Automatic welding device for oil and gas pipeline

Abstract

The invention discloses an automatic welding device for oil and gas pipelines. The automatic welding device comprises a frame body, a moving body capable of being vertically separated from the frame body, and two sets of clamping jaws arranged at the two ends of the frame body correspondingly and used for clamping the oil and gas pipelines. A lifting assembly is fixedly installed on the frame body, and the output end of the lifting assembly is fixedly connected with the movement body. The moving body comprises a fixing frame connected with the lifting assembly, a circumferential moving module which is arranged on the fixing frame and enables the oil and gas pipeline automatic welding device to move in the circumferential direction of the oil and gas pipeline, and an axial moving module which enables the oil and gas pipeline automatic welding device to move in the axial direction of the oil and gas pipeline. A welding module is arranged at one end of the frame. By arranging the axial moving structure and the circumferential moving structure, the position of the welding module can be freely changed on the oil and gas pipeline, and the working range of the welding gun is expanded.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline weld detection, and in particular to an automatic welding device for oil and gas pipelines. Background Art

[0002] Oil and gas pipelines are infrastructure for transporting oil, natural gas and other related products, and are vital to energy supply. Therefore, it is very important to ensure the safety and reliability of pipelines. Pipelines are usually composed of prefabricated steel pipes; in order to connect these steel pipes to form a continuous transmission line, it is necessary to weld the butt joints of the two steel pipes. This welding area is called a weld. Welds may have cracks, pores, lack of fusion, and incomplete penetration. If these problems are not discovered and handled in time, they may lead to serious safety accidents; therefore, weld inspection is an important part of ensuring welding quality. Only qualified welds can ensure the long-term and reliable operation of the pipeline system.

[0003] Our company has previously designed and applied for a technical solution for weld detection and welding with application number 2024221468186, named as a welding gun movement self-adjusting device based on industrial visual recognition technology. This solution can realize weld detection and welding within a certain axial range, but for pipeline weld detection and welding, the working range is relatively limited. Therefore, our company has designed a large-scale welding device for oil and gas pipelines in combination with this solution. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an automatic welding device for oil and gas pipelines. By setting an axial moving structure and a circumferential moving structure, the welding module can freely change its position on the oil and gas pipeline, thereby expanding the working range of the welding gun.

[0005] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an automatic welding device for oil and gas pipelines, comprising a frame, a moving body which can be separated from the frame up and down, and two sets of clamping claws respectively arranged at both ends of the frame for clamping the oil and gas pipeline; A lifting assembly is fixedly installed on the frame, and an output end of the lifting assembly is fixedly connected to the moving body; The moving body includes a fixed frame connected to the lifting assembly, a circumferential movement module arranged on the fixed frame to enable the automatic welding device for oil and gas pipelines to move circumferentially around the oil and gas pipeline, and an axial movement module to enable the automatic welding device for oil and gas pipelines to move axially along the oil and gas pipeline; the circumferential movement module includes a circumferential movement wheel that can rotate relative to the fixed frame and whose axis is parallel to the axis of the oil and gas pipeline; the axial movement module includes an axial movement wheel that can rotate relative to the fixed frame and whose axis is perpendicular to the axis of the oil and gas pipeline; a circumferential drive unit for driving the circumferential movement wheel to rotate and an axial drive unit for driving the axial movement wheel to rotate are fixedly installed on the fixed frame; A welding module is arranged at one end of the frame; each group of clamping jaws comprises two branch jaws symmetrically arranged along the front and rear directions of the frame.

[0006] Furthermore, the frame body includes a transverse plate arranged along the axial direction of the oil and gas pipeline, and two end frames respectively arranged at both ends of the transverse plate; the horizontal cross-section of the end frame is rectangular.

[0007] Furthermore, the welding module is fixed on the side of one of the end frames away from the cross plate; and the two jaws in the same group of jaws are respectively fixed on the front side and the rear side of the same end frame.

[0008] Furthermore, the split claw includes a connecting plate fixedly connected to the side of the corresponding end frame, and the connecting plate is fixedly connected with an upper ear plate and a lower ear plate; the upper ear plate is rotatably connected to one end of the first telescopic member, and the lower ear plate is rotatably connected to one end of the first clamping arm; the other end of the first telescopic member is connected to the first clamping arm, which is used to control the first clamping arm to rotate around the lower ear plate; the first clamping arm is connected to an upper cross bar, which is rotatably connected to one end of the second telescopic member, the end of the first clamping arm is rotatably connected to the upper part of the second clamping arm through a connecting member, and the other end of the second telescopic member is connected to the second clamping arm, which is used to control the rotation of the second clamping arm.

[0009] Furthermore, a convex plate is constructed upward between the middle of the first clamping arm and its end away from the connecting plate, the convex plate is connected to the middle cross bar, and the other end of the first telescopic member is connected to the middle cross bar to control the first clamping arm.

[0010] Furthermore, an extension plate is constructed upwardly at the connection between the second clamping arm and the first clamping arm, the extension plate is connected to an end cross bar, and the other end of the second telescopic member is connected to the end cross bar to control the second clamping arm.

[0011] Furthermore, a ball universal wheel is provided on the side of the first clamping arm and the second clamping arm facing the oil and gas pipeline to facilitate the movement of the automatic welding device for the oil and gas pipeline on the outside of the oil and gas pipeline.

[0012] Furthermore, the ball universal wheel includes a fixing seat fixed to the first clamp arm or the second clamp arm, and the fixing seat is provided with a spherical groove, in which a rolling ball is confined.

[0013] The beneficial effects of the present invention are as follows: by setting an axial moving structure and a circumferential moving structure, the welding module can freely change its position on the oil and gas pipeline, thereby expanding the working range of the welding gun, and can weld welds at any position of the entire oil and gas pipeline. The operation is convenient, and combined with the laser mapping module and the industrial vision camera in the welding gun, a certain degree of automatic welding can be achieved. The first telescopic member 206 and the second telescopic member 209 are used to adjust the angles of the first clamping arm 204 and the second clamping arm 2011 and ensure a stable clamping state; the axial movement module enables the device to move axially along the oil and gas pipeline, the circumferential movement module enables the device to rotate circumferentially around the oil and gas pipeline, and the lifting assembly 3 enables the moving body 1 to leave or fall on the oil and gas pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention as a whole in a working state; Figure 2 It is a schematic diagram of the top view structure of the present invention; Figure 3 It is a schematic diagram of the clamping jaw structure of the present invention.

[0015] In the figure: 1. moving body; 2. clamping claw; 201. connecting plate; 202. upper ear plate; 203. lower ear plate; 204. first clamping arm; 205. middle cross bar; 206. first telescopic member; 207. upper cross bar; 208. end cross bar; 209. second telescopic member; 2010. connecting member; 2011. second clamping arm; 2012. fixing seat; 2013. ball; 3. lifting assembly; 4. circumferential motion wheel; 5. axial drive unit; 6. axial motion wheel; 7. welding module; 8. end frame; 9. oil and gas pipeline. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention are described clearly and completely below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0017] The directional terms mentioned in the present invention, such as "up", "down", "front", "back", "left", "right", "inside", "outside", "side", "top" and "bottom", are only for reference to the orientation of the drawings. The directional terms used are used to illustrate and understand the present invention, but not to limit the present invention.

[0018] Example: like Figure 1-Figure 3As shown, an automatic welding device for oil and gas pipelines includes a frame, a moving body 1 which can be separated from the frame up and down, and two groups of clamping jaws 2 respectively arranged at both ends of the frame for clamping the oil and gas pipeline 9; A lifting assembly 3 is fixedly installed on the frame, and the output end of the lifting assembly 3 is fixedly connected to the moving body 1; the lifting assembly 3 is arranged in the middle of the frame; the lifting assembly 3 can be driven by a hydraulic cylinder, a cylinder or an electric drive, and the electric drive includes a rotation conversion linear motion assembly connected to the motor and the motor end, and the rotation conversion linear motion assembly is connected to the moving body 1, and the structure of the rotation conversion linear motion assembly can adopt, for example, a conversion assembly inside an electric push rod; The moving body 1 includes a fixed frame connected to the lifting assembly 3, a circumferential movement module arranged on the fixed frame to enable the automatic welding device of the oil and gas pipeline to move circumferentially around the oil and gas pipeline 9, and an axial movement module to enable the automatic welding device of the oil and gas pipeline to move axially along the oil and gas pipeline 9; the circumferential movement module includes a circumferential movement wheel 4 that can rotate relative to the fixed frame and whose axis is parallel to the axis of the oil and gas pipeline 9; the axial movement module includes an axial movement wheel 6 that can rotate relative to the fixed frame and whose axis is perpendicular to the axis of the oil and gas pipeline 9; a circumferential drive unit for driving the circumferential movement wheel 4 to rotate and an axial drive unit 5 for driving the axial movement wheel 6 to rotate are fixedly installed on the fixed frame; there are two axial movement wheels 6 that are coaxial and distributed at intervals along the axial direction of the oil and gas pipeline 9, and there are two circumferential movement wheels 4 that are distributed at intervals along the axial direction of the oil and gas pipeline 9 and are respectively located on both sides of all the axial movement wheels 6; the axial movement wheels 6 and the circumferential movement wheels 4 are arranged in this way to ensure the stability of movement and clamping; A welding module 7 is provided at one end of the frame; each set of jaws 2 includes two jaws symmetrically arranged along the front-rear direction of the frame; and the oil and gas pipeline 9 is axially positioned in the left-right direction.

[0019] The frame body includes a transverse plate arranged axially along the oil and gas pipeline 9, and two end frames 8 respectively arranged at both ends of the transverse plate; the horizontal cross-section of the end frame 8 is rectangular; the lifting assembly 3 is located on the transverse plate; the frame body also includes side panels on the front and rear sides, the side panels are used to protect the moving body 1, and the bottom of the side panels does not exceed the bottom of the end frame 8.

[0020] The welding module 7 is fixed to the side of one of the end frames 8 away from the cross plate; the two jaws in the same group of jaws 2 are respectively fixed to the front side and the rear side of the same end frame 8.

[0021] The welding module is a welding gun movement self-adjusting device based on industrial visual recognition technology mentioned in the background technology.

[0022] The split claw comprises a connecting plate 201 fixedly connected to the side of the corresponding end frame 8, the connecting plate 201 is fixedly connected with an upper ear plate 202 and a lower ear plate 203, and the upper ear plate 202 and the lower ear plate 203 are in corresponding positions up and down; the upper ear plate 202 is rotatably connected to one end of the first telescopic member 206, and the lower ear plate 203 is rotatably connected to one end of the first clamping arm 204; the other end of the first telescopic member 206 is connected to the first clamping arm 204, and is used to control the first clamping arm 204 to rotate around the lower ear plate 203; the first clamping arm 204 is connected to an upper cross bar 207, and the upper cross bar 207 is rotatably connected to one end of the second telescopic member 209, and the end of the first clamping arm 204 is rotatably connected to the upper part of the second clamping arm 2011 through a connecting member 2010, and the other end of the second telescopic member 209 is connected to the second clamping arm 2011, and is used to control the rotation of the second clamping arm 2011; the first telescopic member 206 and the second telescopic member 209 adopt a cylinder or a hydraulic cylinder.

[0023] A convex plate is constructed upward between the middle of the first clamping arm 204 and the end thereof away from the connecting plate 201 , and the convex plate is connected to a middle cross bar 205 . The other end of the first telescopic member 206 is connected to the middle cross bar 205 to control the first clamping arm 204 .

[0024] An extension plate is constructed upward at the connection between the second clamping arm 2011 and the first clamping arm 204, and the extension plate is connected to an end cross bar 208. The other end of the second telescopic member 209 is connected to the end cross bar 208 to control the second clamping arm 2011; the extension plate is inclined upward and away from the first clamping arm 204, and the end cross bar 208 is arranged at the top of the extension plate to facilitate adjustment and expand the adjustment range of the second clamping arm 2011; the middle cross bar 205 is located between the upper cross bar 207 and the end cross bar 208, and the upper cross bar 207 is close to the connecting plate 201, and is located between the middle of the first clamping arm 204 and the connecting plate 201.

[0025] The first clamp arm 204 and the second clamp arm 2011 are provided with a ball universal wheel on the side facing the oil and gas pipeline 9 to facilitate the oil and gas pipeline automatic welding device to move on the outside of the oil and gas pipeline 9; the ball universal wheel is provided at the upper end of the first clamp arm 204 and the lower end of the second clamp arm 2011.

[0026] The ball universal wheel includes a fixing seat 2012 fixed to the first clamping arm 204 or the second clamping arm 2011. The fixing seat 2012 is provided with a spherical groove, and a rolling ball 2013 is restricted in the spherical groove.

[0027] Working process: start the clamping jaws 2 to clamp the oil and gas pipeline 9; start the first telescopic member 206 and the second telescopic member 209 to extend so that the first clamping arm 204 and the second clamping arm 2011 clamp the oil and gas pipeline 9; after the clamping jaws 2 clamp the oil and gas pipeline 9, the ball 2013 contacts the oil and gas pipeline 9, start the lifting assembly 3 to lower the moving body 1, so that the circumferential moving wheel 4 and the axial moving wheel 6 contact the oil and gas pipeline 9 with a certain pressure, start the circumferential driving unit to drive the circumferential moving wheel 4 to rotate, so that the device rotates around the oil and gas pipeline 9 to the position to be welded, and start the welding module 7 to weld; after one welding is completed, start the axial driving unit 5 to drive the axial moving wheel 6 to move axially along the oil and gas pipeline 9 to the next position to be welded, and after the welding is completed, start the lifting assembly 3 to lift the moving body 1, and control the clamping jaws 2 to release the oil and gas pipeline 9.

[0028] The above description is only used to illustrate the technical solution of the present invention rather than to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. An automatic welding device for oil and gas pipelines, characterized in that: It comprises a frame, a moving body (1) which can be separated from the frame up and down, and two groups of clamping claws (2) respectively arranged at two ends of the frame for clamping the oil and gas pipeline (9); A lifting component (3) is fixedly mounted on the frame, and an output end of the lifting component (3) is fixedly connected to the moving body (1); The moving body (1) comprises a fixed frame connected to the lifting assembly (3), a circumferential movement module arranged on the fixed frame to enable the oil and gas pipeline automatic welding device to move circumferentially around the oil and gas pipeline (9), and an axial movement module to enable the oil and gas pipeline automatic welding device to move axially along the oil and gas pipeline (9); the circumferential movement module comprises a circumferential movement wheel (4) which can rotate relative to the fixed frame and whose axis is parallel to the axis of the oil and gas pipeline (9); the axial movement module comprises an axial movement wheel (6) which can rotate relative to the fixed frame and whose axis is perpendicular to the axis of the oil and gas pipeline (9); a circumferential drive unit for driving the circumferential movement wheel (4) to rotate and an axial drive unit (5) for driving the axial movement wheel (6) to rotate are fixedly mounted on the fixed frame; A welding module (7) is provided at one end of the frame; each set of the clamping jaws (2) comprises two branch jaws symmetrically arranged along the front-rear direction of the frame.

2. The automatic welding device for oil and gas pipelines according to claim 1 is characterized in that: The frame body comprises a transverse plate arranged along the axial direction of the oil and gas pipeline (9), and two end frames (8) respectively arranged at both ends of the transverse plate; the horizontal cross-section of the end frames (8) is rectangular.

3. The automatic welding device for oil and gas pipelines according to claim 2 is characterized in that: The welding module (7) is fixed to a side of one of the end frames (8) away from the transverse plate; and the two branch jaws in the same group of clamping jaws (2) are respectively fixed to the front side and the rear side of the same end frame (8).

4. The automatic welding device for oil and gas pipelines according to claim 3 is characterized in that: The split claw comprises a connecting plate (201) fixedly connected to the side of the corresponding end frame (8), and the connecting plate (201) is fixedly connected to an upper ear plate (202) and a lower ear plate (203); the upper ear plate (202) is rotatably connected to one end of a first telescopic member (206), and the lower ear plate (203) is rotatably connected to one end of a first clamping arm (204); the other end of the first telescopic member (206) is connected to the first clamping arm (204) for controlling the first clamping arm (204) to move in a certain direction. 04) rotates around the lower ear plate (203); the first clamping arm (204) is connected to an upper cross bar (207), the upper cross bar (207) is rotatably connected to one end of the second telescopic member (209), the end of the first clamping arm (204) is rotatably connected to the upper part of the second clamping arm (2011) through a connecting member (2010), and the other end of the second telescopic member (209) is connected to the second clamping arm (2011) to control the rotation of the second clamping arm (2011).

5. The automatic welding device for oil and gas pipelines according to claim 4 is characterized in that: A convex plate is constructed upwardly between the middle of the first clamping arm (204) and the end thereof away from the connecting plate (201), the convex plate being connected to a middle cross bar (205), and the other end of the first telescopic member (206) being connected to the middle cross bar (205) for controlling the first clamping arm (204).

6. The automatic welding device for oil and gas pipelines according to claim 5 is characterized in that: An extension plate is constructed upward at the connection between the second clamping arm (2011) and the first clamping arm (204), and the extension plate is connected to an end cross bar (208). The other end of the second telescopic member (209) is connected to the end cross bar (208) to control the second clamping arm (2011).

7. The automatic welding device for oil and gas pipelines according to claim 6 is characterized by: The first clamping arm (204) and the second clamping arm (2011) are provided with a ball universal wheel on the side facing the oil and gas pipeline (9) to facilitate the movement of the oil and gas pipeline automatic welding device on the outside of the oil and gas pipeline (9).

8. The automatic welding device for oil and gas pipelines according to claim 7 is characterized in that: The ball universal wheel comprises a fixing seat (2012) fixed to the first clamping arm (204) or the second clamping arm (2011); the fixing seat (2012) is provided with a spherical groove, in which a rolling ball (2013) is confined.

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