Mountain type internal welding machine

Abstract

The application relates to a mountain type internal welding machine in the technical field of oil and gas pipeline welding. The internal welding machine comprises a welding part, a guide part, a first machine body part, a first connecting part, a second machine body part, a second connecting part, a gas storage part, a controller and a plurality of electric control valves; the first connecting part comprises a first fixed plate, a second fixed plate and a plurality of first elastic pieces, and the second connecting part comprises a third fixed plate, a fourth fixed plate and a plurality of second elastic pieces. The internal welding machine can normally travel in a bent pipe by adopting the application.

Description

Technical Field

[0001] This application relates to the field of oil and gas pipeline welding technology, and in particular to a mountain-type internal welding machine. Background Technology

[0002] Currently, in the field of oil and gas pipeline welding, automatic welding has gradually become the mainstream operation method due to its high efficiency. The main form of automatic welding is root welding of the inner circumferential seam combined with filling of the outer circumferential seam. Among these, root welding of the inner circumferential seam is the first step in automatic welding and is the key to determining the welding quality.

[0003] Currently, internal welding machines are mainly used for root welding of pipe inner circumferential seams. An internal welding machine typically consists of a power mechanism, a positioning mechanism, and a welding mechanism. In flat terrain, the use of internal welding machines is relatively mature. However, in mountainous areas, due to geological factors, pipe bending is often required. Since the various mechanisms of the internal welding machine are usually rigidly connected, the machine often gets stuck inside the bend and cannot move forward, causing construction to stall.

[0004] Therefore, there is an urgent need at present for a mountain-type internal welding machine that can travel normally in curved pipes to solve the above problems. Summary of the Invention

[0005] This application provides a mountain-type internal welding machine, which can solve the technical problems existing in related technologies. The technical solution is as follows: This application provides a mountain-type internal welding machine, which includes a welding section, a guide section, a first body section, a first connecting section, a second body section, a second connecting section, an air storage section, a controller, and multiple electrically controlled valves; The welding section includes a first support plate, a second support plate, a plurality of expansion heads, and a welding torch; the first support plate and the second support plate have an annular structure and are coaxially placed; the plurality of expansion heads are circumferentially distributed on the sidewalls of the first support plate and the second support plate, and each expansion head is connected to the sidewall of the first support plate or the second support plate; the welding torch is located between the first support plate and the second support plate and is connected to the first support plate and the second support plate. The guide portion includes a guide head and a plurality of support frames. The guide head and the plurality of support frames are located on the side of the first support plate away from the second support plate, and the plurality of support frames are located between the guide head and the first support plate. One end of the plurality of support frames is connected to the guide head, and the other end is connected to the first support plate. The first fuselage includes a first frame, a front pneumatic wheel, and a level sensor. The first frame is located on the side of the second support plate away from the first support plate, and one end of the first frame is connected to the second support plate. The front pneumatic wheel is located on the side of the first frame and is connected to the first frame. The level sensor is connected to the first frame, and the detection reference line of the level sensor is parallel to the axis of the first support plate. The level sensor is used to measure the angle between the detection reference line and the horizontal plane. The first connecting part includes a first fixing plate, a second fixing plate, a plurality of first elastic elements, and a partition flange. The first fixing plate, the second fixing plate, and the partition flange are coaxially placed. The first fixing plate is located on the side of the first frame away from the first support plate and is connected to the other end of the first frame. The second fixing plate is located on the side of the first fixing plate away from the first frame. The partition flange is located between the first fixing plate and the second fixing plate. The plurality of first elastic elements are located between the first fixing plate and the partition flange and between the partition flange and the second fixing plate. Each first elastic element has two ends connected to the first fixing plate and the partition flange, or connected to the partition flange and the second fixing plate, respectively. The second fuselage includes a second frame, a rear pneumatic wheel, a pneumatic telescopic component, and a stop wheel assembly. The pneumatic telescopic component includes a fixed end and a telescopic end. The second frame is located on the side of the second fixed plate away from the first frame. One end of the second frame is connected to the second fixed plate. The rear pneumatic wheel is located on the side of the second frame and connected to the second frame. The fixed end is connected to the second frame, and the telescopic end is connected to the stop wheel assembly. The second connecting part includes a third fixing plate, a fourth fixing plate, and a plurality of second elastic members. The third fixing plate and the fourth fixing plate are coaxially placed. The third fixing plate is located on the side of the second frame away from the second fixing plate and is connected to the other end of the second frame. The fourth fixing plate is located on the side of the third fixing plate away from the second frame. The plurality of second elastic members are located between the third fixing plate and the fourth fixing plate, and both ends of each second elastic member are connected to the third fixing plate and the fourth fixing plate, respectively. The air storage unit is located on the side of the fourth fixed plate away from the third fixed plate and is connected to the fourth fixed plate. The air storage unit is connected to the air inlet of the pneumatic telescopic member, the air inlet of the front pneumatic wheel and the air inlet of the rear pneumatic wheel through pipelines. The controller is connected to the second frame, and is electrically connected to both the levelness sensor and the pneumatic telescopic component. The controller is used for: When the angle detected by the level sensor does not exceed the angle threshold, the telescopic end is controlled to retract, so that the stop wheel assembly retracts into the second frame and does not protrude from the side of the second frame; when the angle detected by the level sensor exceeds the angle threshold, the telescopic end is controlled to extend, so that the stop wheel assembly protrudes from the side of the second frame and contacts the upper wall of the pipe. The plurality of electrically controlled valves are respectively installed in the pipeline between the gas storage unit and the air inlet of the front pneumatic wheel and the pipeline between the gas storage unit and the air inlet of the rear pneumatic wheel, and are all electrically connected to the controller.

[0006] In one possible implementation, the plurality of tightening heads are circumferentially and evenly distributed on the sidewalls of the first support plate and the second support plate.

[0007] In one possible implementation, the number of tightening heads distributed on the sidewall of the first support plate and the number distributed on the sidewall of the second support plate are equal.

[0008] In one possible implementation, the guide portion further includes a plurality of guide wheels located on the side of the support frame and connected to the support frame.

[0009] In one possible implementation, the front pneumatic wheel includes a first pneumatic wheel and a second pneumatic wheel, the first pneumatic wheel and the second pneumatic wheel are located in the same plane perpendicular to the axis of the first support plate and are equidistant from the axis, and both the first pneumatic wheel and the second pneumatic wheel are connected to the first frame; The rear pneumatic wheel includes a third pneumatic wheel and a fourth pneumatic wheel. The third pneumatic wheel and the fourth pneumatic wheel are located in the same plane perpendicular to the axis of the first support plate and are equidistant from the axis. Both the third pneumatic wheel and the fourth pneumatic wheel are connected to the second frame.

[0010] In one possible implementation, the angle between the perpendicular line from the first pneumatic wheel to the axis and the perpendicular line from the second pneumatic wheel to the axis is 90°. The angle between the perpendicular line from the third pneumatic wheel to the axis and the perpendicular line from the fourth pneumatic wheel to the axis is 90°.

[0011] In one possible implementation, the stop wheel assembly includes a plurality of stop wheels and a stop wheel frame, wherein the plurality of stop wheels are rotatably connected to the stop wheel frame, and the stop wheel frame is slidably connected to the second frame.

[0012] In one possible implementation, the stop wheel assembly includes three stop wheels.

[0013] In one possible implementation, the stop wheel assembly is an electrically driven stop wheel assembly, and the second fuselage also includes a battery, which is fixedly connected to the second frame and electrically connected to the stop wheel assembly.

[0014] In one possible implementation, the elastic element is a spring.

[0015] The technical solutions provided by the embodiments of this application have at least the following beneficial effects: This application provides a mountain-type internal welding machine. In this machine, the first connecting part includes a plurality of first elastic elements, and the second connecting part includes a plurality of second elastic elements. The mountain-type internal welding machine travels in a bend. The support frame of the guide part and the gas storage part are in contact with the inner wall of the pipe. Under the support force provided by the inner wall of the pipe, the plurality of first elastic elements and the plurality of second elastic elements undergo bending deformation to different degrees. The first connecting part and the second connecting part of the mountain-type internal welding machine bend, so that the mountain-type internal welding machine can travel normally in the bend.

[0016] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a mountain-type internal welding machine shown in an embodiment of this application; Figure 2 This is a schematic diagram of the welding section structure of a mountain-type internal welding machine shown in an embodiment of this application; Figure 3 This is a schematic diagram of the guide section structure of a mountain-type internal welding machine shown in an embodiment of this application; Figure 4 This is a schematic diagram of the structure of a mountain-type internal welding machine shown in an embodiment of this application.

[0019] Legend 1. Welding section; 2. Guide section; 3. First fuselage section; 4. First connecting section; 5. Second fuselage section; 6. Second connecting part; 7. Air storage part; 8. Braking mechanism; 11. First support plate; 12. Second support plate; 13. Expansion head; 14. Welding torch; 21. Guide head; 22. Support frame; 23. Guide wheel; 24. Connecting plate; 25. Cable sleeve; 31. First frame; 32. Front pneumatic wheel; 33. Level sensor; 41. First fixing plate; 42. Second fixing plate; 43. First elastic element; 44. Partition flange; 45. Universal coupling; 51. Second frame; 52. Rear pneumatic wheel; 53. Pneumatic telescopic component; 54. Stop wheel assembly; 55. Battery; 61. Third fixing plate; 62. Fourth fixing plate; 63. Second elastic element; 81. Brake cylinder; 82. Brake disc; 131. Connecting end; 132. Supporting end; 141. Air supply end; 142. Welding end; 321. First pneumatic wheel; 322. Second pneumatic wheel; 521. Third pneumatic wheel; 522. Fourth pneumatic wheel; 531. Fixed end; 532. Telescopic end; 541. Stop wheel; 542. Stop wheel bracket; 141a, Cable slot; 142a, Welding head. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0021] Unless otherwise defined, the technical or scientific terms used herein shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” “third,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, and do not exclude other elements or objects. The terms “connected” or “linked” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “upper,” “lower,” “left,” “right,” etc., are used only to indicate relative positional relationships; when the absolute position of the described objects changes, the relative positional relationship may also change accordingly.

[0022] This application provides a mountain-type internal welding machine, whose welding torch assembly can travel normally in a bend, thereby improving the efficiency of bend welding.

[0023] Figure 1 This is a schematic diagram of the structure of a mountain-type internal welding machine shown in an embodiment of this application, such as... Figure 1 As shown, the mountain-type internal welding machine includes a welding section 1, a guide section 2, a first body section 3, a first connecting section 4, a second body section 5, a second connecting section 6, an air storage section 7, a controller, and multiple electrically controlled valves. Specifically: the welding section 1 includes a first support plate 11, a second support plate 12, multiple expansion heads 13, and a welding torch 14. The guide section 2 includes a guide head 21 and multiple support frames 22. The first body section 3 includes a first frame 31, a front pneumatic wheel 32, and a level sensor 33. The first connecting section 4 includes a first fixing plate 41, a second fixing plate 42, multiple first elastic elements 43, and a partition flange 44. The second body section 5 includes a second frame 51, a rear pneumatic wheel 52, a pneumatic telescopic element 53, and a stop wheel assembly 54. The second connecting section 6 includes a third fixing plate 61, a fourth fixing plate 62, and multiple second elastic elements 63.

[0024] The following section will introduce each part of the mountain-type internal welding machine.

[0025] I. Welding Section 1 Welding section 1 is a component in the mountain-type internal welding machine used for fixing the machine and for performing welding.

[0026] like Figure 2 As shown, the welding part 1 includes a first support plate 11, a second support plate 12, multiple expansion heads 13 and a welding torch 14.

[0027] First support plate 11 and second support plate 12 Both the first support disk 11 and the second support disk 12 have annular structures and are placed coaxially. The outer diameter of the first support disk 11 is D1, the inner diameter can be 0.75D1, and the thickness can be 0.2D1. The second support disk 12 has the same dimensions as the first support disk 11.

[0028] The outer wall of the first support plate 11 has multiple first threaded holes, the axes of which all point to the geometric center of the first support plate 11 and are perpendicular to its axis. The outer wall of the second support plate 12 has multiple second threaded holes, the axes of which all point to the geometric center of the second support plate 12 and are perpendicular to its axis. The first and second threaded holes are of the same size and are used for threaded connection with multiple tightening heads 13.

[0029] The first support plate 11 and the second support plate 12 can be made of various materials with good heat resistance, such as heat-resistant titanium alloy, high-speed steel or nickel-iron alloy.

[0030] Tightening head 13 The expansion head 13 includes a connecting end 131 and a supporting end 132, which are fixedly connected. The connecting end 131 and the supporting end 132 can be fixedly connected by an interference fit, or by a key connection, welding, or other methods. No restrictions are placed on the connection relationship between the connecting end 131 and the supporting end 132.

[0031] The connecting end 131 is a ball screw, and the external thread of the ball screw mates with the internal thread of the first threaded hole or the second threaded hole. In this way, by screwing the connecting end 131 into or out of the threaded hole, the tightening head 13 can extend or retract from the first support plate 11 or the second support plate 12.

[0032] The support end 132 has a cubic structure, and the side of the support end 132 away from the connecting end has two rollers, which are connected to the support end of the expansion head 13 via a hinge shaft.

[0033] The material of the expansion head 13 can be various materials with good mechanical properties, such as nitrided steel.

[0034] When the mountain-type internal welding machine moves to the predetermined position inside the pipeline, the connecting end of the expansion head 13 can be unscrewed from the threaded holes of the first support plate 11 and the second support plate 12, so that the expansion head 13 extends outward along the radial direction of the first support plate 11 and the second support plate 12. When the support ends of all the expansion heads 13 are in contact with the inner wall of the pipeline, the mountain-type internal welding machine can be fixed in the predetermined position inside the pipeline to prevent the mountain-type internal welding machine from moving.

[0035] Welding torch 14 The welding torch 14 includes a gas supply end 141 and a welding end 142, with the gas outlet of the gas supply end 141 connected to the welding end 142.

[0036] The gas supply end 141 has a cylindrical structure, passes through the first support plate 11 and the second support plate 12, and is fixedly connected to the inner walls of the first support plate 11 and the second support plate 12. The gas supply end 141 has a gas supply chamber, which stores carbon dioxide or argon gas required for gas shielded welding. When the welding torch 14 performs welding, the outlet of the gas supply end 141 opens, and carbon dioxide or argon gas is transported from the gas supply chamber to the welding end 142 for gas shielded welding within the pipeline.

[0037] Optionally, cable slots 141a can be provided at both ends of the gas supply end 141. The cable slots 141a can be circular slots and are parallel to the axis of the first support plate 11. The cable slots 141a are used to connect to external cables to provide power for gas shielded welding.

[0038] The welding end 142 has a ring-shaped structure, and its two end faces are respectively fixedly connected to the first support plate 11 and the second support plate 12 by bolts. Multiple welding heads 142a are evenly distributed on the outer wall of the welding end 142. Thus, during pipe welding, these welding heads 142a are aligned with the dead pipe end face, and carbon dioxide or argon gas is used as the arc medium to weld the live pipe end face to the dead pipe end face, completing the initial welding between the pipes.

[0039] II. Guiding Section 2 Guide section 2 is a component that guides the mountain-type internal welding machine during its movement.

[0040] like Figure 3 As shown, the guide section 2 includes a guide head 21 and multiple support frames 22.

[0041] Guide head 21 The guide head 21 has a circular plate-like structure. The guide head 21 is placed coaxially with the first support plate 11. The diameter of the guide head 21 is D2, and D2 is less than D1.

[0042] Support frame 22 The support frame 22 has a columnar structure. Each support frame 22 is bolted to the first support plate 11 and the guide head 21 at both ends, with the end connected to the guide head 21 bent towards the axis of the first support plate 11. The spacing between any two adjacent support frames 22 is the same. Thus, the guide head 21 and the multiple support frames 22 can form a conical guide frame, facilitating the movement of the mountain-type internal welding machine within curved pipes.

[0043] The guide head 21 and the support frame 22 can be made of various materials with high hardness, such as high manganese steel.

[0044] Optionally, the guide section 2 may also include multiple guide wheels 23, the number of which is the same as the number of support frames 22. Each guide wheel 23 is located on the side of a support frame 22 and is connected to the support frame 22. The guide wheel 23 and the support frame 22 can be fixedly connected by bolts or by key connections, etc. No limitation is made here regarding the connection relationship between the guide wheel 23 and the support frame 22. In this way, when the mountain-type internal welding machine travels inside the bend, the guide wheel 23 can be in contact with the inner wall of the pipe, reducing the friction between the guide section 2 and the inner wall of the pipe, thus facilitating the movement of the mountain-type internal welding machine inside the bend.

[0045] Optionally, the guide section 2 may further include a connecting plate 24, which may be a polygonal thin metal plate. Multiple support frames 22 may be first fixedly connected to the guide head 21 and the connecting plate 24 respectively, and then the side of the connecting plate 24 away from the guide head 21 may be fixedly connected to the first support plate 11. In this way, when the guide section 2 needs to be disassembled, it can be directly disassembled as a whole, improving the ease of disassembly.

[0046] Optionally, the guide portion 2 may further include a cable sleeve 25, which has a hollow cylindrical structure. Correspondingly, the guide head 21 has a circular through-hole, the inner diameter of which is the same as the inner diameter of the cable sleeve 25. One end of the cable sleeve 25 is connected to the side of the guide head 21 away from the first support plate 11, and the cable sleeve 25 and the guide head 21 are reinforced by multiple fasteners. The axis of the cable sleeve 25 is collinear with the axis of the cable slot 141a. Thus, a cable extending from the cable slot 141a can pass through the cable sleeve 25.

[0047] III. First fuselage section 3 like Figure 4 As shown, the first fuselage 3 includes a first frame 31, a front pneumatic wheel 32, and a level sensor 33.

[0048] First rack 31 The first frame 31 is a component in the mountain-type internal welding machine used to mount the front pneumatic wheel 32. The first frame 31 is composed of multiple steel frames fixedly connected together. One end of the first frame 31 is fixedly connected to the side of the second support plate 12 away from the first support plate 11. The first frame 31 and the second support plate 12 can be fixedly connected by bolts, keys, welding, or other methods. No restrictions are placed on the connection relationship between the first frame 31 and the second support plate 12.

[0049] Front pneumatic wheel 32 The front pneumatic wheel 32 is a component used to provide power for the movement of the mountain-type internal welding machine. The front pneumatic wheel 32 comprises two pneumatic wheels symmetrically distributed on both sides of the axis of the first support plate 11. Each pneumatic wheel includes a wheel frame and a wheel body, which are connected to the wheel frame via a shaft and ball bearings. Each wheel frame is bolted to the side of the first frame 31. The damping torque between each wheel body and the inner wall of the pipe is approximately 4 N·m.

[0050] The air inlet of the front pneumatic wheel 32 is connected to the air storage unit 7 via a pipe, and a first electrically controlled valve is installed in the pipe between the air inlet of the front pneumatic wheel 32 and the air storage unit 7. In this way, the air storage unit 7 can supply gas to the front pneumatic wheel 32, which can rotate the front pneumatic wheel 32 and thus drive the inner welding machine to move.

[0051] Optionally, a pressure reducer may be provided between the first electronically controlled valve and the air inlet of the front pneumatic wheel 32. The pressure reducer is used to convert the high-pressure gas delivered by the gas storage unit 7 into atmospheric pressure gas.

[0052] Levelness sensor 33 The level sensor 33 is a component in the mountain-type internal welding machine used to measure the angle between the internal welding machine and the horizontal plane. The level sensor 33 is fixedly connected to the first frame 31. The connection between the level sensor 33 and the first frame 31 can be by bonding, snap-fitting, etc.

[0053] Before using the level sensor 33, it is necessary to perform initial calibration so that the detection baseline of the level sensor 33 is parallel to the axis of the first support plate 11. When the inner welding machine travels in the pipeline, if the pipeline is an uphill pipeline (i.e., the angle between the direction of travel of the mountain-type inner welding machine in the pipeline and the horizontal plane is positive) or a downhill pipeline (i.e., the angle between the direction of travel of the mountain-type inner welding machine in the pipeline and the horizontal plane is negative), the level sensor 33 can detect the absolute value of the current angle between the inner welding machine and the horizontal plane.

[0054] IV. First connecting part 4 like Figure 4 As shown, the first connecting part 4 includes a first fixing plate 41, a second fixing plate 42, a plurality of first elastic elements 43 and a partition flange 44.

[0055] First fixing plate 41, second fixing plate 42 and partition flange 44 The first fixing plate 41, the second fixing plate 42, and the partition flange 44 all have plate-like structures and are placed coaxially. The first fixing plate 41 is located on the side of the first frame 31 away from the first support plate 11 and is fixedly connected to the other end of the first frame 31 by bolts. The second fixing plate 42 is located on the side of the first fixing plate 41 away from the first frame 31. The partition flange 44 is located between the first fixing plate 41 and the second fixing plate 42. The distances from the first fixing plate 41 and the second fixing plate 42 to the partition flange 44 can be equal.

[0056] First elastic element 43 Multiple first elastic elements 43 are located between the first fixed plate 41 and the partition flange 44 and between the partition flange 44 and the second fixed plate 42, and both ends of each first elastic element 43 are fixedly connected to the first fixed plate 41 and the partition flange 44, or fixedly connected to the partition flange 44 and the second fixed plate 42, respectively.

[0057] Optionally, the first elastic element 43 can be a compression spring, a memory metal plate, etc.

[0058] In this way, the first connecting part 4 can be bent during the movement of the inner welding machine, allowing the inner welding machine to move normally in the bend. Furthermore, the first fixed plate 41, multiple first elastic elements 43, and partition flange 44 constitute the first set of flexible mechanisms, and the partition flange 44, multiple first elastic elements 43, and second fixed plate 42 constitute the second set of flexible mechanisms, so that the first connecting part 4 includes a total of two sets of flexible mechanisms, which can increase the bending angle of the first connecting part 4.

[0059] Optionally, the first connecting part 4 may further include a plurality of universal couplings 45. The plurality of universal couplings 45 are located between the first fixed plate 41 and the partition flange 44 and between the partition flange 44 and the second fixed plate 42, and both ends of each universal coupling 45 are fixedly connected to the first fixed plate 41 and the partition flange 44, or fixedly connected to the partition flange 44 and the second fixed plate 42, respectively.

[0060] In this way, when the first connecting part 4 is in a bent state, the multiple universal couplings 45 can share the stress generated by the bending of the first elastic element 43, thereby improving the service life of the first elastic element 43.

[0061] V. Second fuselage section 5 like Figure 4 As shown, the second fuselage 5 includes a second frame 51, a rear pneumatic wheel 52, a pneumatic telescopic member 53, and a stop wheel assembly 54.

[0062] Second rack 51 The second frame 51 is a component in the internal welding machine used to install the rear pneumatic wheel 52. The second frame 51 is composed of multiple steel frames fixedly connected together. One end of the second frame 51 is fixedly connected to the side of the second fixed plate 42 away from the first support plate 11. The second frame 51 and the second fixed plate 42 can be fixedly connected by bolts, keys, welding, or other methods. No restrictions are placed on the connection relationship between the second frame 51 and the second fixed plate 42.

[0063] Rear pneumatic wheel 52 The rear pneumatic wheel 52 is a component used to provide power for the movement of the mountain-type internal welding machine. The rear pneumatic wheel 52 comprises two pneumatic wheels, symmetrically distributed on both sides of the axis of the first support plate 11. Each pneumatic wheel includes a wheel frame and a wheel body, which are connected to the wheel frame via a shaft and ball bearings. Each wheel frame is bolted to the side of the second frame 51.

[0064] The air inlet of the rear pneumatic wheel 52 is connected to the air storage unit 7 via a pipe, and a second electrically controlled valve is installed in the pipe between the air inlet of the rear pneumatic wheel 52 and the air storage unit 7. In this way, the air storage unit 7 can supply gas to the rear pneumatic wheel 52, which can rotate the rear pneumatic wheel 52 and thus drive the inner welding machine to move.

[0065] Optionally, a pressure reducer may be provided between the second electronically controlled valve and the air inlet of the rear pneumatic wheel 52. This pressure reducer is used to convert the high-pressure gas delivered by the gas storage unit 7 into atmospheric pressure gas.

[0066] Pneumatic telescopic component 53 The pneumatic telescopic component 53 is a part used in the mountain-type internal welding machine to control the lifting and lowering of the stop wheel assembly 54.

[0067] The pneumatic telescopic component 53 includes a fixed end 531 and a telescopic end 532. The movement of the telescopic end 532 can cause the stop wheel assembly 54 to be raised or lowered.

[0068] The pneumatic telescopic component 53 can be a support cylinder, which can include a cylinder body and a telescopic rod.

[0069] The cylinder has a cylindrical structure with an opening at one end. A telescopic rod can be inserted into the cylinder through this opening, and one end of the telescopic rod is fixedly connected to a slider inside the cylinder.

[0070] The outer wall of the cylinder is connected to the second frame 51. The connection between the cylinder and the second frame 51 can be fixed by bolts or by welding.

[0071] The telescopic rod has a round rod structure. One end of the telescopic rod extends into the opening of the cylinder and is fixedly connected to the slider inside the cylinder. The other end is connected to the stop wheel assembly 54. The connection between the telescopic rod and the stop wheel assembly 54 can be either welded or hinged.

[0072] The cylinder body supporting the cylinder can be connected to the gas storage unit 7 via a pipe, and a third electrically controlled valve is installed in the pipe between the air inlet of the cylinder body and the gas storage unit 7. The gas storage unit 7 can supply high-pressure gas into the cylinder body. When high-pressure gas is supplied to the cylinder body, the air pressure in the enclosed area within the cylinder body and the slider bracket increases, pushing the slider inside the cylinder body towards the opening. During the movement of the slider towards the opening, the telescopic rod pushes the stop wheel assembly 54 to lift until the slider moves to the opening, at which point the stop wheel assembly 54 is lifted to its highest position. When it is necessary for the stop wheel assembly 54 to fall, the controller can control the cylinder body's exhaust port to open, allowing the cylinder body to discharge the high-pressure gas. The air pressure inside the cylinder body decreases, the slider moves away from the opening, and the telescopic rod pulls the stop wheel assembly 54 to fall.

[0073] Stop wheel assembly 54 The stop wheel assembly 54 is a component that increases the friction between the mountain-type internal welding machine and the inner wall of the pipe when the mountain-type internal welding machine travels in a non-horizontal pipe, and prevents the mountain-type internal welding machine from stalling.

[0074] The stop wheel assembly 54 includes multiple stop wheels 541 and a stop wheel frame 542. The multiple stop wheels 541 are rotatably connected to the stop wheel frame 542, and the stop wheel frame 542 is slidably connected to the second frame 51.

[0075] When the mountain-type internal welding machine travels uphill through a pipeline, both the front pneumatic wheel 32 and the rear pneumatic wheel 52 are in contact with the lower wall of the pipeline. The level sensor 33 can detect the absolute value of the angle between the internal welding machine and the horizontal plane. When the angle between the internal welding machine and the horizontal plane is detected to be greater than or equal to the angle threshold, the controller controls the third electronic control valve to open, and the air storage unit 7 delivers high-pressure gas to the cylinder, causing the stop wheel assembly 54 to lift up and contact the upper wall of the pipeline, giving the internal welding machine a downward pressure perpendicular to the pipeline axis. Under the action of this pressure, the friction between the front pneumatic wheel 32 and the rear pneumatic wheel 52 and the lower wall of the pipeline increases, thereby preventing the internal welding machine from slipping when traveling uphill through the pipeline.

[0076] When the mountain-type internal welding machine travels downhill in a pipeline, both the front pneumatic wheel 32 and the rear pneumatic wheel 52 are in contact with the lower wall of the pipeline. The level sensor 33 can detect the absolute value of the angle between the internal welding machine and the horizontal plane. When the absolute value of the angle between the internal welding machine and the horizontal plane is greater than or equal to the angle threshold, the controller controls the third electronic control valve to open, and the air storage unit 7 delivers high-pressure gas to the cylinder, causing the stop wheel assembly 54 to lift up and contact the upper wall of the pipeline, giving the internal welding machine a frictional force opposite to the direction of movement, and a pressure perpendicular to the pipeline axis and downward. Under the action of this pressure, the frictional force between the front pneumatic wheel 32 and the rear pneumatic wheel 52 and the lower wall of the pipeline increases. In this way, the acceleration of the internal welding machine when traveling downhill in the pipeline is reduced, thereby preventing the internal welding machine from stalling when traveling downhill in the pipeline.

[0077] Optionally, the stop wheel 541 can be made of a material that has a large damping torque with the inner wall of the pipe, such as rubber. The damping torque between each stop wheel 541 and the inner wall of the pipe is approximately 16 N·m.

[0078] Optionally, the stop wheel assembly 54 may include three stop wheels 541.

[0079] VI. Second connecting part 6 like Figure 4 As shown, the second connecting part 6 includes a third fixing plate 61, a fourth fixing plate 62, and a plurality of second elastic members 63.

[0080] Third fixing plate 61 and fourth fixing plate 62 Both the third fixing plate 61 and the fourth fixing plate 62 have plate-like structures and are placed coaxially. The third fixing plate 61 is located on the side of the second frame 51 away from the first support plate 11 and is fixedly connected to the other end of the second frame 51 by bolts. The fourth fixing plate 62 is located on the side of the third fixing plate 61 away from the second frame 51. The distance between the third fixing plate 61 and the fourth fixing plate 62 can be equal to the distance between the second fixing plate 42 and the partition flange 44.

[0081] Second elastic element 63 Multiple second elastic elements 63 are located between the third fixed plate 61 and the fourth fixed plate 62, and the two ends of each second elastic element 63 are fixedly connected to the third fixed plate 61 and the fourth fixed plate 62 respectively.

[0082] Optionally, the second elastic element 63 can be a compression spring, a memory metal plate, etc.

[0083] In this way, the first connecting part 4 and the second connecting part 6 can be bent during the movement of the inner welding machine, thereby improving the movement ability of the inner welding machine in the bend.

[0084] Optionally, the second connecting part 6 may further include a universal coupling 45. The universal coupling 45 is located between the third fixed plate 61 and the fourth fixed plate 62, and both ends of the universal coupling 45 are fixedly connected to the third fixed plate 61 and the fourth fixed plate 62, respectively.

[0085] In this way, when the first connecting part 4 is in a bent state, the universal coupling 45 can share the stress generated by the bending of the second elastic element 63, thereby improving the service life of the second elastic element 63.

[0086] VII. Gas Storage Section 7 The gas storage section 7 is a component in the mountain-type internal welding machine that supplies gas to the pneumatic components. The gas storage section 7 can be a single gas tank or a gas tank group composed of multiple connected gas tanks. Multiple guide wheels 23 can be installed on the outer wall of the gas tank.

[0087] The gas storage section 7 is located on the side of the fourth fixing plate 62 away from the third fixing plate 61 and is connected to the fourth fixing plate 62. The gas storage section 7 and the fourth fixing plate 62 can be fixedly connected by bolts or by welding. There are no restrictions on the connection relationship between the gas storage section 7 and the fourth fixing plate 62.

[0088] The gas storage section 7 includes three gas outlets, which are connected to the gas inlet of the cylinder block, the gas inlet of the front pneumatic wheel 32, and the gas inlet of the rear pneumatic wheel 52 via pipelines.

[0089] The gas storage section 7 stores high-pressure gas, which can be compressed air or compressed nitrogen.

[0090] VIII. Controller The controller is used to receive signals from the level sensor 33 and send signals to multiple electronically controlled valves and cylinders.

[0091] The controller is connected to the second frame 51, and is electrically connected to the level sensor 33, the support cylinder and multiple electrically controlled valves.

[0092] The controller is used to: retract the telescopic rod when the angle detected by the level sensor 33 does not exceed the angle threshold, so that the stop wheel assembly 54 retracts into the second frame 51 and does not protrude from the side of the second frame 51; and extend the telescopic rod when the angle detected by the level sensor 33 exceeds the angle threshold, so that the stop wheel assembly 54 protrudes from the side of the second frame 51 and contacts the upper wall of the pipe.

[0093] The controller is also used to: send a closing command to the first and second solenoid valves when the mountain-type internal welding machine stalls, so that the opening degree of the first and second solenoid valves is 0.

[0094] Optionally, the angle threshold can be set to 15°.

[0095] Optionally, a first angle threshold and a second angle threshold can be set. When the levelness sensor 33 detects that the absolute value of the angle between the inner welding machine and the horizontal plane is less than the first angle threshold, the controller opens the third solenoid valve for a first duration and adjusts the opening degree of the third solenoid valve to 50%. When the levelness sensor 33 detects that the absolute value of the angle between the inner welding machine and the horizontal plane is greater than or equal to the first angle threshold and less than the second angle threshold, the controller opens the third solenoid valve for a first duration and adjusts the opening degree of the third solenoid valve to 75%. When the levelness sensor 33 detects that the absolute value of the angle between the inner welding machine and the horizontal plane is greater than or equal to the second angle threshold, the controller opens the third solenoid valve for a first duration and adjusts the opening degree of the third solenoid valve to 100%.

[0096] The first angle threshold is 7°, and the second angle threshold is 15°.

[0097] In practice, when the level sensor 33 detects that the absolute value of the angle between the inner welding machine and the horizontal plane is less than the first angle threshold, the angle between the inner welding machine and the pipeline is small. At this time, if the opening of the third solenoid valve is adjusted to 100%, the air pressure in the cylinder is high, the telescopic rod experiences a large upward thrust, and the stop wheel 541 exerts a large pressure on the upper wall of the pipeline. According to Newton's law, the upper wall of the pipeline exerts a downward first pressure on the inner welding machine, and this first pressure is large. Under the action of this first pressure, the frictional force experienced by the inner welding machine during its movement is large. Therefore, when the level sensor 33 detects that the absolute value of the angle between the inner welding machine and the horizontal plane is less than the first angle threshold, the controller adjusts the opening of the third solenoid valve to 50%, which reduces the first pressure and facilitates the movement of the inner welding machine within the pipeline. When the level sensor 33 detects that the absolute value of the angle between the inner welding machine and the horizontal plane is greater than or equal to the second angle threshold, the angle between the inner welding machine and the pipe is relatively large. At this time, during the movement of the inner welding machine in the pipe, the pneumatic wheel is prone to slipping against the lower wall of the pipe. Therefore, the controller adjusts the opening of the third solenoid valve to 100%. The air pressure in the cylinder is high, the telescopic rod experiences a large upward thrust, and the stop wheel 541 exerts a large pressure on the upper wall of the pipe. According to Newton's law, the upper wall of the pipe exerts a downward first pressure on the inner welding machine, and this first pressure is relatively large. Under the action of this first pressure, the friction force experienced by the inner welding machine during its movement is large, which can effectively prevent the inner welding machine from slipping during its movement in the pipe.

[0098] The following section elaborates on some optional structural features of the welding torch assembly: One structural feature is that the multiple expansion heads 13 of the welding part 1 can be evenly distributed circumferentially on the side walls of the first support plate 11 and the second support plate 12.

[0099] Optionally, the number of expansion heads 13 distributed on the side wall of the first support plate 11 and the number of expansion heads 13 distributed on the side wall of the second support plate 12 can be equal.

[0100] Thus, when the mountain-type internal welding machine moves to the predetermined position inside the pipeline, and the connecting end of the expansion head 13 is screwed out from the threaded hole of the first support plate 11 and the second support plate 12, so that the expansion head 13 extends outward along the radial direction of the first support plate 11 and the second support plate 12 until the support ends of all expansion heads 13 contact the inner wall of the pipeline, the load on the first support plate 11 and the second support plate 12 is evenly distributed.

[0101] The second structural feature is that the pneumatic wheels in the mountain-type internal welding machine can be symmetrically distributed.

[0102] The front pneumatic wheel 32 may include a first pneumatic wheel 321 and a second pneumatic wheel 322. The first pneumatic wheel 321 and the second pneumatic wheel 322 are located in the same plane perpendicular to the axis of the first support plate 11 and are equidistant from the axis. Both the first pneumatic wheel 321 and the second pneumatic wheel 322 are connected to the first frame 31. Correspondingly, the rear pneumatic wheel 52 includes a third pneumatic wheel 521 and a fourth pneumatic wheel 522. The third pneumatic wheel 521 and the fourth pneumatic wheel 522 are located in the same plane perpendicular to the axis of the first support plate 11 and are equidistant from the axis. Both the third pneumatic wheel 521 and the fourth pneumatic wheel 522 are connected to the second frame 51.

[0103] Optionally, the angle between the perpendicular line from the first pneumatic wheel 321 to the axis of the first support plate 11 and the perpendicular line from the second pneumatic wheel 322 to the axis of the first support plate 11 is 90°, and the angle between the perpendicular line from the third pneumatic wheel 521 to the axis of the first support plate 11 and the perpendicular line from the fourth pneumatic wheel 522 to the axis of the first support plate 11 is 90°.

[0104] This can improve the ability of the internal welding machine to operate inside the pipeline.

[0105] The third structural feature is that the second fuselage section 5 may also include a battery 55, and the stop wheel assembly 54 is an electrically driven stop wheel assembly. The battery 55 is fixedly connected to the second frame 51 and electrically connected to the stop wheel assembly 54. The connection between the battery 55 and the second frame 51 can be achieved by bolts or by snap-fit ​​or other fixed methods; no limitation is placed on the connection method between the battery 55 and the second frame 51.

[0106] Fourthly, the second body section 5 may also include a braking mechanism 8 and a speed sensor. The braking mechanism 8 is used to decelerate the inner welding machine when it stalls, and the speed sensor is used to detect the speed of the inner welding machine traveling inside the pipe. The controller is electrically connected to both the speed sensor and the braking mechanism 8.

[0107] like Figure 4 As shown, the braking mechanism 8 includes a brake cylinder 81 and two brake discs 82. The brake cylinder 81 is a double-ended cylinder.

[0108] The brake cylinder 81 is fixedly connected to the second fixed plate 42, and the two telescopic ends of the brake cylinder 81 are respectively fixedly connected to the two brake discs 82. The connection between the brake cylinder 81 and the second fixed plate 42 can be welded, and the telescopic ends of the brake cylinder 81 and the brake discs 82 can be connected by an interference fit or a key. The side of each telescopic end closest to the second fixed plate 42 is connected to the second fixed plate 42 through a four-bar linkage, which can improve the connection strength between the telescopic end and the second fixed plate 42.

[0109] Both brake discs 82 have a cylindrical structure. When the mountain-type internal welding machine is traveling normally, the brake discs 82 retract into the second frame 51 and do not protrude from the side of the second frame 51. When the speed sensor detects that the traveling speed of the internal welding machine exceeds the first speed threshold, the speed sensor sends a stall signal indicating that the internal welding machine has stalled to the controller. At this time, the controller controls the extension rod of the brake cylinder 81 to push the brake discs 82, causing the brake discs 82 to protrude from the side of the second frame 51 and contact the side wall of the pipe, thereby slowing down the internal welding machine.

[0110] The brake disc 82 can be made of gray cast iron.

[0111] The above-mentioned optional structures for mountain-type internal welding machines can be used individually or in combination.

[0112] The mountain-type internal welding machine of this application has multiple first elastic elements 43 in the first connecting part 4 and multiple second elastic elements 63 in the second connecting part 6. When the internal welding machine travels in the bend, the support frame 22 of the guide part 2 and the air storage part 7 are in contact with the inner wall of the pipe. Under the support force given by the inner wall of the pipe, the multiple first elastic elements 43 and multiple second elastic elements 63 undergo bending deformation, and the first connecting part 4 and the second connecting part 6 of the internal welding machine bend, so that the internal welding machine can travel normally in the bend.

[0113] The above description is merely an optional embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A mountain-type internal welding machine, characterized in that, The mountain-type internal welding machine includes a welding section (1), a guide section (2), a first body section (3), a first connecting section (4), a second body section (5), a second connecting section (6), an air storage section (7), a controller, and multiple electrically controlled valves; The welding part (1) includes a first support plate (11), a second support plate (12), a plurality of expansion heads (13) and a welding torch (14); the first support plate (11) and the second support plate (12) have an annular structure, the first support plate (11) and the second support plate (12) are placed coaxially, the plurality of expansion heads (13) are circumferentially distributed on the sidewalls of the first support plate (11) and the second support plate (12), and each expansion head (13) is connected to the sidewall of the first support plate (11) or the second support plate (12), and the welding torch (14) is located between the first support plate (11) and the second support plate (12) and is connected to the first support plate (11) and the second support plate (12); The guide part (2) includes a guide head (21) and a plurality of support frames (22); the guide head (21) and the plurality of support frames (22) are located on the side of the first support plate (11) away from the second support plate (12), and the plurality of support frames (22) are located between the guide head (21) and the first support plate (11), one end of the plurality of support frames (22) is connected to the guide head (21), and the other end is connected to the first support plate (11); The first fuselage (3) includes a first frame (31), a front pneumatic wheel (32), and a level sensor (33); the first frame (31) is located on the side of the second support plate (12) away from the first support plate (11), one end of the first frame (31) is connected to the second support plate (12), the front pneumatic wheel (32) is located on the side of the first frame (31) and connected to the first frame (31), and is used to contact the lower wall of the pipe; the level sensor (33) is connected to the first frame (31), the detection reference line of the level sensor (33) is parallel to the axis of the first support plate (11), and the level sensor (33) is used to measure the angle between the detection reference line and the horizontal plane; The first connecting part (4) includes a first fixing plate (41), a second fixing plate (42), a plurality of first elastic elements (43), and a partition flange (44); the first fixing plate (41), the second fixing plate (42), and the partition flange (44) are coaxially placed, the first fixing plate (41) is located on the side of the first frame (31) away from the first support plate (11), and is connected to the other end of the first frame (31), the second fixing plate (42) is located on the side of the first fixing plate (41) away from the first frame (11). On one side of 31), the partition flange (44) is located between the first fixed plate (41) and the second fixed plate (42), and the plurality of first elastic elements (43) are located between the first fixed plate (41) and the partition flange (44) and between the partition flange (44) and the second fixed plate (42), and the two ends of each first elastic element (43) are respectively connected to the first fixed plate (41) and the partition flange (44), or respectively connected to the partition flange (44) and the second fixed plate (42); The second body section (5) includes a second frame (51), a rear pneumatic wheel (52), a pneumatic telescopic member (53), a stop wheel assembly (54), a brake mechanism (8), and a speed sensor. The pneumatic telescopic member (53) includes a cylinder as a fixed end (531) and a telescopic rod as a telescopic end (532). The second frame (51) is located on the side of the second fixed plate (42) away from the first frame (31). One end of the second frame (51) is connected to the second fixed plate (42). The rear pneumatic wheel (52) is located on the side of the second frame (51) and connected to the second frame (51) for contacting the lower wall of the pipe. The fixed end (531) is connected to the second frame (51), and the telescopic end is connected to the stop wheel assembly (54). The brake mechanism (8) is connected to the second fixed plate (42). The second connecting part (6) includes a third fixing plate (61), a fourth fixing plate (62), and a plurality of second elastic members (63); the third fixing plate (61) and the fourth fixing plate (62) are placed coaxially, the third fixing plate (61) is located on the side of the second frame (51) away from the second fixing plate (42), and is connected to the other end of the second frame (51), the fourth fixing plate (62) is located on the side of the third fixing plate (61) away from the second frame (51), the plurality of second elastic members (63) are located between the third fixing plate (61) and the fourth fixing plate (62), and the two ends of each second elastic member (63) are respectively connected to the third fixing plate (61) and the fourth fixing plate (62); The gas storage unit (7) is located on the side of the fourth fixed plate (62) away from the third fixed plate (61) and is connected to the fourth fixed plate (62). The gas storage unit (7) is connected to the air inlet of the pneumatic telescopic member (53), the air inlet of the front pneumatic wheel (32) and the air inlet of the rear pneumatic wheel (52) through pipelines. The plurality of electrically controlled valves include a first electrically controlled valve, a second electrically controlled valve and a third electrically controlled valve. The first electrically controlled valve is installed in the pipe between the air inlet of the front pneumatic wheel (32) and the air storage section (7). The second electrically controlled valve is installed in the pipe between the air inlet of the rear pneumatic wheel (52) and the air storage section (7). The third electrically controlled valve is installed in the pipe between the air inlet of the cylinder and the air storage section (7). The controller is connected to the second frame (51), and is electrically connected to the level sensor (33), the first solenoid valve, the second solenoid valve, the third solenoid valve, the brake mechanism (8), and the speed sensor, respectively. The controller is used for: When the angle detected by the level sensor (33) does not exceed the angle threshold, the third electronic control valve is closed, the telescopic end (532) retracts, and the stop wheel assembly (54) retracts into the second frame (51); When the angle detected by the level sensor (33) exceeds the angle threshold, the third solenoid valve is opened, the telescopic end (532) extends, and the stop wheel assembly (54) protrudes from the side of the second frame (51) and contacts the upper wall of the pipe; wherein, when the absolute value of the angle detected by the level sensor (33) is less than the first angle threshold, the opening degree of the third solenoid valve is adjusted to 50%; when the absolute value of the angle detected by the level sensor (33) is equal to or greater than the first angle threshold and less than the second angle threshold, the opening degree of the third solenoid valve is adjusted to 75%; when the absolute value of the angle detected by the level sensor (33) is greater than or equal to the second angle threshold, the opening degree of the third solenoid valve is 100%; When the speed sensor detects that the travel speed of the inner welding machine exceeds the speed threshold, it controls the first and second electric control valves to close, and controls the brake mechanism (8) to protrude from the side of the second frame (51) and contact the side wall of the pipe.

2. The mountain-type internal welding machine according to claim 1, characterized in that, The plurality of expansion heads (13) are evenly distributed circumferentially on the sidewalls of the first support plate (11) and the second support plate (12).

3. The mountain-type internal welding machine according to claim 2, characterized in that, The number of expansion heads (13) distributed on the side wall of the first support plate (11) and the number of expansion heads (13) distributed on the side wall of the second support plate (12) are equal.

4. The mountain-type internal welding machine according to claim 1, characterized in that, The guide part (2) also includes a plurality of guide wheels (23), which are located on the side of the support frame (22) and connected to the support frame (22).

5. The mountain-type internal welding machine according to claim 1, characterized in that, The front pneumatic wheel (32) includes a first pneumatic wheel (321) and a second pneumatic wheel (322). The first pneumatic wheel (321) and the second pneumatic wheel (322) are located in the same plane perpendicular to the axis of the first support plate (11) and are equidistant from the axis. The first pneumatic wheel (321) and the second pneumatic wheel (322) are both connected to the first frame (31). The rear pneumatic wheel (52) includes a third pneumatic wheel (521) and a fourth pneumatic wheel (522). The third pneumatic wheel (521) and the fourth pneumatic wheel (522) are located in the same plane perpendicular to the axis of the first support plate (11) and are equidistant from the axis. The third pneumatic wheel (521) and the fourth pneumatic wheel (522) are both connected to the second frame (51).

6. The mountain-type internal welding machine according to claim 5, characterized in that, The angle between the perpendicular line from the first pneumatic wheel (321) to the axis and the perpendicular line from the second pneumatic wheel (322) to the axis is 90°; The angle between the perpendicular line from the third pneumatic wheel (521) to the axis and the perpendicular line from the fourth pneumatic wheel (522) to the axis is 90°.

7. The mountain-type internal welding machine according to claim 1, characterized in that, The stop wheel assembly (54) includes a plurality of stop wheels (541) and a stop wheel frame (542). The plurality of stop wheels (541) are rotatably connected to the stop wheel frame (542), and the stop wheel frame (542) is slidably connected to the second frame (51).

8. The mountain-type internal welding machine according to claim 7, characterized in that, The stop wheel assembly (54) includes three stop wheels (541).

9. The mountain-type internal welding machine according to any one of claims 1 to 8, characterized in that, Both the first elastic element (43) and the second elastic element (63) are springs.

Images