Automatic welding equipment and automatic welding method for horizontal butt joint circular seam of large-diameter steel pipe

Abstract

The invention discloses automatic welding equipment and an automatic welding method for a horizontal butt joint circular seam of a large-diameter steel pipe. The automatic welding equipment comprises an automatic welding main machine and a transfer trolley used for transferring the automatic welding main machine. The automatic welding main machine comprises a main frame, a welding system, a welding positioning mechanism used for connecting the welding system and the main frame, a walking mechanism used for driving the main frame to move in the axial direction of the steel pipe, and a main machine positioning mechanism used for fixing the relative position of the main frame and the steel pipe. The walking mechanism comprises a main lifting mechanism used for driving the main frame to ascend and descend and a sliding supporting mechanism which is arranged on the main frame and can move in the axial direction of the steel pipe. The main lifting mechanism and the sliding supporting mechanism alternately support the main frame to achieve stepping type movement. The automatic welding main machine is of an integral frame structure, is safe and reliable due to the adoption of step-by-step movement, and can walk under the conditions that the axes of two sections of steel pipes are not overlapped, the straightness of the steel pipes exceeds the standard and the roundness of the steel pipes does not reach the standard, so that the automatic welding main machine 1 can smoothly complete automatic welding work.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline welding, in particular to an automatic welding device for horizontal butt joint annular seams of large-diameter steel pipes. In addition, the present invention also relates to an automatic welding method for horizontal butt joint annular seams of large-diameter steel pipes. Background Art

[0002] In the on-site manufacturing and installation of water conservancy and hydropower steel pipes, the steel pipes are usually welded into sections within 6 meters. The steel pipes are transported to the installation site by special car trailers or rail trolleys, and then assembled and welded. The on-site welding quality requirements are high, the workload is large, and the welding process is difficult. At present, the welding of steel pipe assembly welds is mainly done manually, which has the problems of high labor intensity, unstable operation quality, and low efficiency. Traditional manual welding can no longer meet the needs of on-site construction.

[0003] In order to improve welding efficiency, automatic welding devices for inner circumferential seams of steel pipes have emerged. Since the assembly of steel pipes relies on rail trolleys, it is difficult to adjust the angle, roundness, assembly spacing and the coincidence of the axes of the two sections of steel pipes during the assembly process. There will be problems such as the axes of the steel pipes not coinciding with each other and the roundness of the steel pipes not meeting the requirements.

[0004] For example, Chinese patent CN216730166 U discloses an automatic welding device for steel pipes in tunnels. By setting a circular ring-shaped sliding component, the welding gun can move circumferentially with the inner wall of the large steel pipe in the tunnel, thereby automatically welding the circular end face of the steel pipe. On the one hand, as the construction progresses, the welding work station will constantly change, and the automatic welding device cannot move autonomously, which is very inconvenient to construct in the steel pipe, which will reduce the efficiency of the overall welding construction; on the other hand, because the slide rail can be attached to the inner wall of the steel pipe in the tunnel through the positioning module, when the roundness of the steel pipe cannot meet the requirements, the circular track is difficult to lay, which will lead to the situation that welding cannot be effectively implemented. Summary of the invention

[0005] The present invention provides an automatic welding device and an automatic welding method for horizontal butt joint annular seams of large-diameter steel pipes, so as to solve the technical problems that the automatic welding equipment in the prior art is inconvenient to construct inside the steel pipe, and is difficult to apply when the axes between the steel pipes do not coincide and the roundness of the steel pipes exceeds the standard.

[0006] According to one aspect of the present invention, there is provided an automatic welding device for horizontal butt-jointed annular seams of large-diameter steel pipes, comprising an automatic welding main machine and a transfer trolley for transferring the automatic welding main machine, the automatic welding main machine comprising a main frame, a welding system, a welding positioning mechanism for connecting the welding system and the main frame, a traveling mechanism for driving the main frame to move axially along the steel pipe, and a main machine positioning mechanism for fixing the relative position of the main frame and the steel pipe, the traveling mechanism comprising a main lifting mechanism for driving the main frame to lift and lower, and a sliding support mechanism arranged on the main frame and movable axially along the steel pipe, the main lifting mechanism and the sliding support mechanism alternately supporting the main frame to realize step-by-step movement.

[0007] Furthermore, the main lifting mechanism includes a main lifting slide arranged on the main frame, a main lifting slide slidably connected to the main lifting slide, a main lifting cylinder for driving the main lifting slide to slide in a vertical direction relative to the main lifting slide, and a main lifting shoe arranged on the main lifting slide for abutting against the inner wall of the steel pipe, the main lifting slide is provided with a shoe slide, the main lifting shoe is provided with a shoe slide rail slidably connected to the shoe slide, and the shoe slide is connected to the main lifting shoe through a shoe translation cylinder.

[0008] Furthermore, the sliding support mechanism includes a sliding rail arranged on the main frame along the axial direction of the steel pipe, a sliding seat slidably connected to the sliding rail, a sliding support shoe arranged on the sliding seat, and a stepping drive device for driving the sliding seat to translate relative to the sliding rail.

[0009] Furthermore, the sliding seat is provided with a step cylinder for driving the main frame to rise and fall, and a support pad arranged on the free end of the step cylinder.

[0010] Furthermore, the main engine positioning mechanism includes a telescopic frame arranged on the main frame, a telescopic rod slidably connected to the telescopic frame, a side support shoe arranged on the free end of the telescopic rod, and a side support cylinder for driving the telescopic rod to drive the side support shoe to abut against the inner wall of the steel pipe in a horizontal direction.

[0011] Furthermore, the main engine positioning mechanism also includes a direction-adjusting cylinder, one end of the direction-adjusting cylinder is hinged to the telescopic frame, and the other end is hinged to the side support shoe, and the side support shoe is hinged to the free end of the telescopic rod. The angle between the side support shoe and the horizontal plane is adjusted by telescoping the direction-adjusting cylinder so that the side support shoe fits against the inner wall of the steel pipe.

[0012] Furthermore, the welding system includes an arc welding mechanism for welding the top arc and the two side arcs of the annular seam and a flat welding mechanism for welding the bottom arc of the annular seam. The arc welding mechanism includes an arc track, an arc rack arranged on the arc track, a traveling trolley arranged on the arc track and adapted to the arc rack, and a first welding robot arm arranged on the traveling trolley. The first welding robot arm is provided with a first welding gun, a first gun cleaner, a first visual system, and a first molten pool monitoring system.

[0013] Furthermore, the welding positioning mechanism includes a mounting seat arranged on the main frame, a lifting frame arranged on the mounting seat, a floating seat arranged on the free end of the lifting frame, a transverse driving device arranged on the floating seat, a longitudinal driving device arranged on the transverse driving device and a floating positioning plate arranged on the longitudinal driving device. The lifting frame, the transverse driving device and the longitudinal driving device are arranged perpendicular to each other, and the transverse driving device or the longitudinal driving device is arranged along the axial direction of the steel pipe; the three arc welding mechanisms are respectively arranged on the corresponding floating positioning plates, and the flat welding mechanism includes a second welding robot arm arranged on the corresponding floating positioning plate, and the second welding robot arm is provided with a second welding gun, a second gun cleaner, a second visual system, and a second molten pool monitoring system.

[0014] Furthermore, a platform for observation and / or maintenance is arranged on the main frame, and the platform includes a first platform that can be raised and lowered in the vertical direction and a second platform that can be extended and retracted in the horizontal direction. The two second platforms are arranged on both sides of the first platform, respectively corresponding to the three arc welding mechanisms.

[0015] Furthermore, the transfer trolley includes a vehicle body and a trolley lifting mechanism for driving the vehicle body to rise and fall.

[0016] Furthermore, an equipment platform is arranged on the main frame, and a power supply for providing electricity, a pump station for providing hydraulic oil, and an electric control cabinet are arranged on the equipment platform.

[0017] According to another aspect of the present invention, there is also provided an automatic welding method for horizontal butt joint annular seams of large diameter steel pipes, comprising the following steps:

[0018] S1, equipment inlet pipe,

[0019] S11, the welding system, welding positioning mechanism, main machine positioning mechanism and the platform are all retracted to reduce the maximum outline of the automatic welding equipment for the horizontal butt joint of large-diameter steel pipes. The step cylinder of the sliding support mechanism extends and abuts against the body of the transfer trolley. The main frame is supported by the step cylinder, and the main lifting shoe of the main lifting mechanism is suspended in the air;

[0020] S12, the transfer trolley transports the automatic welding equipment for the horizontal butt joint of large-diameter steel pipes to the front end of the steel pipe, the trolley body enters the lower end of the hanging part of the steel pipe, and extends the trolley lifting mechanism so that the trolley body supports the hanging part of the steel pipe;

[0021] S13, the stepping drive device of the sliding support mechanism drives one end of the main frame into the steel pipe;

[0022] S14, the main lifting shoe of the main lifting mechanism extends, the main lifting shoe at the front end of the main frame is supported on the inner wall of the steel pipe, and the main lifting shoe at the rear end of the main frame is supported on the vehicle body, the step cylinder is retracted, and the stepping drive device drives the sliding seat into the steel pipe;

[0023] S15, the main lifting shoe of the main lifting mechanism is retracted, the sliding shoe on the sliding seat supports the inner wall of the steel pipe, the main lifting shoe of the main lifting mechanism is suspended in the air, and the stepping drive device drives the main frame to move forward until it completely enters the steel pipe;

[0024] S16, the main lifting shoe of the main lifting mechanism extends, the main lifting shoe is supported by the inner wall of the steel pipe, and the sliding shoe is suspended in the air, and the stepping drive device drives the sliding seat to move forward;

[0025] S17, the main lifting shoe of the main lifting mechanism is retracted, the sliding shoe on the sliding seat supports the inner wall of the steel pipe, the main lifting shoe of the main lifting mechanism is suspended in the air, and the stepping drive device drives the main frame to move forward in the steel pipe;

[0026] S18, repeating steps S16 and S17 to make the main frame enter the welding station;

[0027] S2, circumferential welding,

[0028] S21, the welding positioning mechanism, the main machine positioning mechanism and the platform are all unfolded, and the support height of the main lifting mechanism and the extension amount of the support shoe translation cylinder are adjusted to keep the welding system and the steel pipe coaxial;

[0029] S22, extend the mainframe positioning mechanism to fix the relative position of the main frame and the steel pipe;

[0030] S23, extending the lifting frame so that the relative position of the welding system and the girth weld is within a preset range;

[0031] S24. Expand the platform to make it fit the diameter of the steel pipe for easy observation and maintenance;

[0032] S25, the visual system of the welding system performs laser ranging to determine the position of the welding system, and calculates the deviation value between the position of the welding system and the preset position;

[0033] S26, adjusting the lifting frame, the transverse driving device and the longitudinal driving device of the welding positioning mechanism to move the welding system to a preset position;

[0034] S27, perform pre-welding preparations;

[0035] S28, the welding system performs circumferential welding;

[0036] S29, weld post-processing;

[0037] S3, welding workstation shift,

[0038] S31, the lifting frame, the main machine positioning mechanism and the walking platform are all retracted, the main lifting shoe of the main lifting mechanism is retracted, the sliding shoe on the sliding seat supports the inner wall of the steel pipe, the main lifting shoe of the main lifting mechanism is suspended, and the stepping drive device drives the main frame to move forward in the steel pipe;

[0039] S32, the main lifting shoe of the main lifting mechanism extends, the main lifting shoe is supported by the inner wall of the steel pipe, and the sliding shoe is suspended in the air, and the stepping drive device drives the sliding seat to move forward;

[0040] S33, repeating steps S31 and S32 to make the main frame enter the next welding station

[0041] S34, repeat step S2 to perform circumferential seam welding;

[0042] S4. After all welds are completed, the automatic welding equipment for horizontal butt weld of large diameter steel pipes will produce steel pipes.

[0043] The present invention has the following beneficial effects:

[0044] The automatic welding equipment for horizontal butt joint annular seams of large-diameter steel pipes of the present invention, when in use, the transfer trolley transports the automatic welding main machine to the pipe mouth of the steel pipe, enters the steel pipe through the walking mechanism and drives the entire equipment to move forward or backward in the steel pipe, so as to facilitate adjustment of the relative position between the automatic welding main machine and the annular weld of the steel pipe; when the automatic welding main machine moves to the welding working point, the relative position of the automatic welding main machine and the steel pipe is positioned by the main machine positioning mechanism, and the positioning of the welding system can be effectively adjusted by the welding positioning mechanism, which is not affected by the positioning of the equipment main machine; the automatic welding main machine is an integral frame structure, and the welding system, welding positioning mechanism, walking mechanism and main machine positioning mechanism are all installed on the main frame, the step-by-step movement of the walking mechanism is safe and reliable, and the reversing operation can be completed without being equipped with a reversing mechanism; it can adapt to walking under the conditions that the axes of two sections of steel pipes do not overlap, the straightness of the steel pipes exceeds the standard, and the roundness does not meet the standard, so that the automatic welding main machine can smoothly complete the automatic welding work; it is suitable for welding the inner annular seams of horizontal steel pipes with a diameter of 5 to 7 meters or horizontal steel pipes with a small slope.

[0045] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0047] Figure 1 It is a structural schematic diagram of an automatic welding device for horizontal butt joint annular seams of large-diameter steel pipes according to a preferred embodiment of the present invention;

[0048] Figure 2 It is a structural schematic diagram of an automatic welding device for horizontal butt-jointed annular seams of large-diameter steel pipes in a preferred embodiment of the present invention in a welding working state;

[0049] Figure 3 2 is a side view of an automatic welding device for horizontal butt joint annular seams of large-diameter steel pipes according to a preferred embodiment of the present invention;

[0050] Figure 4 It is a structural schematic diagram of an automatic welding host according to a preferred embodiment of the present invention;

[0051] Figure 5 It is a structural schematic diagram of the main frame of a preferred embodiment of the present invention;

[0052] Figure 6 is a schematic diagram of the structure of the device platform of the preferred embodiment of the present invention;

[0053] Figure 7 It is a structural schematic diagram of the main lifting mechanism of a preferred embodiment of the present invention;

[0054] Figure 8 is a structural schematic diagram of a sliding support mechanism according to a preferred embodiment of the present invention;

[0055] Fig. 9 It is a structural schematic diagram of a host positioning mechanism of a preferred embodiment of the present invention;

[0056] Fig.10 It is a structural schematic diagram of the walking mechanism of a preferred embodiment of the present invention;

[0057] Fig.11 is a structural schematic diagram of a welding system according to a preferred embodiment of the present invention;

[0058] Fig.12 It is a structural schematic diagram of a welding positioning mechanism of a preferred embodiment of the present invention;

[0059] Fig.13 is a structural schematic diagram of an arc welding mechanism according to a preferred embodiment of the present invention;

[0060] Fig.14 It is a structural schematic diagram of a flat welding mechanism of a preferred embodiment of the present invention;

[0061] Fig.15 is a schematic structural diagram of a lifting frame according to a preferred embodiment of the present invention;

[0062] Fig.16 It is a structural schematic diagram of a floating seat of a preferred embodiment of the present invention;

[0063] Fig.17 It is a structural schematic diagram of a walkway in a preferred embodiment of the present invention;

[0064] Fig.18 It is a structural schematic diagram of a transfer trolley of a preferred embodiment of the present invention;

[0065] Fig.19 It is a structural schematic diagram of the automatic welding equipment for horizontal butt-jointed annular seams of large-diameter steel pipes according to a preferred embodiment of the present invention in a moving state.

[0066] Legend:

[0067] 100, steel pipe; 1, automatic welding host; 2, transfer trolley; 21, trolley body; 22, trolley lifting mechanism; 3, main frame; 31, equipment platform; 32, power supply; 33, pump station; 34, electric control cabinet; 35, lighting system; 4, welding system; 41, arc welding mechanism; 411, arc track; 412, arc rack; 413, walking trolley; 414, first welding mechanical arm; 415, first welding gun; 42, flat welding mechanism; 421, second welding mechanical arm; 422, second welding gun; 5, welding positioning mechanism; 51, mounting seat; 52, lifting frame; 521, bottom plate; 522, linear drive device; 523, connecting seat; 524, guide sleeve; 525, guide rod; 53, floating seat; 54, Transverse drive device; 55, longitudinal drive device; 56, floating positioning plate; 6, walking mechanism; 61, main lifting mechanism; 611, main lifting slide; 612, main lifting slide; 613, main lifting cylinder; 614, main lifting support shoe; 615, support shoe slide; 616, support shoe slide rail; 617, support shoe translation cylinder; 618, first support shoe connecting rod; 62, sliding support mechanism; 621, slide rail; 622, sliding seat; 623, sliding support shoe; 624, step cylinder; 625, support pad; 626, second support shoe connecting rod; 7, main machine positioning mechanism; 71, telescopic frame; 72, telescopic rod; 73, side support shoe; 74, side support cylinder; 75, adjustment cylinder; 8, walkway; 81, first walkway; 82, second walkway. DETAILED DESCRIPTION

[0068] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0069] Please also read Figures 1 to 19The automatic welding equipment for the horizontal butt joint annular seam of a large-diameter steel pipe of this embodiment takes the horizontal radial direction of the steel pipe as the X-axis, the axial direction as the Y-axis, the vertical diameter direction as the Z-axis, and the X-axis direction as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis as the up-down direction. It includes an automatic welding main machine 1 and a transfer trolley 2 for transferring the automatic welding main machine 1. The automatic welding main machine 1 includes a main frame 3, a welding system 4, a welding positioning mechanism 5 for connecting the welding system 4 and the main frame 3, a walking mechanism 6 for driving the main frame 3 to move along the axial direction of the steel pipe, and a main machine positioning mechanism 7 for fixing the relative position of the main frame 3 and the steel pipe. The walking mechanism 6 includes a main lifting mechanism 61 for driving the main frame 3 to move up and down and a sliding support mechanism 62 arranged on the main frame 3 and movable along the axial direction of the steel pipe. The main lifting mechanism 61 and the sliding support mechanism 62 alternately support the main frame 3 to realize step-by-step movement.

[0070] When the automatic welding equipment for horizontal butt joint annular seams of large-diameter steel pipes of this embodiment is used, the transfer trolley 2 transports the automatic welding main machine 1 to the pipe mouth of the steel pipe 100, enters the steel pipe 100 through the walking mechanism 6 and drives the entire equipment to move forward or backward in the steel pipe 100, so as to facilitate the adjustment of the relative position between the automatic welding main machine 1 and the annular weld of the steel pipe; when the automatic welding main machine 1 moves to the welding working point, the relative position between the automatic welding main machine 1 and the steel pipe 100 is positioned by the main machine positioning mechanism 7, and the positioning of the welding system 4 can be effectively adjusted by the welding positioning mechanism 5, without being affected by the setting. The positioning of the standby host 1 is affected; the automatic welding host 1 is an integral frame structure, the welding system 4, the welding positioning mechanism 5, the walking mechanism 6 and the host positioning mechanism 7 are all installed on the main frame 3, the step-by-step movement of the walking mechanism 6 is safe and reliable, and the reversing operation can be completed without the need for a reversing mechanism; it can adapt to walking when the axes of the two sections of steel pipes do not coincide, the straightness of the steel pipes exceeds the standard, and the roundness does not meet the standard, so that the automatic welding host 1 can successfully complete the automatic welding work; it is suitable for the welding of the inner ring seam of horizontal steel pipes with a diameter of 5 to 7 meters or horizontal steel pipes with a small slope.

[0071] Figure 5 , Figure 6 and Figure 7In the embodiment shown, the four main lifting mechanisms 61 are divided into two groups, which are respectively arranged at the front and rear ends of the main frame 3. The two main lifting mechanisms 61 in each group are symmetrically arranged on both sides of the main frame 3. The main lifting mechanisms 61 include a main lifting slide 611 arranged on the main frame 3, a main lifting slide 612 slidably connected to the main lifting slide 611, a main lifting cylinder 613 for driving the main lifting slide 612 to slide relative to the main lifting slide 611 in a vertical direction, and a main lifting support shoe 614 arranged on the main lifting slide 612 for abutting against the inner wall of the steel pipe. A support shoe slide 615 is arranged on the main lifting slide 612. The lifting shoe 614 is provided with a shoe slide rail 616 that is slidably connected to the shoe slide seat 615. The shoe slide seat 615 is connected to the main lifting shoe 614 through a shoe translation cylinder 617. After the main lifting shoe 614 is pressed against the inner wall of the steel pipe 100, the main lifting slide 612 drives the main lifting slide 612 to extend and retract, which can drive the main frame 3 to move up and down, and can adjust the vertical height difference between the welding system 4 and the axis of the steel pipe 100. The shoe translation cylinder 617 extends and retracts to drive the main frame 3 to move left and right along the X-axis direction, and can adjust the horizontal distance between the welding system 4 and the axis of the steel pipe 100, so as to ensure that the welding system 4 and the steel pipe keep the same axis during welding. Optionally, a soft pad is arranged on the supporting surface of the main lifting shoe 614, which can ensure that the main lifting shoe 614 fits the pipe wall, reduces the pressure of the main lifting shoe 614 on the inner wall of the steel pipe 100, and avoids damage to the paint surface of the inner wall of the steel pipe 100. Optionally, two adjacent main lifting shoes 614 are connected by a first shoe connecting rod 618 , which can improve the support stability of the main lifting mechanism 61 and prevent the main lifting shoes 614 from tilting.

[0072] Figure 5 , Figure 6 and Figure 8 In the embodiment shown, the sliding support mechanism 62 includes a sliding rail 621 arranged on the main frame 3 and arranged along the axial direction of the steel pipe, a sliding seat 622 slidably connected to the sliding rail 621, a sliding support shoe 623 arranged on the sliding seat 622, and a stepping drive device for driving the sliding seat 622 to translate relative to the sliding rail 621; when the automatic welding main machine 1 is supported by the main lifting support shoe 614, the sliding support shoe 623 is suspended, and the stepping drive device drives the sliding seat 622 to move forward; when the automatic welding main machine 1 is supported by the sliding support shoe 623, the lifting support shoe 614 is suspended, and the stepping drive device drives the main frame 3 to move forward, thereby realizing step-changing walking. Optionally, a soft pad is arranged on the supporting surface of the sliding support shoe 623, which can ensure that the sliding support shoe 623 fits the pipe wall, reduces the pressure of the sliding support shoe 623 on the inner wall of the steel pipe 100, and avoids damage to the paint surface of the inner wall of the steel pipe 100. Optionally, two adjacent sliding support shoes 623 are connected by a second support shoe connecting rod 626, which can improve the support stability of the sliding support mechanism 62 and prevent the sliding support shoes 623 from tilting.

[0073] like Figure 5 , Figure 6 and Figure 8 As shown, in this embodiment, a step cylinder 624 for driving the main frame 3 to rise and fall and a support pad 625 arranged on the free end of the step cylinder 624 are arranged on the sliding seat 622; when the transfer trolley 2 carries the automatic welding main machine 1, the step cylinder 624 extends out and abuts against the body 21 of the transfer trolley 2, and the main frame 3 is supported by the step cylinder 624, and the main lifting support shoe 614 of the main lifting mechanism 61 is suspended. When the automatic welding main machine 1 enters and exits the steel pipe, the step cylinder 624 can compensate for the height difference between the steel pipe 100 and the transfer trolley 2, avoids interference between the main lifting mechanism 61 and the steel pipe, and ensures that the automatic welding main machine 1 can smoothly enter and exit the steel pipe 100.

[0074] like Figure 5 , Figure 6 and Fig. 9 As shown, in the present embodiment, two main engine positioning mechanisms 7 are arranged at the front and rear ends of the main frame 3, and the main engine positioning mechanism 7 comprises a telescopic frame 71 arranged on the main frame 3, a telescopic rod 72 slidably connected to the telescopic frame 71, a side support shoe 73 arranged on the free end of the telescopic rod 72, and a side support cylinder 74 for driving the telescopic rod 72 to drive the side support shoe 73 to abut against the inner wall of the steel pipe in the horizontal direction, the side support shoe 73 is adapted to the inner wall of the steel pipe 100, and the main engine positioning mechanism 7 is a two-way telescopic structure. After the side support shoe 73 is extended laterally to abut against the inner wall of the steel pipe 100, the main frame 3 can be fixed on the inner wall of the steel pipe 100. Optionally, a soft pad is arranged on the supporting surface of the side support boot 73. On the one hand, it can ensure that the side support boot 73 fits the pipe wall, reduce the pressure of the side support boot 73 on the inner wall of the steel pipe 100, and avoid damage to the paint surface of the inner wall of the steel pipe; on the other hand, it can increase the friction between the side support boot 73 and the inner wall of the steel pipe 100, thereby ensuring the stability of the main frame 3.

[0075] like Fig. 9 As shown, in this embodiment, the main engine positioning mechanism 7 also includes a direction adjusting cylinder 75, one end of the direction adjusting cylinder 75 is hinged to the telescopic frame 71, and the other end is hinged to the side support shoe 73, and the side support shoe 73 is hinged to the free end of the telescopic rod 72. The angle between the side support shoe 73 and the horizontal plane is adjusted by telescoping the direction adjusting cylinder 75 so that the side support shoe 73 fits the inner wall of the steel pipe; the pressure of the side support shoe 73 on the inner wall of the steel pipe 100 can be reduced, thereby avoiding damage to the paint surface of the inner wall of the steel pipe 100 and ensuring the stability of the main frame 3.

[0076] like Figures 10 to 16As shown, in this embodiment, the welding system 4 includes an arc welding mechanism 41 for welding the top arc and the arcs on both sides of the annular seam and a flat welding mechanism 42 for welding the bottom arc of the annular seam. The arc welding mechanism 41 includes an arc track 411, an arc rack 412 arranged on the arc track 411, a walking trolley 413 arranged on the arc track 411 and adapted to the arc rack 412, and a first welding robot arm 414 arranged on the walking trolley 413. The first welding robot arm 414 is provided with a first welding gun 415, a first gun cleaner, a first visual system, and a first molten pool monitoring system; the arc welding mechanism 41 is suitable for welding arc welds of steel pipes, and the walking trolley The car 413 moves along the arc track 411, driving the first welding robot arm 414 to rotate along the arc track 411. The first visual system is installed on the first welding robot arm 414, and the position measurement is performed using the extension and preset program on the first welding robot arm 414. After the position signal is fed back to the welding positioning mechanism 5, the position of the first welding robot arm 414 and the walking car 413 is calculated according to the preset algorithm, and the movement calculation of the welding positioning mechanism 5 is performed. After the arc welding mechanism 41 and the flat welding mechanism 42 move to the specified position, the steel pipe circumferential seam is welded, and the molten pool monitoring system can monitor the automatic welding process remotely in real time to avoid frequent movement of observers on the walkway. Optionally, the walking car 413 is driven by a servo motor. Optionally, the first welding robot arm 414 is a six-axis robot arm, which is flexible in operation, has a wide range of applicability, and is suitable for a large range of steel pipe diameters.

[0077] like Figures 10 to 16As shown, in this embodiment, the welding positioning mechanism 5 includes a mounting seat 51 arranged on the main frame 3, a lifting frame 52 arranged on the mounting seat 51, a floating seat 53 arranged on the free end of the lifting frame 52, a transverse driving device 54 arranged on the floating seat 53, a longitudinal driving device 55 arranged on the transverse driving device 54 and a floating positioning plate 56 arranged on the longitudinal driving device 55, the lifting frame 52, the transverse driving device 54 and the longitudinal driving device 55 are arranged perpendicular to each other, and the transverse driving device 54 or the longitudinal driving device 55 is arranged along the axial direction of the steel pipe; Each arc welding mechanism 41 is arranged on the corresponding floating positioning plate 56, and the flat welding mechanism 42 includes a second welding robot arm 421 arranged on the corresponding floating positioning plate 56, and the second welding robot arm 421 is provided with a second welding gun 422, a second gun cleaner, a second visual system, and a second molten pool monitoring system; taking the arc welding mechanism 41 at the top as an example, on the one hand, when changing steps and walking, the arc welding mechanism 41 can be retracted toward the main frame 3 to reduce the maximum external dimensions of the entire equipment, which is convenient for walking; on the other hand, the lifting frame 52 can provide the arc welding mechanism 41 is positioned and adjusted in the Z-axis direction; the floating positioning plate 56 provides positioning and adjustment of the arc welding mechanism 41 in the X and Y-axis directions; the first visual system on the first welding robot arm 414 performs laser positioning to measure the position data, the controller calculates the deviation value between the position of the arc track 411 and the preset position, and the welding positioning mechanism 5 adjusts the position of the arc track 411 according to the deviation value to make it reach the preset welding position; the arc welding mechanisms 41 on both sides perform the same positioning respectively; for the flat welding mechanism 42, the second visual system on the second welding robot arm 421 performs laser positioning to measure the position data, the controller calculates the deviation value between the position of the second welding robot arm 421 and the preset position, and the welding positioning mechanism 5 quickly adjusts the position of the second welding robot arm 421 according to the deviation value to make it reach the preset welding position; three sets of arc welding mechanisms 41 and one set of flat welding mechanisms 42 are separately controlled by their respective control systems, and the entire welding system 4 can realize the welding of all welds of the steel pipe circumferential seam and realize automatic welding. The robot arm moves in a circle on multiple arc tracks, which can reasonably distribute the welding efficiency, and the welding mechanism will not be idle, and the work efficiency is high. Optionally, the lifting frame 52 includes a bottom plate 521, a connecting seat 523, and a linear drive device 522. The linear drive device 522 is arranged on the bottom plate 521. The bottom plate 521 is connected to the mounting seat 51 through a guide sleeve 524. A guide rod 525 is slidably embedded in the guide sleeve 524. The connecting seat 523 is arranged on the free end of the linear drive device 522 and connected to the guide rod 525. The linear drive device 522 drives the connecting seat 523 to rise and fall relative to the mounting seat 51. The guide rod 525 can improve the stability of the connecting seat 523 and prevent the connecting seat 523 from vibrating and deviating, thereby ensuring the stability of the welding system 4. Optionally, the linear drive device 522, the transverse drive device 54, and the longitudinal drive device 55 are driven by servo motors respectively.

[0078] like Figure 4 and Fig.17 As shown, in this embodiment, a platform 8 for welding observation and / or maintenance is arranged on the main frame 3, and the platform 8 includes a first platform 81 that can be lifted and lowered in the vertical direction and a second platform 82 that can be extended and retracted in the horizontal direction. The two second platforms 82 are arranged on both sides of the first platform 81, respectively corresponding to the three arc welding mechanisms 41. Optionally, the two platforms 8 are arranged on the front and rear sides of the welding system 4. Optionally, a guardrail is arranged on the platform 8.

[0079] like Fig.18 As shown, in this embodiment, the transfer trolley 2 includes a vehicle body 21 and a trolley lifting mechanism 22 for driving the vehicle body 21 to rise and fall. The transfer trolley 2 can realize transportation and turning along the track in the tunnel, and can transfer the automatic welding main unit 1 to a predetermined work location. At the same time, the transfer trolley 2 has a lifting function. After the automatic welding main unit 1 is transported to the position for entering the steel pipe 100, the support height can be adjusted to assist the automatic welding main unit 1 to enter the steel pipe.

[0080] like Figure 5 and Figure 6 As shown, in this embodiment, an equipment platform 31 is arranged on the main frame 3, and a power supply 32 for providing electricity, a pump station 33 for providing hydraulic oil, and an electric control cabinet 34 are arranged on the equipment platform 31. Optionally, a lighting system 35 is arranged on the main frame 3 to facilitate image acquisition by the visual system and observation and maintenance by the staff. Optionally, a wire feeder and a welding wire reel are arranged on the equipment platform 31.

[0081] An automatic welding method for horizontal butt joint annular seams of large-diameter steel pipes comprises the following steps:

[0082] S1, equipment inlet pipe,

[0083] S11, such as Fig.19 As shown, the welding system 4, the welding positioning mechanism 5, the main machine positioning mechanism 7 and the walking platform 8 are all retracted to reduce the maximum outer contour of the automatic welding equipment for the horizontal butt joint of large-diameter steel pipes, the step cylinder 624 of the sliding support mechanism 62 extends out and abuts against the body 21 of the transfer trolley 2, the main frame 3 is supported by the step cylinder 624, and the main lifting shoe 614 of the main lifting mechanism 61 is suspended;

[0084] S12, the transfer trolley 2 transports the automatic welding equipment for the horizontal butt joint of the large-diameter steel pipe to the front end of the steel pipe, the trolley body 21 enters the lower end of the steel pipe hanging out, and extends the trolley lifting mechanism 22 so that the trolley body 21 supports the hanging section of the steel pipe;

[0085] S13, the stepping drive device of the sliding support mechanism 62 drives one end of the main frame 3 into the steel pipe;

[0086] S14, the main lifting shoe 614 of the main lifting mechanism 61 extends, the main lifting shoe 614 at the front end of the main frame 3 is supported on the inner wall of the steel pipe, and the main lifting shoe 614 at the rear end of the main frame 3 is supported on the vehicle body 21, the step cylinder 624 is retracted, and the stepping drive device drives the sliding seat 622 to enter the steel pipe;

[0087] S15, the main lifting shoe 614 of the main lifting mechanism 61 is retracted, the sliding shoe 623 on the sliding seat 622 supports the inner wall of the steel pipe, the main lifting shoe 614 of the main lifting mechanism 61 is suspended, and the stepping drive device drives the main frame 3 to move forward until it completely enters the steel pipe;

[0088] S16, the main lifting shoe 614 of the main lifting mechanism 61 extends, the main lifting shoe 614 is supported by the inner wall of the steel pipe, and the sliding shoe 623 is suspended in the air, and the stepping drive device drives the sliding seat 622 to move forward;

[0089] S17, the main lifting shoe 614 of the main lifting mechanism 61 is retracted, the sliding shoe 623 on the sliding seat 622 supports the inner wall of the steel pipe, the main lifting shoe 614 of the main lifting mechanism 61 is suspended, and the stepping drive device drives the main frame 3 to move forward in the steel pipe;

[0090] S18. Repeat steps S16 and S17 to allow the main frame 3 to enter the welding station.

[0091] In this embodiment, step S15 specifically includes:

[0092] The main lifting shoe 614 of the main lifting mechanism 61 is retracted, the sliding shoe 623 on the front end of the sliding seat 622 is supported on the inner wall of the steel pipe, the sliding shoe 623 on the front end of the sliding seat 622 is on the vehicle body 21, the main lifting shoe 614 of the main lifting mechanism 61 is suspended, and the stepping drive device drives the main frame 3 to move forward into the steel pipe;

[0093] The main lifting shoe 614 of the main lifting mechanism 61 extends out, the main lifting shoe 614 is supported by the inner wall of the steel pipe, the sliding shoe 623 is suspended in the air, and the stepping drive device drives the sliding seat 622 to move forward and completely enter the steel pipe 100;

[0094] The main lifting shoe 614 of the main lifting mechanism 61 is retracted, the sliding shoe 623 on the sliding seat 622 is supported on the inner wall of the steel pipe, the main lifting shoe 614 of the main lifting mechanism 61 is suspended, and the stepping drive device drives the main frame 3 to move forward until it completely enters the steel pipe 100.

[0095] S2, circumferential welding,

[0096] S21, such as Figure 2As shown, the welding positioning mechanism 5, the main machine positioning mechanism 7 and the platform 8 are all unfolded, and the support height of the main lifting mechanism 61 and the extension amount of the support shoe translation cylinder 617 are adjusted to keep the welding system 4 and the steel pipe coaxial;

[0097] S22, extending the mainframe positioning mechanism 7 to fix the relative position of the main frame 3 and the steel pipe;

[0098] S23, extending the lifting frame 52 so that the relative position of the welding system 4 and the girth weld is within a preset range;

[0099] S24, unfold the platform 8 to adapt the platform 8 to the diameter of the steel pipe for easy observation and maintenance;

[0100] S25, the visual system of the welding system 4 performs laser ranging to determine the position of the welding system 4, and calculates the deviation value between the position of the welding system 4 and the preset position;

[0101] S26, adjusting the lifting frame 52, the lateral driving device 54 and the longitudinal driving device 55 of the welding positioning mechanism 5 to move the welding system 4 to a preset position;

[0102] S27, carry out preparatory work before welding, including grinding and preheating;

[0103] S28, welding system 4 performs girth welding, girth bottoming, robotic arm automated welding and root cleaning;

[0104] S29. Post-processing of welds.

[0105] In this embodiment, in step S28, the robot arm automated welding is the same-layer and same-pass segmented welding or the simultaneous welding of multiple welds.

[0106] S3, welding workstation shift,

[0107] S31, the lifting frame 52, the main machine positioning mechanism 7 and the platform 8 are all retracted, the main lifting shoe 614 of the main lifting mechanism 61 is retracted, the sliding shoe 623 on the sliding seat 622 supports the inner wall of the steel pipe, the main lifting shoe 614 of the main lifting mechanism 61 is suspended, and the stepping drive device drives the main frame 3 to move forward in the steel pipe;

[0108] S32, the main lifting shoe 614 of the main lifting mechanism 61 extends, the main lifting shoe 614 is supported by the inner wall of the steel pipe, and the sliding shoe 623 is suspended in the air, and the stepping drive device drives the sliding seat 622 to move forward;

[0109] S33, repeating steps S31 and S32 to make the main frame 3 enter the next welding station

[0110] S34, repeat step S2 to perform circumferential seam welding.

[0111] S4. After all welds are completed, the automatic welding equipment for horizontal butt weld of large diameter steel pipes will produce steel pipes.

[0112] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic welding equipment for horizontal butt joint of large diameter steel pipes, characterized in that: The invention comprises an automatic welding main machine (1) and a transfer trolley (2) for transferring the automatic welding main machine (1); the automatic welding main machine (1) comprises a main frame (3), a welding system (4), a welding positioning mechanism (5) for connecting the welding system (4) and the main frame (3), a walking mechanism (6) for driving the main frame (3) to move along the axial direction of a steel pipe, and a main machine positioning mechanism (7) for fixing the relative position between the main frame (3) and the steel pipe; the walking mechanism (6) comprises a main lifting mechanism (61) for driving the main frame (3) to move up and down, and a sliding support mechanism (62) arranged on the main frame (3) and movable along the axial direction of the steel pipe; the main lifting mechanism (61) and the sliding support mechanism (62) alternately support the main frame (3) to realize step-by-step movement.

2. The automatic welding equipment for horizontal butt joint annular seams of large diameter steel pipes according to claim 1 is characterized in that: The main lifting mechanism (61) comprises a main lifting slide (611) arranged on the main frame (3), a main lifting slide (612) slidably connected to the main lifting slide (611), a main lifting cylinder (613) for driving the main lifting slide (612) to slide in a vertical direction relative to the main lifting slide (611), and a main lifting support shoe (614) arranged on the main lifting slide (612) for abutting against the inner wall of the steel pipe, the main lifting slide (612) is provided with a support shoe slide (615), the main lifting support shoe (614) is provided with a support shoe slide rail (616) slidably connected to the support shoe slide (615), and the support shoe slide (615) is connected to the main lifting support shoe (614) via a support shoe translation cylinder (617).

3. The automatic welding equipment for horizontal butt joint annular seams of large diameter steel pipes according to claim 2 is characterized in that: The sliding support mechanism (62) comprises a sliding rail (621) arranged on the main frame (3) along the axial direction of the steel pipe, a sliding seat (622) slidably connected to the sliding rail (621), a sliding support shoe (623) arranged on the sliding seat (622), and a stepping drive device for driving the sliding seat (622) to translate relative to the sliding rail (621).

4. The automatic welding equipment for horizontal butt joint annular seams of large diameter steel pipes according to claim 3 is characterized in that: The sliding seat (622) is provided with a step cylinder (624) for driving the main frame (3) to rise and fall, and a support pad (625) provided on the free end of the step cylinder (624).

5. The automatic welding equipment for horizontal butt joint annular seams of large diameter steel pipes according to claim 1 is characterized in that: The main machine positioning mechanism (7) comprises a telescopic frame (71) arranged on the main frame (3), a telescopic rod (72) slidably connected to the telescopic frame (71), a side support shoe (73) arranged on the free end of the telescopic rod (72), and a side support cylinder (74) for driving the telescopic rod (72) to drive the side support shoe (73) to abut against the inner wall of the steel pipe in a horizontal direction.

6. The automatic welding equipment for horizontal butt joint annular seams of large diameter steel pipes according to claim 5 is characterized in that: The main machine positioning mechanism (7) also includes a direction adjustment cylinder (75), one end of which is hinged to the telescopic frame (71), and the other end of which is hinged to the side support shoe (73). The side support shoe (73) is hinged to the free end of the telescopic rod (72). The angle between the side support shoe (73) and the horizontal plane is adjusted by telescoping the direction adjustment cylinder (75) so that the side support shoe (73) fits the inner wall of the steel pipe.

7. The automatic welding equipment for horizontal butt joint annular seams of large diameter steel pipes according to claim 1 is characterized in that: The welding system (4) comprises an arc welding mechanism (41) for welding the top arc and the two side arcs of the annular seam and a flat welding mechanism (42) for welding the bottom arc of the annular seam, wherein the arc welding mechanism (41) comprises an arc track (411), an arc rack (412) arranged on the arc track (411), a walking trolley (413) arranged on the arc track (411) and adapted to the arc rack (412), and a first welding robot arm (414) arranged on the walking trolley (413), wherein the first welding robot arm (414) is provided with a first welding gun (415), a first gun cleaner, a first visual system, and a first molten pool monitoring system.

8. The automatic welding equipment for horizontal butt joint annular seams of large diameter steel pipes according to claim 7 is characterized in that: The welding positioning mechanism (5) comprises a mounting seat (51) arranged on the main frame (3), a lifting frame (52) arranged on the mounting seat (51), a floating seat (53) arranged on the free end of the lifting frame (52), a transverse driving device (54) arranged on the floating seat (53), a longitudinal driving device (55) arranged on the transverse driving device (54) and a floating positioning plate (56) arranged on the longitudinal driving device (55), wherein the lifting frame (52), the transverse driving device (54) and the floating positioning plate (56) are arranged on the longitudinal driving device (55). The longitudinal drive devices (55) are arranged perpendicularly to each other, and the transverse drive device (54) or the longitudinal drive device (55) is arranged along the axial direction of the steel pipe; the three arc welding mechanisms (41) are respectively arranged on the corresponding floating positioning plates (56), and the flat welding mechanism (42) includes a second welding robot arm (421) arranged on the corresponding floating positioning plate (56), and the second welding robot arm (421) is provided with a second welding gun (422), a second gun cleaner, a second visual system, and a second molten pool monitoring system.

9. The automatic welding equipment for horizontal butt joint annular seams of large diameter steel pipes according to claim 8 is characterized in that: A platform (8) for observation and / or maintenance is arranged on the main frame (3), and the platform (8) comprises a first platform (81) that can be raised and lowered in a vertical direction and a second platform (82) that can be extended and retracted in a horizontal direction, and two second platforms (82) are arranged on both sides of the first platform (81), respectively corresponding to the three arc welding mechanisms (41).

10. The automatic welding equipment for horizontal butt joint annular seams of large diameter steel pipes according to claim 1, characterized in that: The transfer trolley (2) comprises a trolley body (21) and a trolley lifting mechanism (22) for driving the trolley body (21) to rise and fall.

11. The automatic welding equipment for horizontal butt joint annular seams of large diameter steel pipes according to claim 1 is characterized in that: An equipment platform (31) is arranged on the main frame (3), and a power source (32) for providing electric power, a pump station (33) for providing hydraulic oil, and an electric control cabinet (34) are arranged on the equipment platform (31).

12. An automatic welding method for horizontal butt joint annular seams of large diameter steel pipes, characterized in that: The following steps are involved: S1, equipment inlet pipe; S11, the welding system (4), the welding positioning mechanism (5), the main machine positioning mechanism (7) and the walking platform (8) are all retracted to reduce the maximum outer contour of the automatic welding equipment for horizontal butt joint annular seams of large-diameter steel pipes, the step cylinder (624) of the sliding support mechanism (62) extends out and abuts against the body (21) of the transfer trolley (2), the main frame (3) is supported by the step cylinder (624), and the main lifting shoe (614) of the main lifting mechanism (61) is suspended in the air; S12, the transfer trolley (2) transports the automatic welding equipment for the horizontal butt joint of the large-diameter steel pipe to the front end of the steel pipe, the trolley body (21) enters the lower end of the hanging part of the steel pipe, and extends the trolley lifting mechanism (22) so that the trolley body (21) supports the hanging part of the steel pipe; S13, the stepping drive device of the sliding support mechanism (62) drives one end of the main frame (3) to enter the steel pipe; S14, the main lifting shoe (614) of the main lifting mechanism (61) is extended, the main lifting shoe (614) at the front end of the main frame (3) is supported on the inner wall of the steel pipe, the main lifting shoe (614) at the rear end of the main frame (3) is supported on the vehicle body (21), the step cylinder (624) is retracted, and the stepping drive device drives the sliding seat (622) to enter the steel pipe; S15, the main lifting shoe (614) of the main lifting mechanism (61) is retracted, the sliding shoe (623) on the sliding seat (622) supports the inner wall of the steel pipe, the main lifting shoe (614) of the main lifting mechanism (61) is suspended in the air, and the stepping drive device drives the main frame (3) to move forward until it completely enters the steel pipe; S16, the main lifting shoe (614) of the main lifting mechanism (61) extends out, the main lifting shoe (614) is supported by the inner wall of the steel pipe, and the sliding shoe (623) is suspended in the air, and the stepping drive device drives the sliding seat (622) to move forward; S17, the main lifting shoe (614) of the main lifting mechanism (61) is retracted, the sliding shoe (623) on the sliding seat (622) supports the inner wall of the steel pipe, the main lifting shoe (614) of the main lifting mechanism (61) is suspended in the air, and the stepping drive device drives the main frame (3) to move forward in the steel pipe; S18, repeating steps S16 and S17, so that the main frame (3) enters the welding station; S2, circumferential welding; S21, the welding positioning mechanism (5), the main machine positioning mechanism (7) and the walking platform (8) are all unfolded, and the support height of the main lifting mechanism (61) and the extension amount of the support shoe translation cylinder (617) are adjusted to keep the welding system (4) and the steel pipe coaxial; S22, extending the mainframe positioning mechanism (7) to fix the relative position of the main frame (3) and the steel pipe; S23, extending the lifting frame (52) so that the relative position of the welding system (4) and the girth weld is within a preset range; S24, unfolding the platform (8) so that the platform (8) is adapted to the diameter of the steel pipe for easy observation and maintenance; S25, the visual system of the welding system (4) performs laser ranging to determine the position of the welding system (4), and calculates the deviation value between the position of the welding system (4) and the preset position; S26, adjusting the lifting frame (52), the transverse driving device (54) and the longitudinal driving device (55) of the welding positioning mechanism (5) to move the welding system (4) to a preset position; S27, perform pre-welding preparations; S28, the welding system (4) performs circumferential welding; S29, weld post-processing; S3, welding workstation shift; S31, the lifting frame (52), the main machine positioning mechanism (7) and the walking platform (8) are all retracted, the main lifting support shoe (614) of the main lifting mechanism (61) is retracted, the sliding support shoe (623) on the sliding seat (622) supports the inner wall of the steel pipe, the main lifting support shoe (614) of the main lifting mechanism (61) is suspended in the air, and the stepping drive device drives the main frame (3) to move forward in the steel pipe; S32, the main lifting shoe (614) of the main lifting mechanism (61) extends out, the main lifting shoe (614) is supported by the inner wall of the steel pipe, and the sliding shoe (623) is suspended in the air, and the stepping drive device drives the sliding seat (622) to move forward; S33, repeating steps S31 and S32, so that the main frame (3) enters the next welding station; S34, repeat step S2 to perform circumferential seam welding; S4. After all welds are completed, the automatic welding equipment for horizontal butt weld of large diameter steel pipes will produce steel pipes.

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