Travel system for pipeline internal welding machine and pipeline internal welding machine

Abstract

The present invention discloses a walking system for an in-pipe welding machine and an in-pipe welding machine, the walking system comprising: a mobile frame; a fixed plate, vertically arranged on the mobile frame; a plurality of lateral walking wheel assemblies, the plurality of lateral walking wheel assemblies being respectively arranged on both sides of the fixed plate, the lateral walking wheel assemblies comprising a rotating frame and lateral walking wheels, one end of the rotating frame being rotatably connected to the fixed plate, the lateral walking wheels being horizontally arranged on a vertical pivot shaft, the other end of the rotating frame being connected to the vertical pivot shaft; a tightening mechanism, the tightening mechanism comprising a first telescopic assembly and a connecting member, the first telescopic assembly being fixed to the fixed plate, one end of the connecting member being rotatably connected to the telescopic end of the first telescopic assembly, the other end of the connecting member being connected to the vertical pivot shaft. The above-mentioned walking system for an in-pipe welding machine and an in-pipe welding machine can effectively prevent the in-pipe welding machine from sliding down when running downhill, thereby improving the safety performance of the in-pipe welding machine.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline internal welding machines, in particular to a traveling system for a pipeline internal welding machine and the pipeline internal welding machine. Background Art

[0002] Currently, during the construction of long-distance pipelines both domestically and internationally, automated welding equipment is often required for automated construction welding of pipelines. This practice has been widely recognized by construction companies, particularly the use of in-pipe welding machines for automated construction welding, which improves both welding quality and efficiency, creating favorable in-pipe conditions for subsequent pipeline maintenance and inspection. However, existing in-pipe welding machines are primarily designed for use in plain terrain, imposing strict requirements on the pipe bend radius. These machines are less adaptable to mountainous terrain with numerous pipe bends (minimum bends reach 6D, where D is the outer diameter of the pipe). This leads to stringent requirements for pipe bend radius and a low penetration rate of automated welding processes for long-distance pipelines in mountainous areas.

[0003] The lateral travel wheels of existing pipeline welding machines are far away from the inner wall of the pipeline under normal driving conditions, resulting in large start-stop impacts and failure to function as damping brakes, causing the pipeline welding machine to easily slide when running downhill, posing a greater safety risk. Summary of the Invention

[0004] The purpose of the present invention is to provide a walking system for an in-pipeline welder and an in-pipeline welder, which can effectively prevent the in-pipeline welder from sliding down when running downhill, thereby improving the safety performance of the in-pipeline welder.

[0005] In order to achieve the above-mentioned object, the first aspect of the present invention provides a traveling system for a pipeline welding machine, the traveling system comprising:

[0006] Mobile frame;

[0007] A fixed plate is vertically arranged on the mobile frame;

[0008] Multiple lateral travel wheel assemblies, each of which is arranged on both sides of the fixed plate. The lateral travel wheel assembly includes a rotating frame and a lateral travel wheel. One end of the rotating frame is rotatably connected to the fixed plate. The lateral travel wheel is arranged on a vertical pivot shaft in the horizontal direction. The other end of the rotating frame is connected to the vertical pivot shaft.

[0009] The tightening mechanism includes a first telescopic component and a connecting member. The first telescopic component is fixed to the fixed plate. One end of the connecting member is rotatably connected to the telescopic end of the first telescopic component, and the other end of the connecting member is connected to the vertical pivot shaft.

[0010] In an embodiment of the present invention, the first telescopic assembly includes a first telescopic cylinder and an ejection seat fixed on a fixed plate. The ejection seat is arranged at the protruding end of the first telescopic rod of the first telescopic cylinder and is perpendicular to the first telescopic rod. The radial end of the ejection seat is rotatably connected to the connecting piece.

[0011] In an embodiment of the present invention, the first telescopic assembly also includes a first gas spring and a second gas spring arranged on both sides of the first telescopic cylinder. The fixed ends of the first gas spring and the second gas spring are fixed to the cylinder body of the first telescopic cylinder, and the telescopic ends of the first gas spring and the second gas spring are fixed to the ejection seat.

[0012] In an embodiment of the present invention, the traveling system further comprises a brake mechanism provided on the moving frame.

[0013] In an embodiment of the present invention, the braking mechanism includes a second telescopic assembly, a first brake pad assembly and a second brake pad assembly, which are arranged on a moving frame and perpendicular to the moving direction of the moving frame. The first brake pad assembly is arranged at the fixed end of the second telescopic assembly through a first connecting rod, and the second brake pad assembly is arranged at the telescopic end of the second telescopic assembly through a second connecting rod.

[0014] In an embodiment of the present invention, the second telescopic assembly includes a second telescopic cylinder and an ejection rod arranged on the mobile frame and perpendicular to the moving direction of the mobile frame. The ejection rod is arranged at the protruding end of the second telescopic rod of the second telescopic cylinder and perpendicular to the second telescopic rod. The second connecting rod is connected to the ejection rod.

[0015] In an embodiment of the present invention, the second telescopic assembly also includes a third gas spring and a fourth gas spring arranged on both sides of the second telescopic cylinder. The fixed ends of the third gas spring and the fourth gas spring are fixed to the cylinder body of the second telescopic cylinder, and the telescopic ends of the third gas spring and the fourth gas spring are fixed to the ejection rod.

[0016] In an embodiment of the present invention, the first brake pad assembly and the second brake pad assembly each include a brake pad mounting frame and a brake pad disposed on the brake pad mounting frame.

[0017] In an embodiment of the present invention, the lateral travel wheel includes a rolling surface and a first side end surface and a second side end surface respectively located on both sides of the rolling surface. The diameter of the first side end surface is different from the diameter of the second side end surface.

[0018] A second aspect of the present invention provides an in-pipeline welder, which includes the above-mentioned traveling system for the in-pipeline welder.

[0019] Through the above technical scheme, a plurality of lateral walking wheel assemblies and a tightening mechanism are provided in the walking system, the lateral walking wheel assembly includes a rotating frame and a lateral walking wheel, one end of the rotating frame is rotatably connected to the fixed plate, the lateral walking wheel is arranged in the horizontal direction and has a vertical pivot axis, and the other end of the rotating frame is connected to the vertical pivot axis; the tightening mechanism includes a first telescopic assembly and a connecting member, the first telescopic assembly is fixed to the fixed plate, one end of the connecting member is rotatably connected to the telescopic end of the first telescopic assembly, and the other end of the connecting member is connected to the vertical pivot axis. When the first telescopic assembly is extended so that the rotating frame is in a fully expanded state, the lateral walking wheel contacts the lateral inner wall of the pipeline and generates appropriate pre-pressure on the lateral inner wall of the pipeline, thereby making the walking system have a damping braking function, effectively preventing the pipeline welding machine from sliding when walking in a downhill environment, thereby improving the safety performance of the pipeline welding machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0021] Figure 1 This is a schematic diagram of the first-view structure of the walking system in an embodiment of the present invention;

[0022] Figure 2 This is a schematic structural diagram of the walking system from a second perspective in an embodiment of the present invention;

[0023] Figure 3 This is a schematic structural diagram of the walking system from a third perspective in an embodiment of the present invention;

[0024] Figure 4 This is a schematic structural diagram of the tightening mechanism from a first perspective in an embodiment of the present invention;

[0025] Figure 5 2 is a schematic structural diagram of the tightening mechanism according to the embodiment of the present invention from a second perspective;

[0026] Figure 6 This is a schematic diagram of the brake mechanism structure in an embodiment of the present invention;

[0027] Figure 7 This is a schematic structural diagram of the lateral travel wheel from a first perspective in an embodiment of the present invention;

[0028] Figure 8 This is a schematic structural diagram of the lateral travel wheel from a second perspective in an embodiment of the present invention.

[0029] Description of Reference Numerals

[0030] 1 Mobile frame 2 Fixed plate

[0031] 3 Lateral travel wheel assembly 301 rotating frame

[0032] 302 lateral travel wheels 303 vertical pivot axis

[0033] 304 bearing 305 bearing sleeve

[0034] 306 transmission sleeve 307 long shaft sleeve

[0035] 308 short shaft sleeve 309 bearing cover

[0036] 3010 and 3011 transmission parts

[0037] 3012 rocker sleeve 3013 stop gasket

[0038] 3014 Spring Washer 3015 Tightening Nut

[0039] 4 Tightening mechanism 401 First telescopic component

[0040] 402 Connector 403 First telescopic cylinder

[0041] 404 ejection seat 405 first telescopic rod

[0042] 406 First gas spring 407 Second gas spring

[0043] 408 Cylinder mounting seat 409 First spring mounting seat

[0044] 4010 Second spring mounting seat 5 brake mechanism

[0045] 501 Second telescopic assembly 502 First brake pad assembly

[0046] 503 Second brake pad assembly 504 First connecting rod

[0047] 505 Second connecting rod 506 Second telescopic cylinder

[0048] 507 Push rod 508 Second telescopic rod

[0049] 509 third gas spring 5010 fourth gas spring

[0050] 5011 Brake Pad Mounting Bracket 5012 Brake Pad

[0051] 5013 Third connecting rod 5014 Fourth connecting rod

[0052] 5015 Third spring mounting seat 5016 Fourth spring mounting seat DETAILED DESCRIPTION

[0053] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0054] In an embodiment of the present invention, a walking system for a pipeline welding machine is provided, which is suitable for a pipeline welding machine, such as Figure 1-8 As shown, the walking system includes a moving frame 1, a fixed plate 2, a plurality of lateral walking wheel assemblies 3 and a tightening mechanism 4, wherein the moving frame 1 includes a frame and a plurality of moving wheels arranged at the bottom of the frame (the moving wheels roll along the inner wall of the bottom of the pipe); the fixed plate 2 is vertically arranged on the moving frame 1; the plurality of lateral walking wheel assemblies 3 are respectively arranged on both sides of the fixed plate 2, and the lateral walking wheel assembly 3 includes a rotating frame 301 and a lateral walking wheel 302, one end of the rotating frame 301 is rotatably connected to the fixed plate 2, the lateral walking wheel 302 is horizontally arranged on a vertical pivot shaft 303, and the other end of the rotating frame 301 is connected to the vertical pivot shaft 303. Specifically, the lateral walking wheel assembly 3 in this embodiment has two groups and is respectively arranged on the left and right sides of the fixed plate 2. Each group of lateral walking wheel assemblies 3 has two lateral walking wheels 302 arranged opposite to each other up and down. The above two lateral walking wheels 302 are both arranged at the end of the rotating frame 301 away from the fixed plate 2 through the vertical pivot shaft 303, and the rotating frame 301 is connected to the vertical pivot shaft 303. After the rotating connection end of the fixed plate 2 is laterally expanded relative to the fixed plate 2, the lateral walking wheel 302 can roll along the lateral inner wall of the pipeline; the tightening mechanism 4 includes a first telescopic component 401 and a connecting member 402, the first telescopic component 401 is fixed to the fixed plate 2, one end of the connecting member 402 is rotatably connected to the telescopic end of the first telescopic component 401, and the other end of the connecting member 402 is connected to the vertical pivot shaft 303, the first telescopic component 401 has a telescopic function, the rotating frame 301 is laterally expanded as the first telescopic component 401 is extended, and the lateral walking wheel 302 gradually approaches the lateral inner wall of the pipeline. When the first telescopic component 401 is extended to the first preset length, the rotating frame 301 is in a fully expanded state. At this time, the lateral walking wheel 302 contacts the lateral inner wall of the pipeline and generates appropriate pre-pressure on the lateral inner wall of the pipeline, thereby making the walking system have a damping braking function, effectively preventing the pipeline welding machine from sliding when walking in a downhill environment. The structure is simple and reduces the safety risk of the pipeline welding machine.

[0055] When the first telescopic assembly 401 contracts, the rotating frame 301 gradually retracts, and the lateral traveling wheels 302 gradually move away from the lateral inner wall of the pipeline.

[0056] In an embodiment of the present invention, the first telescopic assembly 401 includes a first telescopic cylinder 403 fixed to the fixed plate 2 and an ejector seat 404. The ejector seat 404 is arranged at the protruding end of the first telescopic rod 405 of the first telescopic cylinder 403 and is perpendicular to the first telescopic rod 405. The radial end of the ejector seat 404 is rotatably connected to the connecting member 402. Specifically, the first telescopic cylinder 403 is arranged along the length direction of the movable frame 1. The cylinder body of the first telescopic cylinder 403 is fixed to the fixed plate 2 via a cylinder mounting seat 408. The ejector seat 404 is arranged at the protruding end of the first telescopic rod 405 and moves with the movement of the first telescopic rod 405. The ejector seat 404 has a groove formed on the side away from the first telescopic rod 405. One end of the connecting member 402 extends into the groove and is hingedly connected to the ejector seat 404. The other end of the connecting member 402 is connected to the vertical pivot shaft 303 of the lateral travel wheel 302. When the first telescopic rod 405 is extended, the push-out seat 404 applies a thrust to the connecting member 402, and the push-out seat 404 then acts on the vertical pivot shaft 303 of the lateral travel wheel 302. The vertical pivot shaft 303 moves with the lateral travel wheel 302 and the rotating frame 301, thereby causing the rotating frame 301 to gradually unfold, and the lateral travel wheel 302 gradually approaches and presses against the lateral inner wall of the pipeline with appropriate pre-pressure; conversely, when the first telescopic rod 405 is retracted, the rotating frame 301 gradually retracts, and the lateral travel wheel 302 gradually moves away from the lateral inner wall of the pipeline.

[0057] In an embodiment of the present invention, the first telescopic assembly 401 further includes a first gas spring 406 and a second gas spring 407 provided on both sides of the first telescopic cylinder 403. The fixed ends of the first gas spring 406 and the second gas spring 407 are both fixed to the cylinder body of the first telescopic cylinder 403, and the telescopic ends of the first gas spring 406 and the second gas spring 407 are both fixed to the ejection seat 404. Specifically, the first telescopic assembly 401 further includes a first spring mounting seat 409 and a second spring mounting seat 4010, which are respectively provided on both sides of the first telescopic cylinder 403 and mounted on the cylinder mounting seat 408. The first gas spring 406 and the second gas spring 407 are respectively mounted on the first spring mounting seat 409 and the second spring mounting seat 4010. The fixed end of the first gas spring 406 is fixed to the first spring mounting seat 409, and the telescopic end of the first gas spring 406 is fixed to the ejection seat 404. Similarly, the fixed end of the second gas spring 407 is fixed to the second spring mounting seat 408. On the spring mounting seat 4010, the telescopic end of the second gas spring 407 is fixed to the push-out seat 404. When the first telescopic cylinder 403 cannot be fed with air (such as when a fault occurs, or when the first telescopic cylinder 403 is set to not require air intake under certain working conditions), which in turn causes the first telescopic rod 405 to be unable to be pushed out, the first gas spring 406 and the second gas spring 407 can still act on the push-out seat 404, so that the lateral walking wheel 302 can be against the inner wall of the lateral side of the pipeline, avoiding affecting the tightening function of the tightening mechanism 4, and further ensuring the safety performance of the walking system. When the bogie needs to be retracted, the first telescopic cylinder 403 should be fed with air to drive the first gas spring 406 and the second gas spring 407 to retract.

[0058] Furthermore, the first gas spring 406 and the second gas spring 407 in this embodiment have the advantages of small size and large extension force. The first gas spring 406 and the second gas spring 407 can also be replaced with elastic components of other structural forms and meeting the telescopic function according to actual needs.

[0059] In an embodiment of the present invention, the lateral travel wheel 302 includes a rolling surface and a first side end surface and a second side end surface located on either side of the rolling surface, respectively. The diameter of the first side end surface is different from the diameter of the second side end surface. Specifically, the first side end surface and the second side end surface are both circular. The diameter of the cross section of the lateral travel wheel 302 gradually increases from the first side end surface to the second side end surface (gradually decreases in the opposite direction). The rolling surface is arc-shaped, and the curvature of the arc is consistent with the curvature of the lateral inner wall of the pipeline. This increases the contact area between the rolling surface of the lateral travel wheel 302 and the lateral inner wall of the pipeline, which helps to enhance the tightening effect of the tightening mechanism 4.

[0060] In an embodiment of the present invention, each set of lateral running wheel assemblies 3 includes two lateral running wheels 302 arranged vertically opposite each other and passing through a vertical pivot shaft 303, a bearing 304, a bearing sleeve 305, a force transmission sleeve 306, a long shaft sleeve 307, a short shaft sleeve 308, a bearing cover 309, a tightening sleeve 3010, and a transmission unit 3011. The bearing sleeve 305 is sleeved on the outside of the vertical pivot shaft 303, and the force transmission sleeve 306 is sleeved on the outside of the bearing sleeve 305. The two lateral running wheels 302 are connected together by the force transmission sleeve 306 between the long shaft sleeve 307 and the short shaft sleeve 308. The transmission unit 3011 is sleeved on the outside of the force transmission sleeve 306 and is located between the long shaft sleeve 307 and the short shaft sleeve 308. Furthermore, the ends of the long shaft sleeve 307 and the short shaft sleeve 308 are each provided with a bearing hole for mounting the bearing 304. The bearing 304 is mounted in the above-mentioned bearing hole. The bearing cap 309 is disposed outside the bearing hole, and the tight sleeve 3010 is disposed closely adjacent to the bearing cap 309 to prevent the bearing 304 from sliding along the axis of the vertical pivot shaft 303. The transmission portion 3011 in this embodiment is a sprocket, which is drivingly connected to the drive device of the in-pipe welder. Therefore, in a specific application, the transmission portion 3011 can transmit force to the vertical pivot shaft 303, causing it to drive the lateral travel wheel 302 to rotate. The lateral travel wheel 302 and the transmission portion 3011 both rotate around the vertical pivot shaft 303 and the bearing sleeve 305.

[0061] In an embodiment of the present invention, the lateral walking wheel assembly 3 also includes a rocker sleeve 3012, a stop gasket 3013, a spring washer 3014 and a tightening nut 3015. Specifically, the rocker sleeve 3012 is sleeved on the vertical pivot shaft 303 and is located on the side of the lateral walking wheel 302 away from the transmission part 3011. The stop gasket 3013, the spring washer 3014 and the tightening nut 3015 are arranged at the end of the rocker sleeve 3012 away from the lateral walking wheel 302. Each group of lateral walking wheel assemblies 3 can be connected to the rocker on the mobile frame 1 through the rocker sleeve 3012.

[0062] In an embodiment of the present invention, the traveling system further includes a brake mechanism 5 provided on the moving frame 1, so that the traveling system has a braking function, further enhancing the safety performance of the traveling system.

[0063] In an embodiment of the present invention, the brake mechanism 5 includes a second telescopic assembly 501, a first brake pad assembly 502 and a second brake pad assembly 503, which are arranged on the mobile frame 1 and perpendicular to the moving direction of the mobile frame 1. The first brake pad assembly 502 is arranged at the fixed end of the second telescopic assembly 501 through the first connecting rod 504, and the second brake pad assembly 503 is arranged at the telescopic end of the second telescopic assembly 501 through the second connecting rod 505. Specifically, the second telescopic component 501 is arranged in a direction perpendicular to the length of the moving frame 1. When the second telescopic component 501 is in a retracted state, the distance between the first brake pad component 502 and the second brake pad component 503 is less than the diameter of the inner wall of the pipe, and the walking system does not produce a braking effect at this time; when the second telescopic component 501 is extended, the second connecting rod 505 and the second brake pad component 503 at the telescopic end of the second telescopic component 501 move in a direction away from the first brake pad component 502 as the second telescopic component 501 is extended, and the distance between the first brake pad component 502 and the second brake pad component 503 gradually increases. When the second telescopic component 501 is extended to the second preset length, the first brake pad component 502 and the second brake pad component 503 both press against the lateral inner wall of the pipe, and the walking system has a braking function.

[0064] In an embodiment of the present invention, the second telescopic assembly 501 includes a second telescopic cylinder 506 and an ejection rod 507, which are arranged on the mobile frame 1 and perpendicular to the moving direction of the mobile frame 1. The ejection rod 507 is arranged at the protruding end of the second telescopic rod 508 of the second telescopic cylinder 506 and is perpendicular to the second telescopic rod 508. The second connecting rod 505 is connected to the ejection rod 507. Specifically, the second telescopic cylinder 506 is arranged along a direction perpendicular to the length of the mobile frame 1, the cylinder body of the second telescopic cylinder 506 is fixed to the mobile frame 1, the ejection rod 507 is arranged at the protruding end of the second telescopic rod 508 and moves with the movement of the second telescopic rod 508, and the second connecting rod 505 and the second brake pad assembly 503 move together with the ejection rod 507. When the second telescopic rod 508 is extended, the second connecting rod 505 and the second brake pad assembly 503 move in the direction away from the first brake pad assembly 502, and the distance between the first brake pad assembly 502 and the second brake pad assembly 503 gradually increases, so that the first brake pad assembly 502 and the second brake pad assembly 503 eventually press against the lateral inner wall of the pipe, and the walking system realizes the braking function; conversely, when the second telescopic rod 508 is retracted, the distance between the first brake pad assembly 502 and the second brake pad assembly 503 gradually decreases, and the braking function of the walking system is cancelled.

[0065] In an embodiment of the present invention, the second telescopic assembly 501 further includes a third gas spring 509 and a fourth gas spring 5010 provided on both sides of the second telescopic cylinder 506. The fixed ends of the third gas spring 509 and the fourth gas spring 5010 are both fixed to the cylinder body of the second telescopic cylinder 506, and the telescopic ends of the third gas spring 509 and the fourth gas spring 5010 are both fixed to the ejection rod 507. Specifically, the second telescopic assembly 501 further includes a third spring mounting seat 5015 and a fourth spring mounting seat 5016 respectively provided on both sides of the second telescopic cylinder 506. The third gas spring 509 and the fourth gas spring 5010 are respectively mounted on the third spring mounting seat 5015 and the fourth spring mounting seat 5016. The fixed end of the third gas spring 509 is fixed to the third spring mounting seat 5015, and the telescopic end of the third gas spring 509 is fixed to the ejection rod 507. Similarly, the fixed end of the fourth gas spring 5010 is fixed to the fourth spring mounting seat. The telescopic end of the fourth gas spring 5010 is fixed to the ejection rod 507 on the mounting seat 5016. When the second telescopic cylinder 506 cannot be supplied with air (such as when a malfunction occurs, or when the second telescopic cylinder 506 is set to not require air supply under certain operating conditions), which in turn causes the second telescopic rod 508 to be unable to be ejected, the third gas spring 509 and the fourth gas spring 5010 can still act on the ejection rod 507, so that the second brake shoe assembly 503 can still move in a direction away from the first brake shoe assembly 502, thereby avoiding affecting the braking function of the walking system. When the braking function needs to be canceled (such as during normal walking), air should be supplied to the second telescopic cylinder 506, causing it to drive the third gas spring 509 and the fourth gas spring 5010 to retract.

[0066] When the in-pipe welder in this embodiment is traveling downhill, the second telescopic assembly 501 is extended to the third preset length, so that the brake mechanism 5 and the tightening mechanism 4 work together, that is, the first brake shoe assembly 502, the second brake shoe assembly 503 and the lateral travel wheel assembly 3 work together to reduce the travel speed of the in-pipe welder, so as to improve the driving safety of the in-pipe welder when traveling downhill. In addition, the above-mentioned joint action will not cause the in-pipe welder to completely stop moving forward.

[0067] Furthermore, the third gas spring 509 and the fourth gas spring 5010 in this embodiment have the advantages of small size and large extension force. The third gas spring 509 and the fourth gas spring 5010 can also be replaced with elastic components of other structural forms and meeting the telescopic function according to actual needs.

[0068] In an embodiment of the present invention, the first brake shoe assembly 502 and the second brake shoe assembly 503 both include a brake shoe mounting frame 5011 and a brake shoe 5012 arranged on the brake shoe mounting frame 5011. The brake shoe 5012 has a large friction force. When the first brake shoe assembly 502 and the second brake shoe assembly 503 are pressed against the lateral inner wall of the pipe with sufficient pressure, the friction force generated by the brake shoe 5012 on the lateral inner wall of the pipe enables the braking function of the walking system to be realized. Furthermore, in this embodiment, the outer side of the brake shoe 5012 is arc-shaped and the arc angle is consistent with the bending angle of the lateral inner wall of the pipe, which is conducive to increasing the braking effect. The contact area between the brake pad 5012 and the lateral inner wall of the pipe is increased, thereby increasing the friction and enhancing the braking performance; further, the brake mechanism 5 also includes a third connecting rod 5013 and a fourth connecting rod 5014, one end of the third connecting rod 5013 is rotatably connected to the brake pad mounting bracket 5011 of the first brake pad assembly 502, and the other end of the third connecting rod 5013 is rotatably connected to the mobile frame 1; one end of the fourth connecting rod 5014 is rotatably connected to the brake pad mounting bracket 5011 of the second brake pad assembly 503, and the other end of the fourth connecting rod 5014 is rotatably connected to the mobile frame 1, thereby enhancing the connection stability of the brake mechanism 5.

[0069] In an embodiment of the present invention, the brake pad 5012 is made of rubber. The brake pad 5012 made of this material can meet the friction requirements, has low cost, is easy to process, and has good wear resistance.

[0070] Another embodiment of the present invention provides an in-pipeline welder, which includes the traveling system for the in-pipeline welder in the above embodiment.

[0071] The present invention provides a walking system for an in-pipe welding machine and an in-pipe welding machine, wherein a plurality of lateral walking wheel assemblies and a tightening mechanism are provided in the walking system, the lateral walking wheel assembly comprises a rotating frame and a lateral walking wheel, one end of the rotating frame is rotatably connected to a fixed plate, the lateral walking wheel is arranged in a horizontal direction and has a vertical pivot axis, and the other end of the rotating frame is connected to the vertical pivot axis; the tightening mechanism comprises a first telescopic assembly and a connecting member, the first telescopic assembly is fixed to the fixed plate, one end of the connecting member is rotatably connected to the telescopic end of the first telescopic assembly, and the other end of the connecting member is connected to the vertical pivot axis, when the first telescopic assembly is extended so that the rotating frame is in a fully expanded state, the lateral walking wheel contacts the lateral inner wall of the pipeline and generates appropriate pre-pressure on the lateral inner wall of the pipeline, thereby making the walking system have a damping braking function, effectively preventing the in-pipe welding machine from sliding down when walking in a downhill environment, and improving the safety performance of the in-pipe welding machine.

[0072] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Within the technical concept of the present invention, the technical solution of the present invention may be subjected to various simple modifications, including combining the specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not further describe various possible combinations. However, these simple modifications and combinations should also be regarded as disclosed in the present invention and fall within the scope of protection of the present invention.

[0073] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0074] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0075] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A traveling system for a pipeline welding machine, characterized in that: The walking system includes: Mobile frame (1); A fixed plate (2) is vertically arranged on the movable frame (1); A plurality of lateral walking wheel assemblies (3), wherein the plurality of lateral walking wheel assemblies (3) are respectively arranged on both sides of the fixed plate (2), the lateral walking wheel assemblies (3) include a rotating frame (301) and a lateral walking wheel (302), one end of the rotating frame (301) is rotatably connected to the fixed plate (2), the lateral walking wheel (302) is arranged on a vertical pivot shaft (303) in the horizontal direction, the other end of the rotating frame (301) is connected to the vertical pivot shaft (303), the lateral walking wheel (302) includes a rolling surface and a first side end surface and a second side end surface respectively located on both sides of the rolling surface, the diameter of the first side end surface is equal to the diameter of the second side end surface. The diameters of the two side end surfaces are different. Each group of the lateral walking wheel assembly (3) includes two lateral walking wheels (302) arranged opposite to each other in the upper and lower directions and passing through the vertical pivot shaft (303), a bearing (304), a bearing sleeve (305), a force transmission sleeve (306), a long shaft sleeve (307), a short shaft sleeve (308), a bearing cover (309), a tightening sleeve (3010), a transmission part (3011), a rocker sleeve (3012), a stop washer (3013), a spring washer (3014) and a tightening nut (3015), wherein the bearing sleeve (305) is sleeved on the outer side of the vertical pivot shaft (303), and the force transmission sleeve (306) is sleeved on the shaft. On the outside of the bearing sleeve (305), the two lateral walking wheels (302) facing each other are connected together through the power transmission sleeve (306) in the middle of the long shaft sleeve (307) and the short shaft sleeve (308). The transmission part (3011) is sleeved on the outside of the power transmission sleeve (306) and is located between the long shaft sleeve (307) and the short shaft sleeve (308). The ends of the long shaft sleeve (307) and the short shaft sleeve (308) are both provided with bearing holes for installing the bearing (304). The bearing (304) is installed in the bearing hole. The bearing cover (309) is arranged on the outside of the bearing hole. The tightening sleeve (3010) The transmission part (3011) is arranged close to the bearing cover (309), the transmission part (3011) is a sprocket, the sprocket is connected to the driving device of the pipeline welding machine, the rocker sleeve (3012) is sleeved on the vertical pivot shaft (303) and is located on the side of the lateral travel wheel (302) away from the transmission part (3011), the stop washer (3013), the spring washer (3014) and the tightening nut (3015) are arranged on the end of the rocker sleeve (3012) away from the lateral travel wheel (302), and each group of the lateral travel wheel assembly (3) can be connected to the rocker on the mobile frame (1) through the rocker sleeve (3012); The tightening mechanism (4) comprises a first telescopic assembly (401) and a connecting member (402), wherein the first telescopic assembly (401) is fixed to the fixed plate (2), one end of the connecting member (402) is rotatably connected to the telescopic end of the first telescopic assembly (401), and the other end of the connecting member (402) is connected to the vertical pivot shaft (303), and the first telescopic assembly (401) comprises a first telescopic cylinder (403) fixed to the fixed plate (2) and an ejection seat (404), wherein the ejection seat (404) is arranged at the first end of the first telescopic cylinder (403). The extended end of the telescopic rod (405) is perpendicular to the first telescopic rod (405), and the radial end of the ejection seat (404) is rotatably connected to the connecting piece (402); the first telescopic assembly (401) further comprises a first gas spring (406) and a second gas spring (407) arranged on both sides of the first telescopic cylinder (403), the fixed ends of the first gas spring (406) and the second gas spring (407) are both fixed to the cylinder body of the first telescopic cylinder (403), and the telescopic ends of the first gas spring (406) and the second gas spring (407) are both fixed to the ejection seat (404).

2. The traveling system for a pipeline internal welding machine according to claim 1, characterized in that: The traveling system further comprises a brake mechanism (5) arranged on the moving frame (1).

3. The traveling system for a pipeline internal welding machine according to claim 2, characterized in that: The brake mechanism (5) comprises a second telescopic assembly (501) arranged on the mobile frame (1) and perpendicular to the moving direction of the mobile frame (1), a first brake pad assembly (502) and a second brake pad assembly (503), wherein the first brake pad assembly (502) is arranged at a fixed end of the second telescopic assembly (501) via a first connecting rod (504), and the second brake pad assembly (503) is arranged at a telescopic end of the second telescopic assembly (501) via a second connecting rod (505).

4. The traveling system for a pipeline internal welding machine according to claim 3, characterized in that: The second telescopic assembly (501) comprises a second telescopic cylinder (506) and an ejection rod (507) arranged on the mobile frame (1) and perpendicular to the moving direction of the mobile frame (1); the ejection rod (507) is arranged at the protruding end of the second telescopic rod (508) of the second telescopic cylinder (506) and perpendicular to the second telescopic rod (508); and the second connecting rod (505) is connected to the ejection rod (507).

5. The traveling system for a pipeline internal welding machine according to claim 4, characterized in that: The second telescopic assembly (501) further comprises a third gas spring (509) and a fourth gas spring (5010) arranged on both sides of the second telescopic cylinder (506); the fixed ends of the third gas spring (509) and the fourth gas spring (5010) are both fixed to the cylinder body of the second telescopic cylinder (506); and the telescopic ends of the third gas spring (509) and the fourth gas spring (5010) are both fixed to the ejection rod (507).

6. The traveling system for a pipeline internal welding machine according to claim 3, characterized in that: The first brake pad assembly (502) and the second brake pad assembly (503) both comprise a brake pad mounting frame (5011) and a brake pad (5012) arranged on the brake pad mounting frame (5011).

7. The traveling system for a pipeline welding machine according to claim 6, characterized in that: The lateral running wheel (302) comprises a rolling surface and a first side end surface and a second side end surface respectively located on both sides of the rolling surface, wherein the diameter of the first side end surface is different from the diameter of the second side end surface.

8. A pipeline internal welding machine, characterized in that: The in-pipeline welding machine includes the traveling system for the in-pipeline welding machine according to any one of claims 1-7.

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