Automatic circumferential adjustable pipeline welding device and welding process

Abstract

The invention relates to the technical field of pipeline welding equipment, in particular to an automatic annularly-adjustable pipeline welding device and a welding technology.The automatic annularly-adjustable pipeline welding device comprises two detachable lantern rings, a welding machining area is formed between the two detachable lantern rings, each detachable lantern ring comprises a plurality of splicing bodies, and every two adjacent splicing bodies are detachably and fixedly connected; a welding manipulator is mounted on the connecting frame, the connecting frame is rotationally connected with the splicing body, and the rotating axis of the connecting frame and the splicing body are coaxially arranged; the mounting frames are connected with the splicing body, walking wheels are rotationally connected to the mounting frames, and a penetrating hole allowing a pipeline to penetrate through is defined by the multiple walking wheels; the driving unit is used for driving the connecting frame to rotate, the driving unit is connected with the splicing body, and the driving unit is connected with the connecting frame; the pipeline welding and fixing device has the effect of completing welding and fixing of the pipeline on the premise that the pipeline is placed.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline welding equipment, and in particular to an automatic circumferentially adjustable pipeline welding device and a welding process. Background Art

[0002] Tower molten salt solar thermal power generation uses heliostats arranged on the ground to reflect sunlight onto the absorber at the top of the tower, converting the accumulated solar radiation energy into thermal energy on the absorber to heat the internal heat transfer fluid. After reaching a certain temperature, it is transported to the ground through pipelines and stored in high-temperature molten salt storage tanks. The high-temperature molten salt is transported to the steam generator system through a high-temperature molten salt pump to exchange heat with the turbine feed water, generating high-pressure superheated steam to drive the steam turbine generator set to generate electricity.

[0003] A large amount of pipeline welding construction work is involved in the project construction process. A pipeline welding machine is disclosed in the prior art, which includes a base, and two support frames on the top of the base are respectively fitted with corresponding rotating rings, and a limit ring is fixedly installed on the ring surface of the rotating ring, the two are coaxially arranged, and the limit ring is embedded in the side wall of the support frame of the base to form a rotation limit structure, and the two rotating rings are coaxially arranged; it also includes: a clamping plate, which has three equal angles distributed around the axis of the rotating ring, the clamping plate and the pipe body are located on the inner side of the rotating ring, and the pipe body and the rotating ring are coaxially arranged, and the three clamping plates are tightly fitted on the outer wall of the pipe body to form a fixed clamping structure, and the output end of the first electric cylinder is fixedly and vertically installed at the center of one side of the clamping plate away from the pipe body.

[0004] With regard to the above-mentioned related technologies, the two sections of pipes that need to be welded and fixed are first placed in the limiting rings on the two support frames respectively, then clamped and fixed in the rotating ring, and then welded and fixed by a welding robot. However, in some usage scenarios, such as when the pipe is large in size or long in length, the pipe needs to be installed first and then the welding operation is completed. At this time, the equipment in the prior art is no longer applicable. Summary of the invention

[0005] In order to complete the welding and fixing of the pipeline after the pipeline has been placed, the present application provides an automatic circumferentially adjustable pipeline welding device and a welding process.

[0006] The present application provides an automatic circumferentially adjustable pipeline welding device and a welding process that adopt the following technical solutions: In a first aspect, the present application provides an automatic circumferentially adjustable pipeline welding device.

[0007] An automatic circumferentially adjustable pipeline welding device, comprising: Two detachable collars, a welding processing area is formed between the two detachable collars, the detachable collars include a plurality of splicing bodies, and two adjacent splicing bodies are detachably fixedly connected; A connecting frame, on which a welding manipulator is installed, the connecting frame is rotatably connected to the splicing body, and the rotation axis of the connecting frame is coaxially arranged with the splicing body; A plurality of mounting frames, wherein the mounting frames are connected to the splicing body, the mounting frames are rotatably connected with running wheels, and the running wheels form a through hole for the pipeline to pass through; A driving unit for driving the connecting frame to rotate, wherein the driving unit is connected to the splicing body, and the driving unit is connected to the connecting frame.

[0008] By adopting the above technical scheme, the splicing body is first pressed on the pipe to be welded, and then connected to form a detachable ring; then force is applied to the detachable ring to make the walking wheel roll on the pipe, and the walking wheel moves while driving the connecting frame to move through the detachable ring until the welding manipulator is aligned with the weld position of the pipe to be welded; then the walking wheel and the pipe are fixed so that the position of the connecting frame along the length direction of the pipe to be welded remains unchanged, at this time, the connecting frame is driven by the driving unit to rotate around the pipe, and the welding manipulator synchronously cooperates to complete the welding operation at the pipe joint; the designed automatic circumferentially adjustable pipe welding device can realize the connection with the pipe after the pipe is installed through the detachable ring composed of multiple splicing bodies, and realize walking along the length direction of the pipe with the cooperation of the mounting frame and the walking wheel, so that the welding and fixing of the pipe can be completed on the premise that the pipe has been placed, the welding manipulator can be installed through the connecting frame, the welding of the pipe to be welded can be realized through the welding manipulator, and the connecting frame can be rotated around the pipe through the driving unit, so as to realize the circumferential welding of the pipe.

[0009] In a specific embodiment, the walking wheel comprises An inner support plate having a plurality of arc-shaped inner concave cavities, wherein the contour of the arc-shaped inner concave cavities on the inner support plate matches the outer contour of the pipeline, and the inner support plate is hollow, the mounting frame is hollow, and one end of the mounting frame is opened and extends into the inner cavity of the inner support plate; An elastic outer membrane is connected to the inner support plate, and an inner cavity of the outer membrane is communicated with an inner cavity of the inner support plate.

[0010] By adopting the above technical solution, the designed walking wheel can form a complete walking wheel after filling with gas through the inner support plate and the outer membrane, so as to realize movement along the length direction of the pipeline. The outer membrane can serve as a buffer contact between the inner support plate and the pipeline, and the arc-shaped inner concave cavity opened on the inner support plate can realize the adaptation and fit between the walking wheel and the pipeline after the gas in the outer membrane is discharged, thereby realizing the fixation of the equipment and the pipeline.

[0011] In a specific embodiment, the mounting frame includes A hollow U-shaped body, wherein a hollow shaft is connected to the U-shaped body, the hollow shaft passes through and is rotatably connected to the inner support plate, and the inner cavity of the inner support plate is connected to the inner cavity of the U-shaped body through the hollow shaft; A round rod, one end of which is connected to the U-shaped body, and the other end of which is connected to a rectangular rod, and a cross groove is provided on the splicing body, the rectangular rod passes through the cross groove and is slidably connected to the splicing body, and the length of the round rod is greater than the thickness of the splicing body; A fixing piece for fixing the rectangular rod, wherein the fixing piece is connected to the splicing body, and the fixing piece is connected to the rectangular rod.

[0012] By adopting the above technical solution, when the equipment needs to be moved along the length direction of the pipeline, force is applied to the detachable collar, and the walking wheel is connected to the pipeline in a rolling manner. When the welding manipulator moves the weld of the pipeline to be welded, force is applied to the rectangular rod to make the rectangular rod move toward the side away from the pipeline until the hollow circular rod passes through the cross groove, and the rectangular rod is rotated so that the rectangular rod rotates ninety degrees. The rectangular rod is then inserted into the cross groove and fixed by a fixing piece. At this time, the central axis of the contour of the arc-shaped inner concave cavity on the inner support plate is coaxial with the central axis of the pipeline. Then the gas in the outer membrane is released, and the rectangular rod is pressed down to achieve the fixation of the equipment and the pipeline.

[0013] In a specific possible implementation scheme, the fixing member includes a locking pin, which is threadedly connected to the splicing body and extends into the cross groove, and the rectangular rod is provided with a first locking hole and a second locking hole that are perpendicular to each other, the second locking hole is located on the side of the first locking hole away from the U-shaped body, and the aperture of the second locking hole gradually increases toward the locking pin.

[0014] By adopting the above technical solution, the designed fixing part can fix the rectangular rod by cooperating with the first locking hole and the second locking hole through the locking pin, and the aperture change of the second locking hole can make the outer membrane tightly pressed against the outer wall of the pipe after exhaustion to achieve reliable fixation.

[0015] In a specific embodiment, the splice comprises A supporting inner ring, wherein a plurality of balls are rollingly embedded on the outer circumference of the supporting inner ring, and the mounting frame is connected to the supporting inner ring; The rolling outer ring is coaxially arranged with the supporting inner ring, and the rolling outer ring is rollingly connected with the ball bearings, the connecting frame is connected with the rolling outer ring, and two adjacent rolling outer rings are detachably fixedly connected.

[0016] By adopting the above technical solution, the designed splicing body can fix the mounting frame through the supporting inner ring, and can fix the connecting frame through the rolling outer ring, and can rotate relatively with the supporting inner ring.

[0017] In a specific embodiment, the drive unit includes A driving motor connected to the splicing body; A driving gear is coaxially connected to the output shaft of the driving motor, and is meshed with a side of the rolling outer ring away from the supporting inner ring.

[0018] By adopting the above technical solution, the designed driving unit can drive the driving gear to rotate through the driving motor, and the rolling outer ring can rotate through the engagement of the driving gear and the rolling outer ring, thereby driving the connecting frame to rotate around the pipeline.

[0019] In a specific possible implementation scheme, an annular groove is provided on the supporting inner ring, the balls are located in the annular groove, and a rotation gap is left between the rolling outer ring and the side wall of the annular groove.

[0020] By adopting the above technical solution and designing the annular groove, the rolling limit of the rolling outer ring can be achieved.

[0021] In a specific possible implementation mode, a counterweight block is detachably fixedly connected to the support inner ring.

[0022] By adopting the above technical solution, the designed counterweight block can maintain the posture of the device relative to the pipeline when the device moves along the length direction of the pipeline.

[0023] In a second aspect, the present application provides a pipeline welding process.

[0024] A pipeline welding process, comprising: S1: Equipment installation: Press the splice onto the pipe to be welded and then connect to form a detachable collar; S2: Weld alignment: Apply force to the detachable collar to make the travel wheel roll on the pipe. When the travel wheel moves, the connecting frame is driven to move through the detachable collar until the welding manipulator is aligned with the weld position of the pipe to be welded; S3: Equipment fixing: fix the travel wheels to the pipeline; S4: Rotary welding: The drive unit drives the connecting frame to rotate around the pipe, and the welding manipulator cooperates synchronously to complete the welding operation at the pipe joint.

[0025] By adopting the above technical solution, the splicing body is first pressed on the pipe to be welded, and then connected to form a detachable ring; then force is applied to the detachable ring to make the walking wheel roll on the pipe, and the walking wheel moves while driving the connecting frame to move through the detachable ring until the welding manipulator is aligned with the weld position of the pipe to be welded; then the walking wheel and the pipe are fixed so that the position of the connecting frame along the length direction of the pipe to be welded remains unchanged, at this time, the connecting frame is driven by the driving unit to rotate around the pipe, and the welding manipulator synchronously cooperates to complete the welding operation at the pipe joint; the designed pipe welding process can realize the connection with the pipe after the pipe is installed through the detachable ring composed of multiple splicing bodies, and realize walking along the length direction of the pipe with the cooperation of the mounting frame and the walking wheel, so that the welding and fixing of the pipe can be completed on the premise that the pipe has been placed, the welding manipulator can be installed through the connecting frame, the welding of the pipe to be welded can be realized through the welding manipulator, and the connecting frame can be rotated around the pipe through the driving unit, so as to realize the ring welding of the pipe.

[0026] In a specific possible implementation scheme, in step S4, the walking wheel includes an inner support plate having a plurality of arc-shaped inner concave cavities, the contour of the arc-shaped inner concave cavities on the inner support plate is adapted to the outer contour of the pipeline, and the inner support plate is hollow, the mounting frame is hollow, and one end opening of the mounting frame extends into the inner cavity of the inner support plate; An elastic outer membrane, the outer membrane is connected to the inner support plate, and the inner cavity of the outer membrane is communicated with the inner cavity of the inner support plate; After the welding manipulator is aligned with the weld position of the pipe to be welded, the angle of the travel wheel is adjusted, and then the gas in the outer envelope is discharged so that the arc-shaped inner cavity on the inner support plate is in contact with the outer wall of the pipe to achieve the fixation of the travel wheel and the pipe.

[0027] By adopting the above technical solution, the inner support plate can cooperate with the outer membrane to form a complete running wheel after filling with gas, so as to realize movement along the length direction of the pipeline. The outer membrane can serve as a buffer contact between the inner support plate and the pipeline, and the arc-shaped inner concave cavity opened on the inner support plate can realize the adaptation and fit between the running wheel and the pipeline after the gas in the outer membrane is discharged, thereby realizing the fixation of the equipment and the pipeline.

[0028] In summary, the present application includes at least one of the following beneficial technical effects: 1. The designed automatic circumferentially adjustable pipeline welding device can achieve connection with the pipeline after the pipeline is installed through a detachable sleeve composed of multiple splicing bodies, and can move along the length direction of the pipeline with the cooperation of the mounting frame and the walking wheels, so that the pipeline can be welded and fixed on the premise that the pipeline has been placed. The welding manipulator can be installed through the connecting frame, and the welding of the pipeline to be welded can be achieved through the welding manipulator. The connecting frame can be rotated around the pipeline through the driving unit, so as to achieve the circumferential welding of the pipeline.

[0029] 2. The designed automatic circumferentially adjustable pipeline welding device can form a complete running wheel after the gas is filled in through the inner support plate and the outer membrane, so as to realize the movement along the length direction of the pipeline. The outer membrane can be used as a buffer contact between the inner support plate and the pipeline, and the arc-shaped inner concave cavity opened on the inner support plate can realize the adaptation and fit of the running wheel and the pipeline after the gas in the outer membrane is discharged, thereby realizing the fixation of the equipment and the pipeline.

[0030] 3. The designed automatic circumferentially adjustable pipeline welding device, when it is necessary to move the equipment along the length direction of the pipeline, force is applied to the detachable sleeve ring, and the walking wheel is connected with the pipeline in a rolling manner. When the welding manipulator moves the weld of the pipeline to be welded, force is applied to the rectangular rod to make the rectangular rod move toward the side away from the pipeline until the hollow circular rod passes through the cross groove, and the rectangular rod is rotated so that the rectangular rod rotates ninety degrees, and then the rectangular rod is inserted into the cross groove and fixed by the fixing piece. At this time, the central axis of the contour of the arc-shaped inner concave cavity on the inner support plate is coaxial with the central axis of the pipeline, and then the gas in the outer membrane is released, and the rectangular rod is pressed down to achieve the fixation of the equipment and the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic structural diagram of a detachable sleeve ring in an automatic circumferentially adjustable pipeline welding device according to an embodiment of the present application.

[0032] Figure 2 yes Figure 1 Schematic diagram of some structures in .

[0033] Figure 3 It is a schematic diagram of the structure of the automatic circumferentially adjustable pipeline welding device according to an embodiment of the present application.

[0034] Figure 4 is Figure 3 Schematic diagram of the three-dimensional structure after adding a counterweight block to the foundation.

[0035] Figure 5 yes Figure 4 Schematic diagram of some structures in .

[0036] Figure 6 yes Figure 5 Cross-sectional view of the middle travel wheel.

[0037] Figure 7 yes Figure 4 Enlarged view of part A in .

[0038] Explanation of the reference numerals in the accompanying drawings: 1. Removable sleeve; 11. Splicing body; 111. Support inner ring; 1111. Annular groove; 1112. Cross groove; 112. Ball; 113. Rolling outer ring; 2. Connecting frame; 3. Welding manipulator; 4. Mounting frame; 41. U-shaped body; 42. Hollow shaft; 43. Round rod; 44. Rectangular rod; 441. First locking hole; 442. Second locking hole; 45. Fixing piece; 451. Locking pin; 5. Traveling wheel; 51. Inner support plate; 511. Arc-shaped inner concave cavity; 52. Outer membrane; 6. Driving unit; 61. Driving motor; 62. Driving gear; 7. Counterweight. DETAILED DESCRIPTION

[0039] The following is combined with Figure 1-7 This application is described in further detail.

[0040] The embodiments of the present application disclose an automatic circumferentially adjustable pipeline welding device and a welding process.

[0041] In a first aspect, an embodiment of the present application discloses an automatic circumferentially adjustable pipeline welding device.

[0042] Reference Figure 1 An automatic circumferentially adjustable pipeline welding device includes two detachable rings 1, a spacing is left between the two detachable rings 1 to form a welding processing area, the detachable ring 1 includes a plurality of coaxially arranged splicing bodies 11, and two adjacent splicing bodies 11 are detachably fixedly connected. In the present application, the detachable ring 1 may include two splicing bodies 11, may include three splicing bodies 11, or may be composed of other numbers of splicing bodies 11. In the present embodiment, the detachable ring 1 includes two splicing bodies 11, and the two splicing bodies 11 are bolted to each other.

[0043] Reference Figure 1 and Figure 2 Specifically, the splicing body 11 includes a supporting inner ring 111, a ball 112 and a rolling outer ring 113. The supporting inner ring 111 is coaxially provided with an annular groove 1111. The ball 112 is embedded in the outer circumference of the supporting inner ring 111 and is located in the annular groove 1111. The rolling outer ring 113 is coaxially arranged with the supporting inner ring 111, and the rolling outer ring 113 is rollingly connected to the ball 112. A rotation gap is left between the rolling outer ring 113 and the side wall of the annular groove 1111, and the two rolling outer rings 113 are connected by connecting ears and bolts.

[0044] Reference Figure 3In order to achieve the connection of the two splicing bodies 11 and complete the welding operation of the pipeline, the automatic circumferentially adjustable pipeline welding device also includes a connecting frame 2 and a welding manipulator 3. The two ends of the connecting frame 2 are respectively welded and fixed to the rolling outer rings 113 on both sides, and the welding manipulator 3 is installed on the connecting frame 2. In this application, the welding manipulator 3 is arranged near the middle area of ​​the line connecting the two detachable rings 1.

[0045] Reference Figure 4 In order to realize the movement of the detachable collar 1 along the length direction of the pipeline, the automatic circumferentially adjustable pipeline welding device also includes a plurality of mounting frames 4, the mounting frames 4 are connected to the supporting inner ring 111, and the mounting frames 4 are rotatably connected with running wheels 5, the plurality of running wheels 5 form a through hole for the pipeline to pass through, and the running wheels 5 are rollingly connected to the pipeline; in the present application, the number of mounting frames 4 is consistent with the number of running wheels 5, and the number of mounting frames 4 can be two, three, or other numbers, as long as the coaxial movement of the detachable collar 1 and the pipeline can be realized.

[0046] Reference Figure 4 Furthermore, in order to maintain the relative position of the detachable ring 1 and the pipe in the circumferential direction when moving along the length direction of the pipe, a counterweight block 7 is detachably connected to the support inner ring 111, and the gravity of the counterweight block 7 is used to maintain the position stability of the detachable ring 1. In the present application, the counterweight block 7 and the support inner ring 111 can be bolted, hung, or have other detachable connection methods. Hanging is preferred in this embodiment.

[0047] Reference Figure 4 In order to realize the rotation of the connecting frame 2 and then enable the welding manipulator 3 to rotate around the pipeline to complete the welding operation, the automatic circumferentially adjustable pipeline welding device also includes a driving unit 6 for driving the connecting frame 2 to rotate, and the driving unit 6 is connected to the splicing body 11, and the driving unit 6 is connected to the connecting frame 2; in the present application, the number of driving units 6 is two, and the two driving units 6 are respectively arranged on two detachable rings 1.

[0048] Reference Figure 4 Specifically, the driving unit 6 includes a driving motor 61 and a driving gear 62. The driving motor 61 is bolted to the supporting inner ring 111. The driving gear 62 is coaxially keyed to the output shaft of the driving motor 61. A tooth groove is formed on the outer peripheral side of the rolling outer ring 113 away from the supporting inner ring 111, and the driving gear 62 is meshed with the rolling outer ring 113.

[0049] Reference Figure 5 and Figure 6Furthermore, in order to fix the walking wheel 5 and the pipeline when the welding robot 3 moves to the area corresponding to the weld, the walking wheel 5 includes an inner support plate 51 and an outer membrane 52. The inner support plate 51 has a plurality of openings on the arc-shaped inner concave cavity 511. The contour of the arc-shaped inner concave cavity 511 is adapted to the outer contour of the pipeline. The outer membrane 52 is made of an elastic material such as rubber. The outer membrane 52 is connected to the inner support plate 51. The inner support plate 51 is hollow inside, and the outer membrane 52 is connected to the inner cavity of the inner support plate 51 through a through hole. Gas is filled into the outer membrane 52 through an external inflation setting. At this time, the outer membrane 52 can form a complete circular outer contour, thereby realizing a rolling connection with the pipeline.

[0050] Reference Figure 5 Furthermore, the mounting frame 4 includes a U-shaped body 41, a hollow shaft 42, a round rod 43, a rectangular rod 44 and a fixing member 45. The U-shaped body 41 is hollow, the hollow shaft 42 is welded and fixed to the U-shaped body 41, and the hollow shaft 42 is arranged through the inner support plate 51. The hollow shaft 42 and the inner support plate 51 are rotatably connected through a sealed bearing. The part of the hollow shaft 42 located in the inner cavity of the inner support plate 51 is provided with a through hole, one end of the round rod 43 is welded to the U-shaped body 41, and the other end is welded to the rectangular rod 44. The cross-sectional shape of the round rod 43 is circular, and the cross-sectional shape of the rectangular rod 44 is rectangular. A cross groove 1112 is provided on the support inner ring 111, the rectangular rod 44 passes through the cross groove 1112, and the rectangular rod 44 is slidably connected to the support inner ring 111. The length of the round rod 43 is greater than the thickness of the support inner ring 111, and the outer diameter of the round rod 43 is smaller than the inner contour size of the middle area of ​​the cross groove 1112, thereby satisfying the requirement that the round rod 43 passes through the cross groove 1112.

[0051] Reference Figure 5 and Figure 7The fixing member 45 is used to fix the rectangular rod 44. The fixing member 45 is connected to the supporting inner ring 111, and the fixing member 45 is connected to the rectangular rod 44. Specifically, the fixing member 45 includes a locking pin 451, and the locking pin 451 is threadedly connected to the supporting inner ring 111, and one end of the locking pin 451 can extend into the cross groove 1112. The rectangular rod 44 is provided with a first locking hole 441 and a second locking hole 442. The first locking hole 441 and the second locking hole 442 are arranged perpendicular to each other, and the second locking hole 442 is located at the first locking hole 441 away from the U-shaped On one side of the body 41, the aperture of the second locking hole 442 gradually increases toward the locking pin 451. When the outer membrane 52 is filled with gas, the locking pin 451 is inserted into the first locking hole 441. After the gas in the outer membrane 52 is discharged, the locking pin 451 is inserted into the second locking hole 442, and as the length of the locking pin 451 inserted into the second locking hole 442 increases, the outer membrane 52 gradually presses against the pipeline; in order to facilitate the contact between the walking wheel 5 and the pipeline, a spring is arranged between the U-shaped body 41 and the supporting inner ring 111, and the spring is sleeved on the circular rod 43.

[0052] The implementation principle of an automatic circumferentially adjustable pipeline welding device in an embodiment of the present application is: first, the splicing body 11 is pressed on the pipeline to be welded, and then connected to form a detachable ring 1; then, force is applied to the detachable ring 1 to make the walking wheel 5 roll on the pipeline, and while the walking wheel 5 moves, the connecting frame 2 is driven to move through the detachable ring 1 until the welding robot 3 is aligned with the weld position of the pipeline to be welded.

[0053] When the device needs to be moved along the length direction of the pipeline, force is applied to the detachable collar 1, and the walking wheel 5 is connected to the pipeline in a rolling manner. When the welding robot 3 moves to the weld seam of the pipeline to be welded, force is applied to the rectangular rod 44 to make the rectangular rod 44 move toward the side away from the pipeline until the hollow circular rod 43 passes through the cross groove 1112, and the rectangular rod 44 is rotated so that the rectangular rod 44 rotates ninety degrees, and then the rectangular rod 44 is inserted into the cross groove 1112 and fixed by the fixing member 45. At this time, the contour center axis of the arc-shaped inner concave cavity 511 on the inner support plate 51 is coaxial with the center axis of the pipeline, and then the gas in the outer membrane 52 is released, and the rectangular rod 44 is pressed down, so that the device and the pipeline can be fixed, so that the position of the connecting frame 2 along the length direction of the pipeline to be welded remains unchanged.

[0054] At this time, the connecting frame 2 is driven to rotate around the pipeline through the driving unit 6, and the welding robot 3 cooperates synchronously to complete the welding operation at the pipeline joint; the detachable ring 1 composed of multiple splicing bodies 11 can be connected to the pipeline after the pipeline is installed, and can be walked along the length direction of the pipeline with the cooperation of the mounting frame 4 and the walking wheel 5, so that the pipeline can be welded and fixed on the premise that the pipeline has been placed, the welding robot 3 can be installed through the connecting frame 2, and the welding of the pipeline to be welded can be realized through the welding robot 3, and the connecting frame 2 can be rotated around the pipeline through the driving unit 6, so as to realize the ring welding of the pipeline.

[0055] In a second aspect, an embodiment of the present application discloses a pipeline welding process.

[0056] Reference Figure 1-Figure 7 A pipeline welding process is implemented by using the automatic circumferentially adjustable pipeline welding device disclosed in the first aspect of the embodiment of the present application, comprising: S1: Equipment installation: Press the splicing body 11 onto the pipe to be welded, and then connect to form a detachable collar 1; S2: Weld alignment: Apply force to the detachable collar 1 to make the travel wheel 5 roll on the pipe. When the travel wheel 5 moves, the connecting frame 2 is driven to move through the detachable collar 1 until the welding manipulator 3 is aligned with the weld position of the pipe to be welded; S3: Fixing the equipment: fixing the travel wheel 5 to the pipeline; S4: Rotational welding: The driving unit 6 drives the connecting frame 2 to rotate around the pipeline, and the welding robot 3 cooperates synchronously to complete the welding operation at the pipeline joint.

[0057] First, the splicing body 11 is pressed on the pipe to be welded, and then connected to form a detachable collar 1; then force is applied to the detachable collar 1 to make the walking wheel 5 roll on the pipe, and the walking wheel 5 moves while driving the connecting frame 2 to move through the detachable collar 1 until the welding manipulator 3 is aligned with the weld position of the pipe to be welded; then the walking wheel 5 is fixed to the pipe so that the position of the connecting frame 2 along the length direction of the pipe to be welded remains unchanged, at this time, the connecting frame 2 is driven by the driving unit 6 to rotate around the pipe, and the welding manipulator 3 synchronously cooperates to complete the welding operation at the pipe joint; the designed pipe welding process, the detachable collar 1 composed of multiple splicing bodies 11 can be connected to the pipe after the pipe is installed, and can be walked along the length direction of the pipe with the cooperation of the mounting frame 4 and the walking wheel 5, so that the welding and fixing of the pipe can be completed on the premise that the pipe has been placed, the welding manipulator 3 can be installed through the connecting frame 2, the welding of the pipe to be welded can be realized through the welding manipulator 3, and the connecting frame 2 can be rotated around the pipe through the driving unit 6, so as to realize the ring welding of the pipe.

[0058] Further, in step S4, the walking wheel 5 includes an inner support plate 51 having a plurality of arc-shaped inner concave cavities 511, the contour of the arc-shaped inner concave cavities 511 on the inner support plate 51 is adapted to the outer contour of the pipeline, and the inner support plate 51 is hollow, the mounting frame 4 is hollow, and one end of the mounting frame 4 is opened and extends into the inner cavity of the inner support plate 51; An elastic outer membrane 52 is connected to the inner support plate 51, and the inner cavity of the outer membrane 52 is communicated with the inner cavity of the inner support plate 51; After the welding robot 3 is aligned with the weld position of the pipe to be welded, the angle of the travel wheel 5 is adjusted, and then the gas in the outer membrane 52 is discharged so that the arc-shaped inner cavity 511 on the inner support plate 51 is in contact with the outer wall of the pipe, so as to fix the travel wheel 5 to the pipe.

[0059] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic circumferentially adjustable pipeline welding device, characterized in that: include: Two detachable sleeves (1), a welding processing area is formed between the two detachable sleeves (1), the detachable sleeves (1) include a plurality of splicing bodies (11), and two adjacent splicing bodies (11) are detachably fixedly connected; A connecting frame (2), a welding manipulator (3) is mounted on the connecting frame (2), the connecting frame (2) is rotatably connected to the splicing body (11), and the rotation axis of the connecting frame (2) is coaxially arranged with the splicing body (11); A plurality of mounting frames (4), the mounting frames (4) being connected to the splicing body (11), the mounting frames (4) being rotatably connected to running wheels (5), and the plurality of running wheels (5) forming a through hole for allowing the pipeline to pass through; A driving unit (6) for driving the connecting frame (2) to rotate, wherein the driving unit (6) is connected to the splicing body (11), and the driving unit (6) is connected to the connecting frame (2).

2. The automatic circumferentially adjustable pipeline welding device according to claim 1 is characterized in that: The running wheel (5) comprises An inner support plate (51) having a plurality of arc-shaped inner concave cavities (511), the contour of the arc-shaped inner concave cavities (511) on the inner support plate (51) being adapted to the outer contour of the pipeline, and the inner support plate (51) being hollow, the mounting frame (4) being hollow, and one end of the mounting frame (4) having an opening extending into the inner cavity of the inner support plate (51); An elastic outer membrane (52) is provided, the outer membrane (52) is connected to the inner support plate (51), and the inner cavity of the outer membrane (52) is communicated with the inner cavity of the inner support plate (51).

3. The automatic circumferentially adjustable pipeline welding device according to claim 2 is characterized in that: The mounting frame (4) comprises A hollow U-shaped body (41), the U-shaped body (41) being connected to a hollow shaft (42), the hollow shaft (42) passing through and being rotatably connected to the inner support plate (51), and the inner cavity of the inner support plate (51) being in communication with the inner cavity of the U-shaped body (41) through the hollow shaft (42); a circular rod (43), one end of the circular rod (43) being connected to the U-shaped body (41), and the other end being connected to a rectangular rod (44), and a cross groove (1112) being provided on the splicing body (11), the rectangular rod (44) passing through the cross groove (1112) and being slidably connected to the splicing body (11), and the length of the circular rod (43) being greater than the thickness of the splicing body (11); A fixing piece (45) for fixing the rectangular rod (44), wherein the fixing piece (45) is connected to the splicing body (11), and the fixing piece (45) is connected to the rectangular rod (44).

4. The automatic circumferentially adjustable pipeline welding device according to claim 3 is characterized in that: The fixing member (45) comprises a locking pin (451), the locking pin (451) being threadedly connected to the splicing body (11) and extending into the cross slot (1112), and the rectangular rod (44) is provided with a first locking hole (441) and a second locking hole (442) which are perpendicular to each other, the second locking hole (442) being located on a side of the first locking hole (441) away from the U-shaped body (41), and the aperture of the second locking hole (442) gradually increases towards the locking pin (451).

5. The automatic circumferentially adjustable pipeline welding device according to claim 1 is characterized in that: The spliced ​​body (11) comprises A supporting inner ring (111), wherein a plurality of balls (112) are rollingly embedded on the outer circumference of the supporting inner ring (111), and the mounting frame (4) is connected to the supporting inner ring (111); A rolling outer ring (113), the rolling outer ring (113) and the supporting inner ring (111) are coaxially arranged, the rolling outer ring (113) and the ball (112) are rollingly connected, the connecting frame (2) is connected to the rolling outer ring (113), and two adjacent rolling outer rings (113) are detachably fixedly connected.

6. The automatic circumferentially adjustable pipeline welding device according to claim 5 is characterized in that: The driving unit (6) comprises A driving motor (61), wherein the driving motor (61) is connected to the splicing body (11); A driving gear (62), wherein the driving gear (62) is coaxially connected to the output shaft of the driving motor (61), and the driving gear (62) is meshed with a side of the rolling outer ring (113) away from the supporting inner ring (111).

7. The automatic circumferentially adjustable pipeline welding device according to claim 5 is characterized in that: An annular groove (1111) is provided on the supporting inner ring (111), the ball (112) is located in the annular groove (1111), and a rotation gap is left between the rolling outer ring (113) and the side wall of the annular groove (1111).

8. The automatic circumferentially adjustable pipeline welding device according to claim 5 is characterized in that: A counterweight block (7) is detachably and fixedly connected to the supporting inner ring (111).

9. A pipeline welding process, characterized in that: The method is implemented by using the automatic circumferentially adjustable pipeline welding device as described in any one of claims 1 to 8, comprising: S1: Equipment installation: Press the splicing body (11) onto the pipe to be welded, and then connect to form a detachable collar (1); S2: Weld alignment: Apply force to the detachable collar (1) to make the travel wheel (5) roll on the pipe. When the travel wheel (5) moves, it drives the connecting frame (2) to move through the detachable collar (1) until the welding manipulator (3) is aligned with the weld position of the pipe to be welded; S3: Fixing the equipment: fixing the travel wheel (5) to the pipeline; S4: Rotational welding: The driving unit (6) drives the connecting frame (2) to rotate around the pipeline, and the welding manipulator (3) cooperates synchronously to complete the welding operation at the joint of the pipeline.

10. The pipeline welding process according to claim 9, characterized in that: In step S4, the walking wheel (5) comprises an inner support plate (51) having a plurality of arc-shaped inner concave cavities (511), the contour of the arc-shaped inner concave cavities (511) on the inner support plate (51) is adapted to the outer contour of the pipeline, and the inner support plate (51) is hollow, the mounting frame (4) is hollow, and one end of the mounting frame (4) is opened and extends into the inner cavity of the inner support plate (51); An elastic outer membrane (52), the outer membrane (52) is connected to the inner support plate (51), and the inner cavity of the outer membrane (52) is in communication with the inner cavity of the inner support plate (51); After the welding robot (3) is aligned with the weld position of the pipeline to be welded, the angle of the travel wheel (5) is adjusted, and then the gas in the outer envelope (52) is discharged so that the arc-shaped inner concave cavity (511) on the inner support plate (51) is in contact with the outer wall of the pipeline, so as to achieve the fixation of the travel wheel (5) and the pipeline.

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