A pipe pile internal welding robot

Abstract

The present invention discloses a pipe pile internal welding robot, which relates to the fields of machinery, automation technology and welding, including a pipe pile, an internal welding robot, a centering positioning device and a roller frame, one end of the roller frame is provided with a cable traction machine for providing power to the internal welding robot, and the cable traction machine is located at one axial end of the pipe pile, and a roller capable of rotatably supporting the pipe pile is rotatably provided on the roller frame, and the internal welding robot is placed inside the pipe pile, and the internal welding robot includes a welding wire assembly, a wire feeder, a welding trolley, a connecting shaft and a quick-release pipe clamp, and the connecting shaft connects the welding wire assembly, the wire feeder and the welding trolley together. The present invention can be fixed in the inner cavity of the pipe pile and can realize automatic or man-machine welding of the inner annular seam, and after the welding is completed, there is no need for manual entry to take out the internal welding robot, which meets the welding requirements and solves the difficult situation that manual labor is currently required to carry welding equipment into the narrow inner cavity of the pipe pile for welding operations, and then climb out of the pipe pile with the equipment when the welding is completed.

Description

Technical Field

[0001] The invention relates to the fields of machinery, automation technology and welding, and in particular to a pipeline internal welding robot. Background Art

[0002] Pipe piles are made by molds, and each pipe pile is standardized. When longer pipe piles are needed, two pipe piles can be butt-welded into one in the production workshop. The welding quality of the spliced ​​pipe piles must be guaranteed to meet the engineering standards. The outer ring seam of the end plate at the joint of the two pipe piles must be welded first, and then workers need to enter the inner cavity of the pipe pile to weld the inner ring seam at the interface. When it is necessary to weld the inner wall of the pipe pile with a diameter less than 800mm, it will be extremely difficult to operate due to space problems. Moreover, the length of the welding gun cable is generally limited, and workers need to bring welding equipment in. It is difficult to weld the inner ring seam of the pipe pile.

[0003] At present, most of the pipe piles are rotated by roller frames. It is difficult for welders in the inner cavity of the pipe pile to operate continuously and intermittent operation is required, that is, the pipe pile stops after rotating within a certain range, and the worker repeats the operation after completing a short section. Due to the difficulty of operation, senior welders with many years of experience find it difficult to ensure the welding quality. At the same time, since welding is carried out inside the narrow and long pipe pile, harmful gases are generated during welding, which endangers the health of the welders. After welding is completed, the workers need to return with the welding equipment and climb out of the inner cavity of the pipe pile. The whole process is difficult and physically demanding, and production efficiency is difficult to guarantee. Therefore, a pipe pile and pipeline internal welding robot is designed here to solve the above problems. Summary of the invention

[0004] The object of the present invention is to provide a pipe pile internal welding robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a pipe pile internal welding robot, comprising a pipe pile, an internal welding robot, a centering positioning device and a roller frame, one end of the roller frame is provided with a cable traction machine for providing power to the internal welding robot, and the cable traction machine is located at one axial end of the pipe pile, and the cable traction machine is a trolley-type winch device combining a welding power line and a traction line.

[0006] A roller capable of rotatably supporting the pipe pile is rotatably provided on the roller frame, and an internal welding robot is placed inside the pipe pile;

[0007] The internal welding robot includes a welding wire assembly, a wire feeder, a welding trolley, a welding gun, a connecting shaft and a quick-release pipe clamp. The welding wire assembly is equipped with welding wire, and the wire feeder fixes the welding gun output on the welding trolley.

[0008] The connecting shaft of the internal welding robot is connected to the centering positioning device through a quick-release pipe clamp.

[0009] The connecting shaft connects the welding wire assembly, wire feeder and welding carriage together.

[0010] The connecting shaft is a hollow tube. The power line and signal line of the welding trolley pass through the inside of the connecting shaft and are connected to the cable of the cable traction machine through an aviation plug. The welding power line passes through the inside of the connecting shaft and is connected to the wire feeder.

[0011] In a further embodiment, a welding wire box lifting ear pendulum is provided on the welding wire assembly, and a trolley lifting ear pendulum is provided on the welding trolley, and both the welding wire box lifting ear pendulum and the trolley lifting ear pendulum are sleeved with the outer wall of the connecting shaft.

[0012] In a further embodiment, the internal welding robot further includes a supporting device, and the supporting device includes a supporting mechanism and a bearing.

[0013] The supporting mechanism is provided with four and is fixed on the outer wall of the bearing in an X-shaped structure, and the bearing is sleeved with the outer wall of the connecting shaft.

[0014] In a further embodiment, the supporting mechanism uses electric cylinders. When the internal welding robot is in place, four electric cylinders are started to support it in all directions. The four supporting mechanisms tightly support the inner wall of the pile all around, so that the entire internal welding robot is installed and fixed in place.

[0015] In a further embodiment, damping universal wheels are installed at the bottom ends of the welding trolley and the welding wire assembly, and the damping universal wheels have shock-absorbing springs to ensure that the internal welding robot maintains balance when placed in the inner cavity of the pipe pile.

[0016] In a further embodiment, a slotted opening is provided on the outer wall of the connecting shaft where the quick-release pipe clamp is installed, and an opening is provided on the outer wall of the quick-release pipe clamp at the welding trolley, and the power cord of the internal welding robot passes through the slotted opening and the opening inside the connecting shaft and is connected to the cable traction machine.

[0017] In a further embodiment, the internal welding robot further includes an angle controller, a camera and a CCD.

[0018] The angle controller includes a vertical sensor to ensure that the welding gun is always perpendicular to the ground.

[0019] An angle controller is used to ensure that the welding gun is always perpendicular to the ground. CCD is used to guide the internal welding robot to realize intelligent and automatic welding operations. The camera presents the weld status to the handheld instrument in real time. The operator can make fine adjustments according to the actual working conditions to realize human-machine operation.

[0020] In a further embodiment, the traction line is a threader with a spring steel wire, which can easily pass through the inner cavity of the pipe pile, and can pull the internal welding robot along the inside of the pipe pile, which helps to quickly guide out the internal welding robot after welding.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention relates to a pipe pile internal welding robot, which can be fixed in the inner cavity of a pipe pile or a pipeline and can realize automatic or human-machine welding of the inner annular seam. Moreover, after the welding is completed, there is no need for manual entry to take out the internal welding robot, thereby meeting the welding requirements and solving the current difficult situation in which manual labor is required to carry welding equipment into the narrow inner cavity of the pipe pile for welding operations, and then climb out of the long pipe pile with the equipment after the welding is completed. This reduces physical exertion and effectively guarantees production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall assembly structure of the present invention.

[0024] Figure 2 It is a schematic diagram of the connection structure of the internal welding robot of the present invention.

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of the top support mechanism of the internal welding robot of the present invention.

[0026] Figure 4 It is a structural schematic diagram of a welding trolley of a fusion welding wire box and a wire feeder of the present invention.

[0027] Figure 5 It is a structural schematic diagram of the internal welding robot of the present invention performing internal welding on two spliced ​​pipe piles.

[0028] In the figure: 1. pipe pile; 2. internal welding robot; 3. centering positioning device; 4. roller frame; 5. cable traction machine; 6. supporting device; 7. connecting shaft; 8. welding wire assembly; 9. wire feeder; 10. welding trolley; 11. quick-release pipe clamp; 12. supporting mechanism; 13. electric cylinder; 14. bearing; 15. welding wire box lifting ear pendulum; 16. trolley lifting ear pendulum; 17. angle controller; 18. welding gun; 19. camera; 20. CCD; 21. damping universal wheel; 22. docking pipe pile. DETAILED DESCRIPTION

[0029] The following will be described clearly and completely in conjunction with the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Embodiment 1

[0031] See also Figure 1 , Figure 2 , Figure 4 and Figure 5The present embodiment provides a pipe pile internal welding robot, comprising a pipe pile 1, an internal welding robot 2, a centering positioning device 3 and a roller frame 4. A cable traction machine 5 for providing power to the internal welding robot 2 is provided at one end of the roller frame 4, and the cable traction machine 5 is located at one axial end of the pipe pile 1. The cable traction machine 5 is a trolley-type winch device combining a welding power line and a traction line.

[0032] Using a cable traction machine 5 to pull the power line, traction line, etc. from the other end of the pile 1 is an alternative solution, and using other winches to achieve the same function is within the scope of protection of the present invention.

[0033] The roller frame 4 is rotatably provided with rollers capable of rotatably supporting the pipe pile 1. When the pipe pile 1 is hoisted and placed in place on the roller frame 4, the roller is used to roll and support the pipe pile 1, and the cable traction machine 5 is placed at the other end of the pipe pile 1.

[0034] The pipe pile 1 is placed horizontally on the roller frame 4. When the internal welding operation is performed, the pipe pile 1 rotates along the axis of the pipe pile 1 as the roller frame 4 rotates.

[0035] The internal welding robot 2 is placed inside the pipe pile 1 for welding operations. When the pipe pile 1 is in place, the welding power line and the traction line on the cable traction machine 5 are sent from one end of the pipe pile 1 to the other end. The welding power line has an aviation plug. When the welding power line and the traction line are sent to the outlet of the welding end of the pipe pile 1, the internal welding robot 2 is sent to the welding end of the pipe pile 1, and the welding power line is connected to the connection terminal of the internal welding robot 2. The traction line is connected to the hook of the internal welding robot 2 so that it can be pulled out after welding is completed.

[0036] The internal welding robot 2 includes a welding wire assembly 8, a wire feeder 9, a welding trolley 10, a connecting shaft 7 and a quick-release pipe clamp 11. The welding wire assembly 8 is provided with a welding wire box lifting ear pendulum 15, and the welding trolley 10 is provided with a trolley lifting ear pendulum 16. The welding wire box lifting ear pendulum 15 and the trolley lifting ear pendulum 16 are both sleeved on the outer wall of the connecting shaft 7. The welding wire assembly 8, the wire feeder 9 and the welding trolley 10 are connected together through the connecting shaft 7 for welding operations.

[0037] The connecting shaft 7 of the internal welding robot 2 is connected to the centering and positioning device 3 via a quick-install pipe clamp 11 . The centering and positioning device 3 can be used to distribute the internal welding robot 2 along the axial direction of the pipe pile 1 .

[0038] The welding wire assembly 8 is equipped with welding wire, and the wire feeder 9 fixes the welding gun 18 output on the welding trolley 10. The cable traction machine 5 is used to send the power signal integrated line and the traction line to the internal welding robot 2, which are connected to the power and signal lines of the internal welding robot 2 through the connecting shaft 7. The traction line is connected to the connector facing the inner end of the positioning shaft. When the internal welding robot 2 is in place, adjust the origin of the welding gun 18 to align with the weld groove and get ready. At this time, after the butt pipe pile 22 is hoisted into place, the internal welding robot 2 can be started to carry out welding operations.

[0039] For automatic welding operations, see Figure 4 The internal welding robot 2 also includes an angle controller 17 , a camera 19 and a CCD 20 .

[0040] The angle controller 17 includes a vertical sensor.

[0041] The signal output ports of the camera 19 and the angle controller 17 are connected to the signal input port of the CCD 20, and the signal port of the CCD 20 is connected to the signal port of the handheld instrument;

[0042] An angle controller 17 is used to ensure that the welding gun 18 is always perpendicular to the ground. The camera 19 is located on one side of the welding gun 18, and the weld position can be displayed on the handheld instrument in real time. The operator can make fine adjustments according to the actual working conditions to achieve human-machine operation. The CCD 20 is located on the other side of the welding gun 18 and can convert image signals into digital signals. The CCD 20 is used to guide the internal welding robot 2 to achieve intelligent and automatic welding operations.

[0043] CCD 20 converts the image signal into a digital signal, which enables the internal welding robot 2 to realize automatic welding operation. During the welding operation, since welding is performed inside the pipe pile 1, the camera 19 feeds back the weld and groove to the handheld instrument in real time. The operator can fine-tune the welding gun 18 according to the actual situation to achieve a more ideal welding effect.

[0044] When the inner annular seam of the pipe pile 1 is deformed or misaligned, in addition to the CCD 20 automatically guiding the welding gun 18 to automatically adjust the welding, the worker can also adjust the welding method and parameters according to the real-time welding status projected by the camera 19 to the handheld instrument, thereby ensuring the quality of the internal welding.

[0045] After hoisting another butt-jointed pipe pile 22 into place, the outer circumferential seam welding of the grooves at the end plates of the two pipe piles 1 will be carried out first. After the workers use manual or external welding robots to complete the welding of the outer circumferential seams of the pipe pile 1, the inner circumferential seam welding will be carried out by the internal welding robot 2. The pipe pile 1 rotates at a uniform speed along the axis on the roller frame 4, and the internal welding robot 2 can realize automatic or human-machine internal welding of the pipe pile 1.

[0046] When welding is completed, the internal welding robot 2 is pulled out of the pipe pile 1 as a whole through the traction line of the cable traction machine 5. At this time, the entire internal welding operation is completed.

[0047] The internal welding robot 2 is used to weld the inner annular seam of two pipe piles 1, which can realize fully automatic welding and human-machine collaborative welding, solves the current problem that workers need to crawl with equipment into the narrow inner cavity of the pipe pile 1 and perform difficult welding operations, solves the harm to workers caused by harmful gases generated during welding, and solves the problem of removing the welding equipment after welding is completed. At the same time, the internal welding robot 2 is used to achieve a reliable and smooth welding effect of the inner annular seam.

[0048] This equipment only requires one worker to operate, saving labor costs and time for manual preparation, entry, and welding. It not only solves the problems existing in the industry, but also has the advantages of small size, easy operation, good effect, and high efficiency.

[0049] Embodiment 2

[0050] See also Figure 1-3 , further improvements were made on the basis of Example 1:

[0051] In order to enhance the stability of the internal welding robot 2 during welding, the internal welding robot 2 further includes a supporting device 6 , and the supporting device 6 includes a supporting mechanism 12 and a bearing 14 .

[0052] Four supporting mechanisms 12 are provided and fixed on the outer wall of the bearing 14 in an X-shaped structure. The bearing 14 is sleeved with the outer wall of the connecting shaft 7. The four supporting mechanisms 12 are used to tightly support the inner wall of the pipe pile 1 around, so that the entire internal welding robot 2 is installed and fixed in place.

[0053] After the cable traction machine 5 connects the welding power line and the traction line to the internal welding robot 2, the entire internal welding robot 2 is placed into the inner cavity of the pipe pile 1. The centering and positioning device 3 is used at the end plate of the pipe pile 1. The support device 6 is operated by a handheld instrument to support and fix the entire internal welding robot 2 on the inner wall of the pipe pile 1. The centering and positioning device 3 can be removed by opening the quick-release pipe clamp 11. At this time, the installation of the internal welding robot 2 is completed.

[0054] The supporting mechanism 12 adopts an electric cylinder 13, which can be connected to the signal port of the handheld instrument through a wire. When the internal welding robot 2 is in place, the four electric cylinders 13 will be started at the same time through the handheld instrument to support in all directions. The four electric cylinders 13 tightly support the inner wall of the pipe pile 1, so that the entire internal welding robot 2 is installed and fixed in place.

[0055] Other similar elements may also be used to achieve the same functions within the protection scope of the present invention.

[0056] After the supporting device 6 and the internal welding robot 2 are pushed into place as a whole, the supporting device 6 is controlled by a handheld instrument to support and fix the internal pipe pile 1, thereby realizing the internal welding robot 2 being in place.

[0057] The supporting mechanism 12 is fixed on the inner wall of the cavity of the pipe pile 1. The internal welding robot 2 is connected to the supporting mechanism 12 by a bearing 14. The internal welding robot 2 is equivalent to a gravity pendulum. Therefore, when the pipe pile 1 rotates during welding, the internal welding robot 2 is stationary relative to the ground, and the welding gun 18 is always perpendicular to the ground. The control system links the roller frame 4 with the internal welding robot 2, thereby realizing the inner circumferential seam welding of the pipe pile 1 and reducing the welding error.

[0058] During welding operation, the roller frame 4 drives the pipe pile 1 to rotate, and the supporting device 6 is fixed on the pipe pile 1 and rotates with the pipe pile 1. Since the connecting shaft 7 is connected to the supporting device 6 by the bearing 14, the entire internal welding robot 2 is equivalent to a gravity pendulum that is always perpendicular to the ground under gravity balance. In order to ensure the welding quality, the welding gun 18 is controlled and adjusted by the angle controller 17.

[0059] When the internal welding operation of the pipe pile 1 is completed, there is no need for personnel to enter the inner cavity of the pipe pile 1. The operator uses the handheld instrument to slowly loosen the supporting mechanism 12, and the entire internal welding robot 2 is in an active state. At this time, the cable traction machine 5 can be controlled by the handheld instrument to pull the entire internal welding robot 2 out from the other end of the pipe pile 1. At this time, the welding operation of the entire pipe pile 1 is completed.

[0060] In addition, the supporting mechanism 12 is fixed to the inner wall of the cavity of the pipe pile 1, so that the entire internal welding robot 2 is fixed in place and then the centering positioning device 3 is removed. The operator uses a handheld instrument to align the welding gun 18 with the origin of the weld groove and then hoists another butt-jointed pipe pile 1 into place.

[0061] Embodiment 3

[0062] See also Figure 1-4 , further improvements were made on the basis of Example 2:

[0063] In order to avoid cable entanglement during welding operations and to better arrange the lines without affecting the welding operation of the internal welding robot 2, the connecting shaft 7 is set to a hollow tube, and the power line and signal line of the welding trolley 10 pass through the inside of the connecting shaft 7 and are connected to the cable of the cable traction machine 5 through an aviation plug. The welding power line passes through the inside of the connecting shaft 7 and is connected to the wire feeder 9.

[0064] After the cable traction machine 5 connects the welding power line and the traction line to the internal welding robot 2, the entire internal welding robot 2 is placed into the inner cavity of the pipe pile 1. The entire internal welding robot 2 is supported and fixed on the inner wall of the pipe pile 1 by operating the supporting device 6 with one button of a handheld instrument. The centering positioning device 3 can be removed by opening the quick-release pipe clamp 11. At this time, the installation of the internal welding robot 2 is completed and the welding operation can be carried out.

[0065] A slotted opening is provided on the outer wall of the connecting shaft 7 where the quick-release pipe clamp 11 is installed, and an opening is provided on the outer wall of the quick-release pipe clamp 11 at the welding carriage 10. The power cord of the internal welding robot 2 passes through the slotted opening and the opening inside the connecting shaft 7 and is connected to the cable traction machine 5.

[0066] The traction line is a threader with a spring steel wire, which can easily pass through the inner cavity of the pipe pile 1, and can pull the internal welding robot 2 along the inside of the pipe pile 1, which helps to quickly guide out the internal welding robot 2 after welding.

[0067] The bottom ends of the welding trolley 10 and the welding wire assembly 8 are both equipped with damping universal wheels 21, which have shock-absorbing springs. When the welding is completed and the supporting device 6 is released, the internal welding robot 2 will fall on the inner cavity of the pipe pile 1. The damping universal wheels 21 enable the internal welding robot 2 to maintain balance in the pipe pile 1 and ensure that it is not damaged when being pulled out by the cable traction machine 5.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipe pile internal welding robot, comprising a pipe pile, an internal welding robot, a centering positioning device and a roller frame, characterized in that: A cable traction machine for providing power to the internal welding robot is provided at one end of the roller frame, and the cable traction machine is located at one axial end of the pipe pile, and the cable traction machine is a trolley-type hoisting device combining a welding power line and a traction line; The roller frame is rotatably provided with a roller capable of rotatably supporting the pipe pile, and the internal welding robot is placed inside the pipe pile; The internal welding robot comprises a welding wire assembly, a wire feeder, a welding carriage, a welding gun, a connecting shaft and a quick-release pipe clamp. The welding wire assembly is equipped with welding wire, and the wire feeder outputs and fixes the welding gun on the welding carriage. The connecting shaft of the internal welding robot is connected to the centering positioning device through a quick-release pipe clamp; The connecting shaft connects the welding wire assembly, the wire feeder and the welding carriage together; The connecting shaft is a hollow tube, the power line and signal line of the welding trolley pass through the inside of the connecting shaft, and are connected to the cable of the cable traction machine through an aviation plug, and the welding power line passes through the inside of the connecting shaft and is connected to the wire feeder; The welding wire assembly is provided with a welding wire box hanging ear pendant, and the welding trolley is provided with a trolley hanging ear pendant, and the welding wire box hanging ear pendant and the trolley hanging ear pendant are both sleeved with the outer wall of the connecting shaft; The internal welding robot further comprises a supporting device, wherein the supporting device comprises a supporting mechanism and a bearing; The supporting mechanism is provided with four and is fixed to the outer wall of the bearing in an X-shaped structure, and the bearing is sleeved with the outer wall of the connecting shaft; The supporting mechanism adopts electric cylinders. When the internal welding robot is in place, four electric cylinders are started to support it in all directions. The four supporting mechanisms tightly support the inner wall of the pipe pile all around, so that the entire internal welding robot is installed and fixed in place.

2. A pipe pile internal welding robot according to claim 1, characterized in that: The bottom ends of the welding trolley and the welding wire assembly are both equipped with damping universal wheels, and the damping universal wheels are provided with shock-absorbing springs.

3. The pipe pile internal welding robot according to claim 1, characterized in that: The outer wall of the connecting shaft where the quick-release pipe clamp is installed is provided with a slotted opening, and the outer wall of the quick-release pipe clamp is provided with an opening located at the welding trolley. The power cord of the internal welding robot passes through the slotted opening and the opening inside the connecting shaft and is connected to the cable traction machine.

4. The pipe pile internal welding robot according to claim 1, characterized in that: The internal welding robot also includes an angle controller, a camera and a CCD; An angle controller is used to ensure that the welding gun is always perpendicular to the ground. CCD is used to guide the internal welding robot to realize intelligent and automatic welding operations. The camera presents the weld status to the handheld instrument in real time. The operator can make fine adjustments according to the actual working conditions to realize human-machine operation.

5. The pipe pile internal welding robot according to claim 1, characterized in that: The traction line is a threader with a spring steel wire.

Images