressed by the formula:

[0024]

[0025] Where n is the current layer number, θ n is the phase of the nth layer, is the phase of the 1st layer (there is a fixed 0th layer in front of the 1st layer), Z b1 is the number of teeth of the input arc gear ring (external gear ring), Z b2 is the number of teeth on the double-range arc gear ring (internal gear ring).

[0026] Since the three adjacent layers of double-range arc gear rings, double-range gears, and input arc gear rings together constitute a planetary gear system with the same module. According to the formula for the pitch circle diameter of the gear and the formula for the center distance of the planetary gear system, let Z a is the number of teeth of the multiple gear (for planetary gear system), we have:

[0027] Z b2 =Z b1 +2Z a

[0028] When the multiple gear (for planetary gear system) Z a The number of teeth is small enough, Z b2 ≈Z b1 When θ n ≈nθ.

[0029] Since the transmission ratio of the gear is fixed, it is not difficult to understand that the phase of rotation of all rotating layers (relative to 0 phase, the same below) is proportional to the phase of rotation of the motor. If the motor runs at a uniform speed, the rotation of all rotating layers is also uniform.

[0030] According to the above, from front to back, the rotation phase and stroke of each layer are gradually linearly amplified. While the previous layer transmits the rotational motion to the next layer, it also lays the track forward synchronously. This movement mode is similar to the multi-stage rope telescopic mechanism of the crane boom. The difference is that: this mechanism has a symmetrical stroke and stroke amplification in both positive and negative directions with the zero phase point as the center, while the rope telescopic mechanism has a stroke and stroke amplification in only one direction; accordingly, the overlap length between the layers of this mechanism is longer than that of the rope telescopic mechanism, and the rigidity is higher; the stroke of this mechanism is an arc rotational motion, which can also be transformed into a linear motion. The stroke of the rope telescopic mechanism can only be a linear motion (the rope must be straight after being tightened).

[0031] When the total number of layers of the above mechanism is 3, the designed first layer rotation stroke θ1 is plus or minus 100°, and after the second layer is enlarged, the second layer rotation stroke θ2 is about plus or minus 200°, and the total stroke is 200*2=400°. At this time, the flat welding table can be driven to complete 360-degree uniform and continuous pipeline circumferential welding. When installing and disassembling this mechanism on the pipeline, the phase of the motor needs to be rotated to 0 phase so that the gaps of each layer are aligned. At this time, the pipeline can be installed or removed from the overlapping gaps of each layer of the rotating mechanism.

[0032] 3. Beneficial effects

[0033] Compared with the existing known technologies, the technical solution provided by the present invention has the following significant effects:

[0034] (1) The open all-position multi-layer rotary stroke amplification mechanism of the present invention has a large opening and a compact structure, and can be applied to pipes with larger diameters and welding environments with narrower and more complex spaces.

[0035] (2) The open all-position multi-layer rotary stroke amplification mechanism of the present invention can adopt a high-precision, high-rigidity, low-damping four-row ball guide rail. During 360-degree all-position welding, the guide rail slider runs continuously and smoothly, and will not face the two unfavorable situations of guide rail joints formed by temporary splicing or the separation of the guide rail and the slider. The quality and stability of welding are effectively improved.

[0036] (3) The open all-position multi-layer rotary stroke amplification mechanism of the present invention, in combination with a specially made pipe installation fixture, can adapt to the welding of pipes of different diameters. The installation and disassembly are quick and convenient, which effectively improves the welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0038] Figure 1 A schematic diagram of a structure in which an open all-position multi-layer rotary stroke amplifying mechanism provided in an embodiment of the present invention drives a flat welding table unit to be installed on a pipe to be welded;

[0039] Figure 2 A schematic diagram of the structure of the pipeline installation fixture provided by an embodiment of the present invention being installed on the pipeline to be welded;

[0040] Figure 3 A schematic diagram of the structure of the input layer of an open all-position multi-layer rotary stroke amplification mechanism provided by an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of the structure of the middle layer of an open all-position multi-layer rotary stroke amplification mechanism provided by an embodiment of the present invention;

[0042] Figure 5 A schematic diagram of the structure of the output layer of an open all-position multi-layer rotary stroke amplification mechanism provided by an embodiment of the present invention;

[0043] Figure 6 A schematic structural diagram of a planar soldering station unit provided in an embodiment of the present invention;

[0044] Figure 7 A schematic structural diagram of a derived intermediate layer of an open all-position multi-layer rotary stroke amplification mechanism provided in an embodiment of the present invention.

[0045] Reference numerals:

[0046] 1. Pipe to be welded; 2. Pipe installation fixture; 3. Input layer; 4. Intermediate layer; 5. Output layer; 6. Flat welding table unit; 7. Derived intermediate layer;

[0047] 11. Welding seam to be welded; 21. Frame; 22. Switchable magnetic seat; 23. Limiting notch; 24. Steel cable with tensioner; 25. Locking buckle; 26. Screw; 27. Thread locker;

[0048] 31. Frame; 32. Motor gear input unit; 33. Double-range arc gear ring; 34. Arc guide rail; 35. Rotation axis; 36. Notch;

[0049] 41. Frame; 42. Input arc gear ring; 43. Slider; 44. Guide rail; 45. Double-range gear; 46. Notch; 47. Rotation axis;

[0050] 51. Frame; 52. Slider; 53. Input arc gear ring; 54. Notch; 55. Rotation axis;

[0051] 61. Quick release pin; 62. Flat soldering station unit; 63. Install positioning plate; 64. Easily disassembled limit mechanism;

[0052] 71. Frame; 72. Input arc gear ring; 73. Sliding block; 74. Arc guide rail; 75. Double-range gear; 76. Double-range arc gear ring; 77. Rotation axis; 78. Notch. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0054] It is worth noting that, in this article, the directional representations used to explain the structure and movement of the various parts of the disclosed embodiments, such as up, down, left, right, inside, outside, front, back, etc., are not absolute, but relative. These representations are appropriate when the various parts of the disclosed embodiments are located in the positions shown in the figures. If the position or reference frame of the disclosed embodiments changes, these representations will also change according to the change in the position or reference frame of the disclosed embodiments.

[0055] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 As shown, the present invention provides an open all-position multi-layer rotary stroke amplification mechanism and an installation and use method thereof.

[0056] In this method of use, the pipe installation fixture 2 fixes the open all-position multi-layer rotary stroke amplification mechanism on the pipe to be welded 1, and the open all-position multi-layer rotary stroke amplification mechanism is connected and drives the flat welding table unit 6 to rotate and complete the pipe circumferential seam welding. The pipe installation fixture 2 and the multi-layer rotary stroke amplification mechanism are connected in the form of a switchable magnetic seat 22 to facilitate disassembly.

[0057] The open all-position multi-layer rotary stroke amplification mechanism is connected to the flat welding table unit 6 in the form of a quick-release pin, and also has a limiting structure to facilitate installation and disassembly and adjustment of welding height.

[0058] An open all-position multi-layer rotary stroke amplification mechanism is composed of an input layer 3, an intermediate layer 4, and an output layer 5 which are arranged in series in sequence, and adjacent layers are connected by a rotary motion pair consisting of four rows of ball sliders and arc guide rails.

[0059] The input layer 3 and the middle layer 4 are connected in the following way:

[0060] The stepper motor is connected to three gear trains through a coupling to form a motor gear input unit 32. The motor gear input unit 32 is meshed with the input arc gear ring 42. The double-range arc gear ring 33 is meshed with the double-range gear 45 adopting a planetary gear train solution.

[0061] The intermediate layer 4 and the output layer 5 are connected in the following way:

[0062] The multiple-range gear 45 of the planetary gear system is meshed with the input arc gear ring 53.

[0063] When assembling the open all-position multi-layer rotary stroke amplifying mechanism, the gaps of all rotary layers should be aligned. When the gaps of all rotary layers are aligned, the phase of the motor is recorded as 0 phase in the control system.

[0064] An open all-position multi-layer rotary stroke amplification mechanism and a flat soldering table unit 6 are connected in the following manner: a frame 51 is connected to the flat soldering table unit 62 via a quick-release pin 61.

[0065] In order to facilitate positioning during installation, the frame 51 is connected to a mounting positioning plate 63 through a quick release pin, and the mounting positioning plate 63 can realize the positioning of the flat welding table unit 62 during installation. The mounting positioning plate 63 is connected to an easily detachable limiting mechanism 64, which can be limited when an open all-position multi-layer rotary stroke amplification mechanism is magnetically installed as a whole.

[0066] The outer diameter of the pipe 1 to be welded is the same as the inner diameter of the pipe installation fixture 2. The semicircular pipe installation fixture 2 can be directly buckled on the pipe 1 to be welded. The steel cable 24 with a tensioner is wrapped around the frame 21 and the pipe 1 to be welded for several weeks. The two ends of the steel cable 24 with a tensioner are connected by a locking buckle 25, a screw 26 and a thread locker 27. At this time, the screw 26 is first screwed halfway, but not all the way. Then the steel cable 24 with a tensioner is tightened with the tensioner, and then the screw 26 is tightened. The steel cable 24 with a tensioner is tightened again with the locking buckle 25, the screw 26 and the thread locker 27. The pipe installation fixture 2 is firmly tied to the pipe 1 to be welded by the steel cable 24 with a tensioner.

[0067] The pipeline installation fixture 2 is magnetically connected to an open all-position multi-layer rotary stroke amplification mechanism through a switch-type magnetic seat 22. During the magnetic installation process, all the switch-type magnetic seats 22 are first closed to make them in a non-magnetic state.

[0068] The pipe installation fixture 2 has a limit notch 23, which is combined with the frame 31 to form a limit. At the same time, the easily disassembled limit mechanism 64 contacts the surface of the pipe to be welded 1 to form a limit. At this time, all the switch-type magnetic seats 22 are opened to complete the magnetic fixation. Then the easily disassembled limit mechanism 64 is removed.

[0069] When the notches of all the rotating layers are aligned, an open all-position multi-layer rotating stroke amplification mechanism is in the 0 phase of the motor, and at this time, installation and removal from the pipe 1 to be welded can be realized. The stroke of the guide rail of the rotating mechanism is amplified in two stages, and the sum of the positive and negative strokes reaches more than 380 degrees. After installation, the mechanism of the present invention is first moved to the maximum point of the positive stroke (or negative stroke), and then welding is started, and the mechanism of the present invention is moved to the maximum point of another stroke, so that high-precision circumferential seam welding can be achieved. After welding is completed, the motor of the mechanism of the present invention is rotated to its 0 phase, at which time all the notches are aligned, and all the switch-type magnetic seats 22 are closed. At this time, the mechanism of the present invention can be removed from the pipe 1 to be welded with the flat welding table unit 6. After unscrewing the screw 26, the steel cable 24 with the tensioner can be bypassed, and the pipe installation fixture 2 can be removed from the pipe 1 to be welded. At this point, a high-precision pipeline circumferential seam welding has been completed, and all equipment can be stored to go to the next place where circumferential seam welding is required.

[0070] The above discloses the technical contents and technical features of the specific embodiments of the present invention and its examples. However, it is understood that, under the creative idea of ​​the present invention, those skilled in the art can make various changes and improvements to the combination of the various features disclosed above and the features not explicitly shown here, but they all belong to the protection scope of the present invention. The description of the above embodiments and examples is exemplary rather than restrictive.

Claims

1. An open all-position multi-layer rotary stroke amplification mechanism, characterized in that: The open all-position multi-layer rotary stroke amplification mechanism comprises an input layer (3), an intermediate layer (4), and an output layer (5); The input layer (3), the middle layer (4), and the output layer (5) are arranged in sequence, and corresponding arc-shaped guide rail sliders or other guide sliding mechanisms are provided between adjacent layers; The input layer (3) comprises a motor gear input unit (32), a frame (31), and a double-range arc gear ring (33); the motor gear input unit (32) is connected to the frame (31) via a revolving pair; the double-range arc gear ring (33) is fixedly connected to the frame (31); The intermediate layer (4) comprises an input arc-shaped gear ring (42), a multiple-range gear (45), and a frame (41); the input arc-shaped gear ring (42) is fixedly connected to the frame (41), and the multiple-range gear (45) is connected to the frame (41) via a revolute pair; The output layer (5) comprises an input arc-shaped gear ring (53) and a frame (51); the input arc-shaped gear ring (53) is fixedly connected to the frame (51).

2. An open all-position multi-layer rotary stroke amplification mechanism as claimed in claim 1, characterized in that: The input layer (3) and the intermediate layer (4) are connected in the following manner: the motor gear input unit (32) is meshedly connected with the input arc gear ring (42), and the multiple-range arc gear ring (33) is meshedly connected with the multiple-range gear (45); The intermediate layer (4) and the output layer (5) are connected in the following manner: the multiplier gear (45) is meshedly connected with the input arc-shaped gear ring (53).

3. An open all-position multi-layer rotary stroke amplification mechanism as claimed in claim 2, characterized in that: According to the need of stroke magnification, the gear meshing connection between the input layer (3) and the intermediate layer (4) and the rotary motion pair connection serving as a guide can be disconnected, and a plurality of derived intermediate layers (7) with the same structure can be inserted between the two; the derived intermediate layer (7) comprises an input arc gear ring (72), a multiple-range gear (75), a multiple-range arc gear ring (76), and a frame (71); the input arc gear ring (72) and the multiple-range arc gear ring (76) are fixedly connected to the frame (71), and the multiple-range gear (75) is positioned on the frame (71) through a rotary pair; The connection mode between the derived intermediate layer (7) and the previous layer is as follows: if the previous layer is the input layer (3), the input arc gear ring (72) of the derived intermediate layer (7) of this layer is meshed and connected with the motor gear input unit (32) of the input layer (3), and the double-range arc gear ring (33) of the previous layer input layer (3) is meshed and connected with the double-range gear (75) of the derived intermediate layer (7) of this layer; if the previous layer is also a derived intermediate layer (7), the input arc gear ring (72) of the derived intermediate layer (7) of this layer is meshed and connected with the double-range gear (75) of the previous layer derived intermediate layer (7), and the double-range arc gear ring (76) of the previous layer derived intermediate layer (7) is meshed and connected with the double-range gear (75) of the derived intermediate layer (7) of this layer. The connection method between the derived intermediate layer (7) and the subsequent layer is as follows: if the subsequent layer is also a derived intermediate layer (7), the double-range arc gear ring (76) of the derived intermediate layer (7) of this layer is meshed and connected with the double-range gear (75) of the subsequent derived intermediate layer (7), and the double-range gear (75) of the derived intermediate layer (7) of this layer is meshed and connected with the input arc gear ring (72) of the subsequent derived intermediate layer (7); if the subsequent layer is an intermediate layer (4), the double-range arc gear ring (76) of the derived intermediate layer (7) of this layer is meshed and connected with the double-range gear (45) of the intermediate layer (4), and the double-range gear (75) of the derived intermediate layer (7) of this layer is meshed and connected with the input arc gear ring (42) of the intermediate layer (4).

4. An open all-position multi-layer rotary stroke amplification mechanism as claimed in claim 2, characterized in that: The input layer (3) has a notch (36); the middle layer (4) has a notch (46); and the output layer (5) has a notch (54). All the notches (36), (46), and (54) can be aligned by changing the phase of the motor gear input unit (32).

5. An open all-position multi-layer rotary stroke amplification mechanism as claimed in claim 4, characterized in that: The rotation axes of the rotary motion pairs between adjacent layers are all on one axis, which is the rotation axis (35); the centers of the index circles of the input arc gear ring and the double-range arc gear ring of each layer also fall on the rotation axis (35).

6. An open all-position multi-layer rotary stroke amplification mechanism as claimed in claim 2, characterized in that: The input arc gear ring (42) and the input arc gear ring (53) adopt an external gear ring scheme; the double-range arc gear ring (33) adopts an internal gear ring scheme; the double-range gear (45) adopts a planetary gear system scheme, and the distance between the center of the pitch circle of each planetary gear and the rotation axis (35) is equal; the double-range arc gear ring (33), the double-range gear (45), and the input arc gear ring (53) are meshed in sequence to form a planetary gear speed change mechanism.

7. An open all-position multi-layer rotary stroke amplification mechanism as claimed in claim 6, characterized in that: The rotary motion pairs between adjacent layers are connected by ball sliders and arc guide rails.

8. An open all-position multi-layer rotary stroke amplification mechanism as claimed in claim 6, characterized in that: The motor gear input unit (32) is composed of a motor connected to a gear train via a coupling.

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