Pipe inner wall welding device

Abstract

A pipe inner wall welding device includes a support base, a track body, a welding mechanism, an image acquisition unit, and a first drive mechanism. The track body is suspended by the support base, allowing the pipe workpiece to be fixedly fitted onto the track body. A miniaturized welding mechanism is mounted on the track body to weld the inner surface of the pipe workpiece fitted onto the track body. The welding mechanism can move axially along the track body, and the first drive mechanism drives the welding mechanism to achieve this movement. Simultaneously, the track body or the pipe workpiece can be manually or mechanically rotated around the axial direction to achieve welding on the inner wall of the pipe workpiece in various directions. The image acquisition unit further allows for real-time monitoring of the welding mechanism's position and welding status during operation, ensuring smooth welding operations.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to a pipe inner wall welding device. Background Technology

[0002] Currently, boilers are widely used in various industries, including waste incineration, powder metallurgy, and boiler power generation. The working environment is harsh, with high temperatures and pressures, and the boilers are exposed to large amounts of corrosive gases and liquids, causing significant damage to the pipes. Both the surface and internal parts are easily corroded, leading to pipe rupture and leakage during long-term operation, ultimately requiring the entire boiler to be shut down for maintenance.

[0003] Currently, applying a wear-resistant welded layer to the inside of pipes is a relatively new research area. Applying wear-resistant welded protection to the inside of seamless pipes can achieve strong corrosion resistance and ensure the pipe's durability and stability, guaranteeing the long-term stable operation of boiler internal hardware, which is crucial for the boiler and industrial pipeline transportation industries. However, the technical level required for welding the inner wall of the pipe is quite high, and therefore cannot be achieved using current simple welding techniques. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art. To this end, the present invention proposes a pipe inner wall welding device, which solves the problem that it is difficult to weld the inside of pipes in the prior art.

[0005] The pipe inner wall welding apparatus according to an embodiment of the present invention includes:

[0006] Support base;

[0007] The track body is mounted on the support base and is parallel to the support base. The track body is used to fit the tube workpiece, and the track body and the tube workpiece can rotate relative to each other around the axial direction.

[0008] A welding mechanism is mounted on the track body and can move along the axial direction of the track body. The welding mechanism is used to weld from the inner surface of the tube workpiece.

[0009] An image acquisition unit is disposed in the track body, and the image acquisition unit is used to determine the working status of the welding mechanism;

[0010] A first driving mechanism is used to drive the welding mechanism to move within the track body.

[0011] The pipe inner wall welding apparatus according to embodiments of the present invention has at least the following beneficial effects:

[0012] The track body is suspended by a support base, allowing the tubular workpiece to be fitted and fixed to the outside of the track body. A miniaturized welding mechanism is mounted on the track body to weld the inner surface of the tubular workpiece fitted to the track body. The welding mechanism can move axially on the track body, and a first drive mechanism can drive the welding mechanism to move on the track body. Simultaneously, the track body or the tubular workpiece can be manually or mechanically rotated around the axial direction to achieve welding on the inner wall of the tubular workpiece in various directions. By using an image acquisition unit, the position of the welding mechanism and the welding status can be further confirmed in real time during operation, thereby ensuring the smooth operation of the welding process.

[0013] According to some embodiments of the present invention, the pipe inner wall welding device further includes a self-aligning mechanism for fixing or loosening the pipe workpiece.

[0014] According to some embodiments of the present invention, the self-aligning mechanism includes two hinge engagement mechanisms, which are respectively disposed at both ends of the track body and are coaxial with the track body.

[0015] According to some embodiments of the present invention, each of the hinge engagement mechanisms includes:

[0016] A snap-fit ​​cylinder, one end of which is connected to one end of the track body;

[0017] The first retaining ring and the second retaining ring are respectively sleeved on both ends of the retaining tube and are arranged parallel to each other;

[0018] Multiple telescopic hinges are disposed between the first retaining ring and the second retaining ring and located outside the retaining cylinder. One end of each telescopic hinge is connected to the first retaining ring, and the other end of each telescopic hinge is connected to the second retaining ring. The multiple telescopic hinges are used to open or retract synchronously.

[0019] The second drive mechanism is coaxially disposed in the snap-fit ​​cylinder. One end of the second drive mechanism is connected to the first snap ring, and the other end of the second drive mechanism is connected to the second snap ring. The second drive mechanism is used to drive the multiple telescopic hinges to open or retract synchronously.

[0020] According to some embodiments of the present invention, the pipe inner wall welding device further includes a rotary power head coaxially disposed with the track body, the rotary power head being used to drive the track body to rotate about the axial direction.

[0021] According to some embodiments of the present invention, the pipe inner wall welding device further includes a torque monitoring unit, which is used to monitor the torque value of the track body rotating about the axial direction.

[0022] According to some embodiments of the present invention, the welding mechanism includes:

[0023] A slide block is slidably mounted on the track body;

[0024] The welding torch is mounted on the slide.

[0025] According to some embodiments of the present invention, the image acquisition unit is disposed on the slide and located on one side of the welding torch.

[0026] According to some embodiments of the present invention, the first driving mechanism includes:

[0027] A ball screw is disposed in the track body and is arranged parallel to the axial direction of the track body;

[0028] A ball screw nut is threadedly connected to the ball screw, and the ball screw nut is connected to the slide block;

[0029] A drive motor is located in the track body and near one end of the track body, and is used to drive the ball screw to rotate.

[0030] According to some embodiments of the present invention, the support base includes:

[0031] base;

[0032] The first support is slidably disposed on the base and connected to one end of the track body;

[0033] The second support is slidably mounted on the base and connected to the other end of the track body.

[0034] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0035] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0036] Figure 1 This is a schematic diagram of the pipe inner wall welding device according to an embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of the pipe inner wall welding device and the pipe workpiece according to an embodiment of the present invention;

[0038] Figure 3 This is a partial structural schematic diagram of the pipe inner wall welding device according to an embodiment of the present invention;

[0039] Figure 4This is a partial top view of the pipe inner wall welding device according to an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of the hinge engagement mechanism of the pipe inner wall welding device according to an embodiment of the present invention;

[0041] Figure 6 This is an exploded view of the hinge engagement mechanism of the pipe inner wall welding device according to an embodiment of the present invention;

[0042] Figure 7 This is a structural schematic diagram showing the location of the first drive mechanism of the pipe inner wall welding device according to an embodiment of the present invention.

[0043] Icon labels:

[0044] Base 110; First support 120; Second support 130; Workpiece fixing seat 140;

[0045] Track body 200;

[0046] Hinge locking mechanism 300; locking cylinder 310; first retaining ring 320; second retaining ring 330; telescopic hinge 340; cylinder 350;

[0047] Rotary power head 410; Torque sensor 420;

[0048] Welding mechanism 500; slide rail 510; slide block 520; welding torch 530;

[0049] Miniature camera 600;

[0050] Ball screw 710; ball screw nut 720; drive motor 730;

[0051] Tube body workpiece 800. Detailed Implementation

[0052] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0053] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, etc., are based on the orientation or positional relationship shown in the drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0054] In the description of this invention, "multiple" refers to two or more. The use of "first" and "second" is for distinguishing technical features only and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features or their sequential relationship.

[0055] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0056] Reference Figure 1 As shown, an embodiment of the pipe inner wall welding device of the present invention includes a support base 110, a track body 200, a welding mechanism 500, an image acquisition unit, and a first driving mechanism. The track body 200 is disposed on the support base 110 and is parallel to the support base 110. The track body 200 is used to sleeve the pipe workpiece 800, and the track body 200 and the pipe workpiece 800 can rotate relative to each other about the axial direction. The welding mechanism 500 is disposed on the track body 200 and can move along the axial direction of the track body 200. The welding mechanism 500 is used to weld from the inner surface of the pipe workpiece 800. The image acquisition unit is disposed in the track body 200 and is used to determine the working state of the welding mechanism 500. The first driving mechanism is used to drive the welding mechanism 500 to move within the track body 200.

[0057] Reference Figure 1 As shown in the figure, with reference to the orientation, the support base 110 has a rectangular shape. A support portion is provided on the support base 110 to hold the track body 200. The track body 200 is a hollow cylinder with half a side facing down. The track body 200 is parallel to the horizontal plane and rests on the support portion with its side facing downwards. That is, the hollow part of the hollow cylinder is located above the surface of the track body 200, forming a boat-shaped container to hold the welding mechanism 500. The welding mechanism 500 can move axially within the track body 200. A first drive mechanism is used to drive the movement of the welding mechanism 500. (Continue to refer to...) Figure 2 When the welding device on the inner wall of the pipe is working, the pipe workpiece 800 is coaxially sleeved on the outside of the track body 200. The welding mechanism 500 can then weld the inside of the pipe workpiece 800. Specifically, the welding mechanism 500 can move in the track body 200, and the pipe workpiece 800 or the track body 200 can rotate about the axial direction. Therefore, by properly placing and adjusting the welding mechanism 500 and the pipe workpiece 800, welding can be performed at various positions inside the pipe workpiece 800.

[0058] It is understandable that the track body 200 is suspended by the support base 110 so that the tubular workpiece 800 can be fixed on the outside of the track body 200. By setting the miniaturized welding mechanism 500 on the track body 200, the inner surface of the tubular workpiece 800 fitted on the outside of the track body 200 is welded. The welding mechanism 500 can move axially on the track body 200, and the first drive mechanism can drive the welding mechanism 500 to move on the track body 200. At the same time, the track body 200 or the tubular workpiece 800 is rotated manually or mechanically around the axial direction to achieve welding on the inner wall of the tubular workpiece 800 in various directions. By using the image acquisition unit, the position and welding status of the welding mechanism 500 during operation can be further confirmed in real time to ensure the smooth operation of welding.

[0059] In some embodiments, such as Figure 1 As shown, the pipe inner wall welding device also includes a self-aligning mechanism, which is used to fix or loosen the pipe workpiece 800.

[0060] Reference Figure 1 As shown, a self-aligning mechanism is installed on the track body 200. Figure 1 The self-aligning mechanism employs hinge-locking mechanisms 300, which are respectively disposed at both ends of the track body 200. When the tubular workpiece 800 is fitted onto the outside of the track body 200, the hinge-locking mechanisms 300 at both ends can be fixed or released inside the ends of the tubular workpiece 800. In some other embodiments, other common self-aligning mechanisms, centering mechanisms, or clamping mechanisms can also be used to clamp the ends of the tubular workpiece 800 to fix the tubular workpiece 800 to the outside of the track body 200.

[0061] In some embodiments, such as Figure 1 and Figure 3 As shown, the self-aligning mechanism includes two hinge engagement mechanisms 300, which are respectively located at both ends of the track body 200 and are coaxial with the track body 200.

[0062] Combined with reference Figure 1 and Figure 3 Two hinge engagement mechanisms 300 are coaxially mounted at both ends of the track body 200, and the two hinge engagement mechanisms 300 are positioned opposite each other. (Continue to refer to...) Figure 2 When the tube workpiece 800 is fitted onto the outside of the track body 200, the two hinge engagement mechanisms 300 can be fixed or released inside both ends of the tube workpiece 800.

[0063] In some embodiments, such as Figure 5 and Figure 6As shown, each hinge engagement mechanism 300 includes an engagement cylinder 310, a first retaining ring 320 and a second retaining ring 330, multiple telescopic hinges 340, and a second drive mechanism. One end of the engagement cylinder 310 is connected to one end of the track body 200; the first retaining ring 320 and the second retaining ring 330 are respectively sleeved on both ends of the engagement cylinder 310 and arranged parallel to each other; multiple telescopic hinges 340 are arranged between the first retaining ring 320 and the second retaining ring 330 and located outside the engagement cylinder 310, one end of each telescopic hinge 340 is connected to the first retaining ring 320, and the other end of each telescopic hinge 340 is connected to the second retaining ring 330, and the multiple telescopic hinges 340 are used to open or retract synchronously; the second drive mechanism is coaxially arranged in the engagement cylinder 310, one end of the second drive mechanism is connected to the first retaining ring 320, and the other end of the second drive mechanism is connected to the second retaining ring 330, and the second drive mechanism is used to drive the multiple telescopic hinges 340 to open or retract synchronously.

[0064] Specifically, in conjunction with reference Figure 5 and Figure 6 As shown, the snap-fit ​​cylinder 310 is cylindrical. The first snap-fit ​​ring 320 and the second snap-fit ​​ring 330 are both annular and parallel to each other, fitted onto the two ends of the snap-fit ​​cylinder 310. The two ends of each telescopic hinge 340 are connected to the annular edge of the first snap-fit ​​ring 320 and the annular edge of the second snap-fit ​​ring 330, respectively. Each telescopic hinge 340 is parallel to each other and evenly spaced. The second drive mechanism is coaxially disposed within the snap-fit ​​cylinder 310, and its two ends are connected to the first snap-fit ​​ring 320 and the second snap-fit ​​ring 330, respectively. Therefore, by using the second drive mechanism as a drive source to drive the relative movement of the first snap-fit ​​ring 320 and the second snap-fit ​​ring 330 on the snap-fit ​​cylinder 310, the multiple telescopic hinges 340 can be opened or closed synchronously, ultimately achieving the fixing or loosening of the self-aligning mechanism within the tube workpiece 800. Specifically, the second drive mechanism uses a pneumatic cylinder 350, which has a simple operating environment and convenient electrical control. In some embodiments, the second drive mechanism can also use a hydraulic cylinder or oil cylinder.

[0065] It should be noted that, Figure 5 The hinge engagement mechanism 300 is a three-jaw type, meaning that three hinge engagement mechanisms 300 are used. In some other embodiments, the number of hinge engagement mechanisms 300 can be adjusted as needed. Simultaneously, in some embodiments, the first retaining ring 320 and the second retaining ring 330 can be replaced by the first chuck and the second chuck, eliminating the need for the engagement cylinder 310. The two ends of the second drive mechanism are connected to the surface centers of the first chuck and the second chuck, respectively. Simultaneously, the two ends of each telescopic hinge 340 are connected to the surface edges of the first chuck and the second chuck, respectively. That is, the second drive mechanism drives the first chuck and the second chuck to move relative to each other, synchronously driving multiple telescopic hinges 340, thereby completing the fixing or loosening operation of the tube workpiece 800.

[0066] In some embodiments, such as Figure 1 and Figure 3 As shown, the pipe inner wall welding device also includes a rotary power head 410 coaxially arranged with the track body 200, which is used to drive the track body 200 to rotate around the axial direction.

[0067] Reference Figure 1 and Figure 3 As shown, hinge engagement mechanisms 300 are connected to both sides of the track body 200, and a rotary power head 410 is connected to the outer side of each hinge engagement mechanism 300. The rotary power heads 410 on both sides are coaxially arranged with the track body 200 and the hinge engagement mechanisms 300 on both sides. The rotary power heads 410 on both sides can rotate synchronously around the axial direction to drive the track body 200 to rotate around the axial direction. The rotary power heads 410 can be connected to a servo motor (not shown in the figure) and driven by the servo motor. By setting the rotary power heads 410 on both sides of the track body 200 to drive the track body 200 to rotate, the spatial position of the welding mechanism 500 can be adjusted, so that the welding mechanism 500 can achieve multi-directional welding of the inner wall of the tube workpiece 800. Therefore, multi-directional welding can be achieved without manual adjustment of the tube workpiece 800, making the whole device automated.

[0068] In some embodiments, such as Figure 1 and Figure 3 As shown, the pipe inner wall welding device also includes a torque monitoring unit, which is used to monitor the torque value of the track body 200 rotating around the axial direction.

[0069] Reference Figure 1 and Figure 3 As shown, the torque monitoring unit is located between the hinge locking mechanism 300 and the rotating power head 410. Since the device will be in operation for a long time, if the track body 200 experiences difficulty rotating or jamming, it can easily lead to internal damage. Therefore, by setting up a torque monitoring unit, the torque value of the track body 200 during rotation is detected in real time. When the detected torque value exceeds a threshold, the device will stop operating to protect it. Specifically, the torque monitoring unit uses a torque sensor 420, which can be any of the following types: non-contact torque sensor 420, strain gauge torque sensor 420, high-performance wireless torque sensor 420, electronic torque sensor 420, etc.

[0070] In some embodiments, such as Figure 3 and Figure 4 As shown, the welding mechanism 500 includes a slide 520 and a welding torch 530. The slide 520 is slidably mounted on the track body 200; the welding torch 530 is mounted on the slide 520.

[0071] Combined with reference Figure 3 and Figure 4 As shown, the track body 200 is provided with two slide rails 510, which are arranged axially and parallel to each other. The two slide rails 510 are respectively close to the edges of both sides of the track body 200. The slide block 520 is slidably mounted on the two slide rails 510 and can slide along the direction of the slide rails 510. By providing slide rails 510 in the track body 200, the welding mechanism 500 can move flexibly within the track body 200, thus facilitating omnidirectional welding of the inner wall of the pipe workpiece 800 by the welding mechanism 500.

[0072] Further reference Figure 3 and Figure 4 The bottom surface of the slide block 520 is slidably connected to two slide rails 510 respectively. A welding torch 530 is provided on the upper surface of the slide block 520. The welding torch 530 body can be rotated and adjusted in multiple directions to further realize all-round welding of the inner wall of the tube workpiece 800.

[0073] In some embodiments, such as Figure 3 As shown, the image acquisition unit is mounted on the slide 520 and located on one side of the welding torch 530.

[0074] Combined with reference Figure 3 and Figure 4 As shown, an image acquisition unit is also provided on the upper surface of the slide 520. The image acquisition unit adopts a miniature camera 600, which is located on one side of the welding torch 530. Since the welding operation is carried out inside the tube workpiece 800, the welding situation cannot be directly observed. Before the welding operation, it is necessary to know the specific location of the welding torch 530 and the internal situation of the tube workpiece 800. Therefore, a small and easy-to-install miniature camera 600 is used to observe the inside of the tube workpiece 800, which facilitates targeted welding operations. In some embodiments, the image acquisition unit may also be a camera, webcam, or other similar device.

[0075] In some embodiments, such as Figure 3 , Figure 4 and Figure 7 As shown, the first drive mechanism includes a drive motor 730, a ball screw 710, and a ball screw 710 nut. The ball screw 710 is disposed in the track body 200 and is arranged parallel to the axial direction of the track body 200; the ball screw 710 nut is threadedly connected to the ball screw 710, and the ball screw 710 nut is connected to the slide block 520; the drive motor 730 is disposed in the track body 200 and near one end of the track body 200, and is used to drive the ball screw 710 to rotate.

[0076] Combined with reference Figure 3 and Figure 4As shown, a drive motor 730 is installed at one end near the track body 200. One end of the drive motor 730 is connected to the inner surface of one end of the track body 200, and the other end of the drive motor 730 is connected to one end of a ball screw 710. The other end of the ball screw 710 is connected to the inner surface of the other end of the track body 200. The ball screw 710 is axially arranged and close to one side of the slide rail 510. (Continue to refer to...) Figure 7 A nut is threaded onto the ball screw 710 and fixedly connected to the slide block 520. The nut is driven by a drive motor 730 to move on the ball screw 710, indirectly driving the slide block 520 to move on the two slide rails 510, thus enabling subsequent omnidirectional welding operations. In some embodiments, the ball screw 710 in the first drive mechanism can be replaced with a trapezoidal screw.

[0077] In some embodiments, such as Figure 1 As shown, the support base 110 includes a base 110, a first support seat 120, and a second support seat 130. The first support seat 120 is slidably disposed on the base 110 and connected to one end of the track body 200; the second support seat 130 is slidably disposed on the base 110 and connected to the other end of the track body 200.

[0078] Reference Figure 1 As shown, the first support 120 is used to fix one end of the track body 200, and the second support 130 is used to fix the other end of the track body 200, thus allowing the track body 200 to be suspended and fixed on the base 110. The first support 120 and the second support 130 can be slidably adjusted on the base 110. Therefore, while adjusting the length of the track body 200, the first support 120 and the second support 130 can determine different relative distances by sliding to accommodate tubular workpieces 800 of different lengths. In some embodiments, a workpiece fixing seat 140 is also provided on the base 110 to further ensure the positional fixation of the tubular workpiece 800.

[0079] In some embodiments, in order to prevent internal deformation of the device or errors during operation, a rubber anti-slip block is installed on the telescopic hinge 340 of the hinge locking mechanism 300 to ensure that the machine is firmly positioned.

[0080] In some embodiments, the main body of the pipe inner wall welding device of the present invention is made of aluminum alloy as the main material to reduce the overall weight for easy movement; and sheet metal is further used to strengthen the main body, so that the internal space is fully utilized and the device design is more compact.

[0081] To better facilitate understanding by those skilled in the art, a preferred embodiment of the present invention is provided below:

[0082] The pipe inner wall welding device according to the present invention includes a base 110, a first support 120, a second support 130, a workpiece fixing seat 140, a track body 200, a snap-fit ​​cylinder 310, a first snap ring 320, a second snap ring 330, a telescopic hinge 340, a cylinder 350, a rotary power head 410, a torque sensor 420, a slide rail 510, a slide block 520, a welding torch 530, a miniature camera 600, a drive motor 730, a ball screw 710, and a ball screw 710 nut. The first support 120 and the second support 130 are respectively disposed at both ends of the base 110. The first support 120 and the second support 130 can be slidably adjusted on the base 110, and after the sliding adjustment is completed, they are fixed on the base 110. The two ends of the track body 200 are respectively mounted on the first support base 120 and the second support base 130. The track body 200 is a hollow cylinder with half of its side facing down. The track body 200 is parallel to the horizontal plane and is suspended on the first support base 120 and the second support base 130 with its side facing down. That is, the hollow part of the hollow cylinder is located above the surface of the track body 200. The hollow part forms a boat-shaped container for holding the slide rail 510, slide block 520, welding torch 530, miniature camera 600, drive motor 730, ball screw 710, and ball screw 710 nut. The two ends of the track body 200 are respectively provided with snap-fit ​​cylinders 310. A first snap ring 320 and a second snap ring 330 are fitted on each snap-fit ​​cylinder 310. Three telescopic hinges 340 are connected between the first snap ring 320 and the second snap ring 330 and located outside the snap-fit ​​cylinder 310, forming a three-claw type. A cylinder 350 is installed in the clamping cylinder 310, with a first retaining ring 320 and a second retaining ring 330 connected to its two ends respectively. A rotating power head 410 is connected to the outer side of the first retaining ring 320 at one end, and a torque sensor 420 and a rotating power head 410 are sequentially connected to the outer side of the first retaining ring 320 at the other end. Two slide rails 510 are installed in the track body 200, arranged axially and parallel to each other. The two slide rails 510 are respectively close to the edges of both sides of the track body 200. A slide block 520 is slidably mounted on the two slide rails 510 and can slide along the direction of the slide rails 510. A welding torch 530 and a miniature camera 600 are installed on the upper surface of the slide block 520. The welding torch 530 is used for welding, and the miniature camera 600 is used to observe the welding process. A drive motor 730 is provided at one end near the track body 200. One end of the drive motor 730 is connected to the inner surface of one end of the track body 200, and the other end of the drive motor 730 is connected to one end of the ball screw 710. The other end of the ball screw 710 is connected to the inner surface of the other end of the track body 200. The ball screw 710 is axially arranged and close to one side of the slide rail 510. The nut of the ball screw 710 is threadedly connected to the ball screw 710 and fixedly connected to the slide block 520.A workpiece fixing seat 140 is also provided on the base 110 to further ensure the position of the tube workpiece 800 is fixed when the tube workpiece 800 is placed in the tube inner wall welding device of the present invention.

[0083] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative uses of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0084] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A pipe inner wall welding device, characterized in that, include: Support base; The track body is mounted on the support base and is parallel to the support base. The track body is used to fit the tube workpiece, and the track body and the tube workpiece can rotate relative to each other around the axial direction. A welding mechanism is mounted on the track body and can move along the axial direction of the track body. The welding mechanism is used to weld from the inner surface of the tube workpiece. An image acquisition unit is disposed in the track body, and the image acquisition unit is used to determine the working status of the welding mechanism; A first driving mechanism is used to drive the welding mechanism to move within the track body; The pipe inner wall welding device also includes a self-aligning mechanism, which is used to fix or loosen the pipe workpiece; The pipe inner wall welding device also includes a workpiece fixing seat disposed on the support base, the workpiece fixing seat being used to fix the position of the pipe workpiece; The self-aligning mechanism includes two hinge engagement mechanisms, which are respectively located at both ends of the track body and are coaxial with the track body. Each of the aforementioned hinge engagement mechanisms includes: A snap-fit ​​cylinder, one end of which is connected to one end of the track body; The first retaining ring and the second retaining ring are respectively sleeved on both ends of the retaining tube and are arranged parallel to each other; Multiple telescopic hinges are disposed between the first retaining ring and the second retaining ring and located outside the retaining cylinder. One end of each telescopic hinge is connected to the first retaining ring, and the other end of each telescopic hinge is connected to the second retaining ring. The multiple telescopic hinges are used to open or retract synchronously. The second drive mechanism is coaxially disposed in the snap-fit ​​cylinder. One end of the second drive mechanism is connected to the first snap ring, and the other end of the second drive mechanism is connected to the second snap ring. The second drive mechanism is used to drive the multiple telescopic hinges to open or retract synchronously.

2. The pipe inner wall welding device according to claim 1, characterized in that, It also includes a rotary power head coaxially arranged with the track body, the rotary power head being used to drive the track body to rotate about the axial direction.

3. The pipe inner wall welding device according to claim 1, characterized in that, It also includes a torque monitoring unit, which is used to monitor the torque value of the track body rotating about the axial direction.

4. The pipe inner wall welding device according to claim 1, characterized in that, The welding mechanism includes: A slide block is slidably mounted on the track body; The welding torch is mounted on the slide.

5. The pipe inner wall welding device according to claim 4, characterized in that, The image acquisition unit is mounted on the slide and located on one side of the welding torch.

6. The pipe inner wall welding device according to claim 4, characterized in that, The first driving mechanism includes: A ball screw is disposed in the track body and is arranged parallel to the axial direction of the track body; A ball screw nut is threadedly connected to the ball screw, and the ball screw nut is connected to the slide block; A drive motor is located in the track body and near one end of the track body, and is used to drive the ball screw to rotate.

7. The pipe inner wall welding device according to claim 1, characterized in that, The support base includes: base; The first support is slidably disposed on the base and connected to one end of the track body; The second support is slidably mounted on the base and connected to the other end of the track body.

Images